From f02fdfe2d1d3149579b29650d75117190c189cdb Mon Sep 17 00:00:00 2001
From: andrew <andrew.luo1@outlook.com>
Date: Fri, 14 Mar 2025 21:41:28 -0400
Subject: [PATCH 001/191] add handles for text and image overlays

---
 python/mujoco/simulate.cc | 50 +++++++++++++++++++++++++++++++++++++++
 python/mujoco/viewer.py   | 44 +++++++++++++++++++++++++++++++---
 simulate/simulate.cc      | 18 ++++++++++++++
 simulate/simulate.h       |  2 ++
 4 files changed, 111 insertions(+), 3 deletions(-)

diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 56fe4437..8fdb668c 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -148,6 +148,50 @@ class SimulateWrapper {
 
   void ClearFigures() { simulate_->user_figures_.clear(); }
 
+  void SetOverlayText(
+      const std::vector<std::tuple<int, int, std::string, std::string>>& overlay_texts) {
+    // Collection of [font, gridpos, text1, text2] tuples for overlay text
+    std::vector<std::tuple<int, int, std::string, std::string>> user_overlay_text;
+    for (const auto& [font, gridpos, text1, text2] : overlay_texts) {
+      user_overlay_text.push_back(std::make_tuple(font, gridpos, text1, text2));
+    }
+
+    // Set them all at once to prevent overlay text flickering.
+    simulate_->user_text_ = user_overlay_text;
+  }
+
+  void ClearOverlayText() { simulate_->user_text_.clear(); }
+
+  void SetImages(
+    const std::vector<std::tuple<mjrRect, pybind11::array_t<unsigned char>>>& viewport_images
+  ) {
+    // Clear previous images to prevent memory leaks
+    simulate_->user_images_.clear();
+    
+    for (const auto& [viewport, image] : viewport_images) {
+      auto buf = image.request();
+      if (static_cast<int>(buf.shape[2]) != 3) {
+        throw std::invalid_argument("image must have 3 channels");
+      }
+      if (buf.ndim != 3) {
+        throw std::invalid_argument("image must have 3 dimensions (H, W, C)");
+      }
+      
+      // Calculate size of the image data
+      size_t height = buf.shape[0];
+      size_t width = buf.shape[1];
+      size_t size = height * width * 3;
+      
+      // Make a copy of the image data to prevent flickering
+      unsigned char* image_copy = new unsigned char[size];
+      std::memcpy(image_copy, buf.ptr, size);
+      
+      simulate_->user_images_.push_back(std::make_tuple(viewport, image_copy));
+    }
+  }
+
+  void ClearImages() { simulate_->user_images_.clear(); }
+
  private:
   mujoco::Simulate* simulate_;
   std::atomic_int destroyed_ = 0;
@@ -249,6 +293,12 @@ PYBIND11_MODULE(_simulate, pymodule) {
       .def("set_figures", &SimulateWrapper::SetFigures,
            py::arg("viewports_figures"))
       .def("clear_figures", &SimulateWrapper::ClearFigures)
+      .def("overlay_text", &SimulateWrapper::SetOverlayText,
+           py::arg("overlay_texts"))
+      .def("clear_overlay_text", &SimulateWrapper::ClearOverlayText)
+      .def("set_images", &SimulateWrapper::SetImages,
+           py::arg("viewports_images"))
+      .def("clear_images", &SimulateWrapper::ClearImages)
       .def_property_readonly("m", &SimulateWrapper::GetModel)
       .def_property_readonly("d", &SimulateWrapper::GetData)
       .def_property_readonly("viewport", &SimulateWrapper::GetViewport)
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index 65852c87..b37355cc 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -23,9 +23,8 @@ import queue
 import sys
 import threading
 import time
-from typing import Callable, Optional, Tuple, Union
+from typing import Callable, List, Optional, Tuple, Union
 import weakref
-
 import glfw
 import mujoco
 from mujoco import _simulate
@@ -115,7 +114,7 @@ class Handle:
       return sim.viewport
     return None
 
-  def set_figures(self, viewports_figures):
+  def set_figures(self, viewports_figures: List[Tuple[mujoco.MjrRect, mujoco.MjvFigure]]):
     sim = self._sim()
     if sim is not None:
       sim.set_figures(viewports_figures)
@@ -125,6 +124,45 @@ class Handle:
     if sim is not None:
       sim.clear_figures()
 
+  def overlay_text(self, overlay_texts: List[Tuple[int, int, str, str]]):
+    """ Overlay text on the viewer.
+    
+    Args:
+      overlay_texts: List of tuples of (font, gridpos, text1, text2)
+      let:
+        font: Font style from mujoco.mjtFontScale
+        gridpos: Position of text box from mujoco.mjtGridPos
+        text1: Left text column
+        text2: Right text column
+    """
+    sim = self._sim()
+    if sim is not None:
+      sim.overlay_text(overlay_texts)
+  
+  def clear_overlay_text(self):
+    sim = self._sim()
+    if sim is not None:
+      sim.clear_overlay_text()
+
+  def set_images(self, viewports_images: List[Tuple[mujoco.MjrRect, np.ndarray]]):
+    sim = self._sim()
+    if sim is not None:
+      # Nearest neighbor resize
+      resize = lambda a, s: a[(np.arange(s[0]) * a.shape[0]) // s[0]][:, (np.arange(s[1]) * a.shape[1]) // s[1]]
+      resized_viewports_images = []
+      for viewport, image in viewports_images:
+        targ_shape = (viewport.height, viewport.width)
+        resized = resize(image, targ_shape)
+        resized = np.flip(resized, axis=0)
+        resized = np.ascontiguousarray(resized)
+        resized_viewports_images.append((viewport, resized))
+      sim.set_images(resized_viewports_images)
+
+  def clear_images(self):
+    sim = self._sim()
+    if sim is not None:
+      sim.clear_images()
+
   def close(self):
     sim = self._sim()
     if sim is not None:
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index bf4b4a13..57e3eaaa 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -546,6 +546,14 @@ void ShowFigure(mj::Simulate* sim, mjrRect viewport, mjvFigure* fig){
   mjr_figure(viewport, fig, &sim->platform_ui->mjr_context());
 }
 
+void ShowOverlayText(mj::Simulate* sim, mjrRect viewport, int font, int gridpos, std::string text1, std::string text2){
+  mjr_overlay(font, gridpos, viewport, text1.c_str(), text2.c_str(), &sim->platform_ui->mjr_context());
+}
+
+void ShowImage(mj::Simulate* sim, mjrRect viewport, const unsigned char* image) {
+  mjr_drawPixels(image, nullptr, viewport, &sim->platform_ui->mjr_context());
+}
+
 // load state from history buffer
 static void LoadScrubState(mj::Simulate* sim) {
   // get index into circular buffer
@@ -2597,6 +2605,16 @@ void Simulate::Render() {
     ShowFigure(this, viewport, &figure);
   }
 
+  // overlay text
+  for (auto& [font, gridpos, text1, text2] : this->user_text_) {
+    ShowOverlayText(this, rect, font, gridpos, text1, text2);
+  }
+
+  // user images
+  for (auto& [viewport, image] : this->user_images_) {
+    ShowImage(this, viewport, image);
+  }
+
   // finalize
   this->platform_ui->SwapBuffers();
 }
diff --git a/simulate/simulate.h b/simulate/simulate.h
index cd654192..0bf6ad25 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -253,6 +253,8 @@ class Simulate {
   mjvScene* user_scn = nullptr;
   mjtByte user_scn_flags_prev_[mjNRNDFLAG];
   std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
+  std::vector<std::tuple<int, int, std::string, std::string>> user_text_;
+  std::vector<std::tuple<mjrRect, unsigned char*>> user_images_;
 
   // OpenGL rendering and UI
   int refresh_rate = 60;

From 86fd31b9b86f1afe1dbf23ef37378fbbb8aca5bb Mon Sep 17 00:00:00 2001
From: andrew <andrew.luo1@outlook.com>
Date: Sun, 16 Mar 2025 17:44:24 -0400
Subject: [PATCH 002/191] run pyink and isort

---
 python/mujoco/viewer.py | 22 +++++++++++++++-------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index b37355cc..21a1eeea 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -25,10 +25,12 @@ import threading
 import time
 from typing import Callable, List, Optional, Tuple, Union
 import weakref
+
 import glfw
+import numpy as np
+
 import mujoco
 from mujoco import _simulate
-import numpy as np
 
 if not glfw._glfw:  # pylint: disable=protected-access
   raise RuntimeError('GLFW dynamic library handle is not available')
@@ -114,7 +116,9 @@ class Handle:
       return sim.viewport
     return None
 
-  def set_figures(self, viewports_figures: List[Tuple[mujoco.MjrRect, mujoco.MjvFigure]]):
+  def set_figures(
+      self, viewports_figures: List[Tuple[mujoco.MjrRect, mujoco.MjvFigure]]
+  ):
     sim = self._sim()
     if sim is not None:
       sim.set_figures(viewports_figures)
@@ -125,8 +129,8 @@ class Handle:
       sim.clear_figures()
 
   def overlay_text(self, overlay_texts: List[Tuple[int, int, str, str]]):
-    """ Overlay text on the viewer.
-    
+    """Overlay text on the viewer.
+
     Args:
       overlay_texts: List of tuples of (font, gridpos, text1, text2)
       let:
@@ -138,17 +142,21 @@ class Handle:
     sim = self._sim()
     if sim is not None:
       sim.overlay_text(overlay_texts)
-  
+
   def clear_overlay_text(self):
     sim = self._sim()
     if sim is not None:
       sim.clear_overlay_text()
 
-  def set_images(self, viewports_images: List[Tuple[mujoco.MjrRect, np.ndarray]]):
+  def set_images(
+      self, viewports_images: List[Tuple[mujoco.MjrRect, np.ndarray]]
+  ):
     sim = self._sim()
     if sim is not None:
       # Nearest neighbor resize
-      resize = lambda a, s: a[(np.arange(s[0]) * a.shape[0]) // s[0]][:, (np.arange(s[1]) * a.shape[1]) // s[1]]
+      resize = lambda a, s: a[(np.arange(s[0]) * a.shape[0]) // s[0]][
+          :, (np.arange(s[1]) * a.shape[1]) // s[1]
+      ]
       resized_viewports_images = []
       for viewport, image in viewports_images:
         targ_shape = (viewport.height, viewport.width)

From faff1224ba962e1d14570eb790678fc152257faa Mon Sep 17 00:00:00 2001
From: andrew <andrew.luo1@outlook.com>
Date: Mon, 17 Mar 2025 10:42:11 -0400
Subject: [PATCH 003/191] fix memory leak

---
 python/mujoco/simulate.cc | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 8fdb668c..868bec28 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -91,6 +91,7 @@ class SimulateWrapper {
 
   void Destroy() {
     if (simulate_) {
+      ClearImages();
       delete simulate_;
       simulate_ = nullptr;
       destroyed_.store(1);
@@ -166,7 +167,7 @@ class SimulateWrapper {
     const std::vector<std::tuple<mjrRect, pybind11::array_t<unsigned char>>>& viewport_images
   ) {
     // Clear previous images to prevent memory leaks
-    simulate_->user_images_.clear();
+    ClearImages();
     
     for (const auto& [viewport, image] : viewport_images) {
       auto buf = image.request();
@@ -190,7 +191,13 @@ class SimulateWrapper {
     }
   }
 
-  void ClearImages() { simulate_->user_images_.clear(); }
+  void ClearImages() { 
+    // Free memory for each image before clearing the vector
+    for (const auto& [viewport, image_ptr] : simulate_->user_images_) {
+      delete[] image_ptr;
+    }
+    simulate_->user_images_.clear(); 
+  }
 
  private:
   mujoco::Simulate* simulate_;

From 4e206c29c1afe9b0cf0dd879811e2b5fda31bbc3 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 25 Mar 2025 08:20:14 -0700
Subject: [PATCH 004/191] Keep tree lists updated at all times.

This simplifies the compiler logic since an updated tree list was necessary at many stages (e.g. attach and keyframes resizing) and it will be anyway required when computing the mjSpec signature.

PiperOrigin-RevId: 740356447
Change-Id: I7f2ec25b27b8d4ca4364801c9a401c40c6d84569
---
 src/user/user_model.cc   | 72 ++++++++--------------------------------
 src/user/user_model.h    |  4 ++-
 src/user/user_objects.cc | 44 +++++++++++++++++++++---
 3 files changed, 56 insertions(+), 64 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index bc12a17e..2a27d430 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -449,9 +449,8 @@ static bool IsPluginActive(
 
 mjCModel& mjCModel::operator+=(const mjCModel& other) {
   // create global lists
-  mjCBody *world = bodies_[0];
   ResetTreeLists();
-  MakeLists(world);
+  MakeTreeLists();
   ProcessLists(/*checkrepeat=*/false);
 
   // copy all elements not in the tree
@@ -500,11 +499,6 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
     nq = nv = na = nu = nmocap = 0;
   }
 
-  // restore to the original state
-  if (!compiled) {
-    ResetTreeLists();
-  }
-
   PointToLocal();
   return *this;
 }
@@ -609,13 +603,11 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
 
   // create global lists in the old model if not compiled
   if (!oldmodel.IsCompiled()) {
-    oldmodel.MakeLists(oldmodel.bodies_[0]);
     oldmodel.ProcessLists(/*checkrepeat=*/false);
   }
 
   // create global lists in this model if not compiled
   if (!IsCompiled()) {
-    MakeLists(bodies_[0]);
     ProcessLists(/*checkrepeat=*/false);
   }
 
@@ -629,7 +621,7 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
 
   // update global lists
   ResetTreeLists();
-  MakeLists(world);
+  MakeTreeLists();
   ProcessLists(/*checkrepeat=*/false);
 
   // check if we have to remove anything else
@@ -641,11 +633,6 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
   RemoveFromList(sensors_, oldmodel);
   RemovePlugins();
 
-  // restore to the original state
-  if (!compiled) {
-    ResetTreeLists();
-  }
-
   return *this;
 }
 
@@ -742,18 +729,16 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
 
 // discard all invalid elements from all lists
 void mjCModel::DeleteElement(mjsElement* el) {
-  mjCBody *world = nullptr;
-  if (compiled) {
-    world = bodies_[0];
-    ResetTreeLists();
-  }
+  ResetTreeLists();
 
   switch (el->elemtype) {
     case mjOBJ_BODY:
+      MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
       throw mjCError(nullptr, "bodies cannot be deleted, use detach instead");
       break;
 
     case mjOBJ_DEFAULT:
+      MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
       throw mjCError(nullptr, "defaults cannot be deleted, use detach instead");
       break;
 
@@ -818,11 +803,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
       break;
   }
 
-  if (compiled) {
-    ResetTreeLists();  // in case of a nested delete
-    MakeLists(world);
-    ProcessLists(/*checkrepeat=*/false);
-  }
+  ResetTreeLists();  // in case of a nested delete
+  MakeTreeLists();
+  ProcessLists(/*checkrepeat=*/false);
 }
 
 
@@ -1020,15 +1003,6 @@ void mjCModel::Clear() {
   nconmax = -1;
   nmocap = 0;
 
-  // pointer lists created by Compile
-  bodies_.clear();
-  joints_.clear();
-  geoms_.clear();
-  sites_.clear();
-  cameras_.clear();
-  lights_.clear();
-  frames_.clear();
-
   // internal variables
   hasImplicitPluginElem = false;
   compiled = false;
@@ -1486,7 +1460,11 @@ mjSpec* mjCModel::GetSourceSpec() const {
 //------------------------------- COMPILER PHASES --------------------------------------------------
 
 // make lists of objects in tree: bodies, geoms, joints, sites, cameras, lights
-void mjCModel::MakeLists(mjCBody* body) {
+void mjCModel::MakeTreeLists(mjCBody* body) {
+  if (body == nullptr) {
+    body = bodies_[0];
+  }
+
   // add this body if not world
   if (body != bodies_[0]) {
     bodies_.push_back(body);
@@ -1501,7 +1479,7 @@ void mjCModel::MakeLists(mjCBody* body) {
   for (mjCFrame *frame : body->frames) frames_.push_back(frame);
 
   // recursive call to all child bodies
-  for (mjCBody* body : body->bodies) MakeLists(body);
+  for (mjCBody* body : body->bodies) MakeTreeLists(body);
 }
 
 
@@ -3657,21 +3635,12 @@ template void mjCModel::RestoreState<mjtNum>(
 
 // resolve keyframe references
 void mjCModel::StoreKeyframes(mjCModel* dest) {
-  bool resetlists = false;
-
   if (this != dest && !key_pending_.empty()) {
     mju_warning(
       "Child model has pending keyframes. They will not be namespaced correctly. "
       "To prevent this, compile the child model before attaching it again.");
   }
 
-  // create tree lists if they are empty, occurs if an uncompiled model is attached
-  if (bodies_.size() == 1 && geoms_.empty() && sites_.empty() && joints_.empty() &&
-      cameras_.empty() && lights_.empty() && frames_.empty()) {
-    MakeLists(bodies_[0]);
-    resetlists = true;
-  }
-
   // do not change compilation quantities in case the user wants to recompile preserving the state
   if (!compiled) {
     SaveDofOffsets(/*computesize=*/true);
@@ -3719,10 +3688,6 @@ void mjCModel::StoreKeyframes(mjCModel* dest) {
               key->spec_mpos_.data(), key->spec_mquat_.data());
   }
 
-  if (resetlists) {
-    ResetTreeLists();
-  }
-
   if (!compiled) {
     nq = nv = na = nu = nmocap = 0;
   }
@@ -4054,11 +4019,7 @@ static void warninghandler(const char* msg) {
 // compiler
 mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
   if (compiled) {
-    // clear kinematic tree
-    mjCBody* world = bodies_[0];
-    ResetTreeLists();
     Clear();
-    bodies_.push_back(world);
   }
 
   CopyFromSpec();
@@ -4105,9 +4066,7 @@ mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
     // deallocate everything allocated in Compile
     mj_deleteModel(model);
     mj_deleteData(data);
-    mjCBody* world = bodies_[0];
     Clear();
-    bodies_.push_back(world);
 
     // save error info
     errInfo = err;
@@ -4354,9 +4313,6 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     AddKey();
   }
 
-  // make lists of objects created in kinematic tree
-  MakeLists(bodies_[0]);
-
   // clear subtreedofs
   for (int i=0; i < bodies_.size(); i++) {
     bodies_[i]->subtreedofs = 0;
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 1078080f..c97216e5 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -334,9 +334,11 @@ class mjCModel : public mjCModel_, private mjSpec {
   // list of active plugins
   std::vector<std::pair<const mjpPlugin*, int>> active_plugins_;
 
+  // make lists of bodies and children
+  void MakeTreeLists(mjCBody* body = nullptr);
+
   // compile phases
   void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
-  void MakeLists(mjCBody* body);        // make lists of bodies, geoms, joints, sites
   void SetNuser();                      // set nuser fields
   void IndexAssets(bool discard);       // convert asset names into indices
   void CheckEmptyNames();               // check empty names
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 18c573d2..a493bf30 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1231,6 +1231,11 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
   obj->classname = _def ? _def->name : classname;
 
   bodies.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   obj->parent = this;
   return obj;
 }
@@ -1241,6 +1246,8 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
 mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
   mjCFrame* obj = new mjCFrame(model, _frame ? _frame : NULL);
   frames.push_back(obj);
+  model->ResetTreeLists();
+  model->MakeTreeLists();
   return obj;
 }
 
@@ -1256,6 +1263,11 @@ mjCJoint* mjCBody::AddFreeJoint() {
   obj->body = this;
 
   joints.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1270,6 +1282,11 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
   obj->body = this;
 
   joints.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1284,6 +1301,11 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
   obj->body = this;
 
   geoms.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1298,6 +1320,11 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
   obj->body = this;
 
   sites.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1312,6 +1339,11 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
   obj->body = this;
 
   cameras.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1326,6 +1358,11 @@ mjCLight* mjCBody::AddLight(mjCDef* _def) {
   obj->body = this;
 
   lights.push_back(obj);
+
+  // recompute lists
+  model->ResetTreeLists();
+  model->MakeTreeLists();
+
   return obj;
 }
 
@@ -1347,11 +1384,8 @@ mjCFrame* mjCBody::ToFrame() {
       std::remove_if(parent->bodies.begin(), parent->bodies.end(),
                      [this](mjCBody* body) { return body == this; }),
       parent->bodies.end());
-  if (model->IsCompiled()) {
-    mjCBody *world = model->bodies_[0];
-    model->ResetTreeLists();
-    model->MakeLists(world);
-  }
+  model->ResetTreeLists();
+  model->MakeTreeLists();
   return newframe;
 }
 

From c931565fdceb9b6ed044cd2499dc4d038334766f Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 25 Mar 2025 09:35:14 -0700
Subject: [PATCH 005/191] Add internal function`mj_tendonDot`: time derivative
 of tendon Jacobian for one tendon.

Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
---
 src/engine/engine_core_smooth.c             | 122 ++++++++++++++++++++
 src/engine/engine_core_smooth.h             |   3 +
 test/engine/engine_core_smooth_test.cc      |  54 +++++++++
 test/engine/testdata/core_smooth/ten_J0.xml |  26 +++++
 test/engine/testdata/core_smooth/ten_J1.xml |  29 +++++
 test/engine/testdata/core_smooth/ten_J2.xml |  34 ++++++
 test/engine/testdata/core_smooth/ten_J3.xml |  66 +++++++++++
 7 files changed, 334 insertions(+)
 create mode 100644 test/engine/testdata/core_smooth/ten_J0.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_J1.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_J2.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_J3.xml

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 9b453c3e..009860eb 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -861,6 +861,128 @@ void mj_tendon(const mjModel* m, mjData* d) {
 
 
 
+// compute time derivative of dense tendon Jacobian for one tendon
+void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
+  int nv = m->nv;
+
+  // allocate stack arrays
+  mjtNum *jac1, *jac2, *jacdif, *tmp;
+  mj_markStack(d);
+  jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
+  jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
+  jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
+  tmp = mjSTACKALLOC(d, nv, mjtNum);
+
+  // return if tendon id is invalid
+  if (id < 0 || id >= m->ntendon) {
+    return;
+  }
+
+  // clear output
+  mju_zero(Jdot, nv);
+
+  // fixed tendon has zero Jdot: return
+  int adr = m->tendon_adr[id];
+  if (m->wrap_type[adr] == mjWRAP_JOINT) {
+    return;
+  }
+
+  // process spatial tendon
+  mjtNum divisor = 1;
+  int wraptype, j = 0;
+  int num = m->tendon_num[id];
+  while (j < num-1) {
+    // get 1st and 2nd object
+    int type0 = m->wrap_type[adr+j+0];
+    int type1 = m->wrap_type[adr+j+1];
+    int id0 = m->wrap_objid[adr+j+0];
+    int id1 = m->wrap_objid[adr+j+1];
+
+    // pulley
+    if (type0 == mjWRAP_PULLEY || type1 == mjWRAP_PULLEY) {
+      // get divisor, insert obj=-2
+      if (type0 == mjWRAP_PULLEY) {
+        divisor = m->wrap_prm[adr+j];
+      }
+
+      // move to next
+      j++;
+      continue;
+    }
+
+    // init sequence; assume it starts with site
+    mjtNum wpnt[6];
+    mju_copy3(wpnt, d->site_xpos+3*id0);
+    mjtNum vel[6];
+    mj_objectVelocity(m, d, mjOBJ_SITE, id0, vel, /*flg_local=*/0);
+    mjtNum wvel[6] = {vel[3], vel[4], vel[5], 0, 0, 0};
+    int wbody[2];
+    wbody[0] = m->site_bodyid[id0];
+
+    // second object is geom: process site-geom-site
+    if (type1 == mjWRAP_SPHERE || type1 == mjWRAP_CYLINDER) {
+      // TODO(tassa) support geom wrapping (requires derivatives of mju_wrap)
+      mjERROR("geom wrapping not supported");
+    } else {
+      wraptype = mjWRAP_NONE;
+    }
+
+    // complete sequence
+    wbody[1] = m->site_bodyid[id1];
+    mju_copy3(wpnt+3, d->site_xpos+3*id1);
+    mj_objectVelocity(m, d, mjOBJ_SITE, id1, vel, /*flg_local=*/0);
+    mju_copy3(wvel+3, vel+3);
+
+    // accumulate moments if consecutive points are in different bodies
+    if (wbody[0] != wbody[1]) {
+      // dpnt = 3D position difference, normalize
+      mjtNum dpnt[3];
+      mju_sub3(dpnt, wpnt+3, wpnt);
+      mjtNum norm = mju_norm3(dpnt);
+      mju_scl3(dpnt, dpnt, 1/norm);
+
+      // dvel = d / dt (dpnt)
+      mjtNum dvel[3];
+      mju_sub3(dvel, wvel+3, wvel);
+      mjtNum dot = mju_dot3(dpnt, dvel);
+      mju_addToScl3(dvel, dpnt, -dot);
+      mju_scl3(dvel, dvel, 1/norm);
+
+      // TODO(tassa ) write sparse branch, requires mj_jacDotSparse
+      // if (mj_isSparse(m)) { ... }
+
+      // get endpoint JacobianDots, subtract
+      mj_jacDot(m, d, jac1, 0, wpnt, wbody[0]);
+      mj_jacDot(m, d, jac2, 0, wpnt+3, wbody[1]);
+      mju_sub(jacdif, jac2, jac1, 3*nv);
+
+      // chain rule, first term: Jdot += d/dt(jac2 - jac1) * dpnt
+      mju_mulMatTVec(tmp, jacdif, dpnt, 3, nv);
+
+      // add to existing
+      mju_addToScl(Jdot, tmp, 1/divisor, nv);
+
+      // get endpoint Jacobians, subtract
+      mj_jac(m, d, jac1, 0, wpnt, wbody[0]);
+      mj_jac(m, d, jac2, 0, wpnt+3, wbody[1]);
+      mju_sub(jacdif, jac2, jac1, 3*nv);
+
+      // chain rule, second term: Jdot += (jac2 - jac1) * d/dt(dpnt)
+      mju_mulMatTVec(tmp, jacdif, dvel, 3, nv);
+
+      // add to existing
+      mju_addToScl(Jdot, tmp, 1/divisor, nv);
+    }
+
+    // advance
+    j += (wraptype != mjWRAP_NONE ? 2 : 1);
+  }
+
+  mj_freeStack(d);
+}
+
+
+
 // compute actuator/transmission lengths and moments
 void mj_transmission(const mjModel* m, mjData* d) {
   int nv = m->nv, nu = m->nu;
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index 7f1b9fb3..41d06775 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -39,6 +39,9 @@ MJAPI void mj_flex(const mjModel* m, mjData* d);
 // compute tendon lengths, velocities and moment arms
 MJAPI void mj_tendon(const mjModel* m, mjData* d);
 
+// compute time derivative of dense tendon Jacobian for one tendon
+MJAPI void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot);
+
 // compute actuator transmission lengths and moments
 MJAPI void mj_transmission(const mjModel* m, mjData* d);
 
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 3263acc5..8f24a99a 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -159,6 +159,60 @@ TEST_F(CoreSmoothTest, FixedTendonSortedIndices) {
   mj_deleteModel(model);
 }
 
+static const char* const kTen_J0 = "engine/testdata/core_smooth/ten_J0.xml";
+static const char* const kTen_J1 = "engine/testdata/core_smooth/ten_J1.xml";
+static const char* const kTen_J2 = "engine/testdata/core_smooth/ten_J2.xml";
+static const char* const kTen_J3 = "engine/testdata/core_smooth/ten_J3.xml";
+
+TEST_F(CoreSmoothTest, TendonJdot) {
+  for (const char* local_path : {kTen_J0, kTen_J1, kTen_J2, kTen_J3}) {
+    const std::string xml_path = GetTestDataFilePath(local_path);
+    char error[1024];
+    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+    int nv = m->nv;
+    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
+    EXPECT_EQ(m->ntendon, 1);
+    mjData* d = mj_makeData(m);
+
+    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
+      m->opt.jacobian = sparsity;
+
+      if (m->nkey) {
+        mj_resetDataKeyframe(m, d, 0);
+      } else {
+        mj_resetData(m, d);
+        while (d->time < 1) {
+          mj_step(m, d);
+        }
+      }
+
+      mj_forward(m, d);
+
+      // get current J and Jdot for the tendon
+      vector<mjtNum> ten_J(d->ten_J, d->ten_J + nv);
+      vector<mjtNum> ten_Jdot(nv, 0);
+      mj_tendonDot(m, d, 0, ten_Jdot.data());
+
+      // compute finite-differenced Jdot
+      mjtNum h = 1e-7;
+      mj_integratePos(m, d->qpos, d->qvel, h);
+      mj_kinematics(m, d);
+      mj_comPos(m, d);
+      mj_tendon(m, d);
+      vector<mjtNum> ten_Jh(d->ten_J, d->ten_J + nv);
+      mju_subFrom(ten_Jh.data(), ten_J.data(), nv);
+      mju_scl(ten_Jh.data(), ten_Jh.data(), 1.0 / h, nv);
+
+      // expect analytic and FD derivatives to be similar to eps precision
+      mjtNum eps = 1e-6;
+      EXPECT_THAT(ten_Jdot, Pointwise(DoubleNear(eps), ten_Jh));
+    }
+
+    mj_deleteData(d);
+    mj_deleteModel(m);
+  }
+}
+
 // --------------------------- connect constraint ------------------------------
 
 // test that bodies hanging on connects lead to expected force sensor readings
diff --git a/test/engine/testdata/core_smooth/ten_J0.xml b/test/engine/testdata/core_smooth/ten_J0.xml
new file mode 100644
index 00000000..b4fec9ba
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_J0.xml
@@ -0,0 +1,26 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag energy="enable"/>
+  </option>
+
+  <worldbody>
+    <site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 -.5"/>
+    <body name="link1" pos="-1 0 0">
+      <joint name="link1" axis="0 -1 0" stiffness="100" springref="90"/>
+      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
+      <geom type="sphere" size=".08" pos="0 0 -1"/>
+      <site name="link1" type="box" size=".03 .03 .03" pos="0 0 -.5"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial width=".01" rgba=".2 .2 1 1">
+      <site site="link1"/>
+      <site site="tendon"/>
+    </spatial>
+  </tendon>
+
+  <keyframe>
+    <key qpos="1" qvel="1"/>
+  </keyframe>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J1.xml b/test/engine/testdata/core_smooth/ten_J1.xml
new file mode 100644
index 00000000..d5c3cf93
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_J1.xml
@@ -0,0 +1,29 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <worldbody>
+    <site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 0"/>
+    <body name="link1" pos="-1 0 0">
+      <joint name="link1" axis="0 -1 0" damping="0" stiffness="50"/>
+      <geom name="link1" type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
+      <body name="link2" pos="0 0 -1">
+        <joint name="link2" axis="0 -1 0" damping="0" stiffness="1" springref="-180"/>
+        <geom name="link2" type="capsule" size=".03" fromto="0 0 0 .6 0 0"/>
+        <site name="link2" type="box" size=".03 .03 .03" pos=".5 0 0"/>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial width=".01" rgba=".2 .2 1 1">
+      <site site="link2"/>
+      <site site="tendon"/>
+    </spatial>
+  </tendon>
+
+  <keyframe>
+    <key qpos="-1 0" qvel="1 1"/>
+  </keyframe>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J2.xml b/test/engine/testdata/core_smooth/ten_J2.xml
new file mode 100644
index 00000000..e5777029
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_J2.xml
@@ -0,0 +1,34 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <worldbody>
+    <body name="thigh" pos="-1 0 0">
+      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
+      <joint axis="1 0 0" stiffness="50"/>
+      <joint axis="0 1 0" stiffness="50"/>
+      <joint axis="0 0 1" stiffness="50"/>
+      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
+      <geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
+      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
+      <body name="calf" pos="0 0 -1">
+        <joint axis="0 -1 0" damping="0" stiffness="5" springref="90"/>
+        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
+        <body name="foot" pos="-.6 0 0">
+          <joint type="ball" stiffness="20" armature=".1"/>
+          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
+          <geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial name="ten" width=".01" rgba=".2 .2 1 1">
+      <site site="0"/>
+      <site site="1"/>
+      <site site="2"/>
+    </spatial>
+  </tendon>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J3.xml b/test/engine/testdata/core_smooth/ten_J3.xml
new file mode 100644
index 00000000..520969d2
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_J3.xml
@@ -0,0 +1,66 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag contact="disable" energy="enable"/>
+  </option>
+
+  <default>
+    <joint axis="0 1 0" range="0 60" limited="true"/>
+    <geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
+    <site rgba=".9 .9 .9 1"/>
+    <default class="visual_cylinder">
+      <geom type="cylinder" fromto="0 .015 0  0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <light pos="0 0 1"/>
+    <body name="weight" pos="-.03 0 .175">
+      <joint axis="0 0 1" pos="0 0 .025" type="slide"/>
+      <geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
+      <site name="s1" pos="0 0 .025"/>
+    </body>
+
+    <site name="s2" pos="-.03 0 .33"/>
+
+    <body pos="0 0 .3">
+      <joint/>
+      <geom fromto="0 0 0  .1 0 0"/>
+      <site name="s3" pos=".02 0 .03"/>
+
+      <body pos=".1 0 0">
+        <joint/>
+        <geom fromto="0 0 0  .1 0 0"/>
+        <site name="s4" pos=".03 0 .01"/>
+        <site name="s5" pos=".05 0 .02"/>
+        <site name="side2" pos="0 0 .03"/>
+
+        <body pos=".1 0 0">
+          <joint/>
+          <geom fromto="0 0 0  .1 0 0" size=".017"/>
+          <site name="s6" pos=".03 0 .01"/>
+          <site name="side3" pos="0 0 .02"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial range="0 .33" limited="true" width=".002" rgba=".95 .3 .3 1">
+      <site site="s1"/>
+      <site site="s2"/>
+      <site site="s3"/>
+
+      <pulley divisor="2"/>
+      <site site="s3"/>
+      <site site="side2"/>
+      <site site="s4"/>
+
+      <pulley divisor="2"/>
+      <site site="s3"/>
+      <site site="side2"/>
+      <site site="s5"/>
+      <site site="side3"/>
+      <site site="s6"/>
+    </spatial>
+  </tendon>
+</mujoco>

From 157b0741162b53db4116d1859e85eda3ea414021 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 25 Mar 2025 09:35:44 -0700
Subject: [PATCH 006/191] Add signature to `mjSpec` and `mjModel` and use it to
 perform safe `bind` to `mjModel` and `mjData`.

PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
---
 doc/includes/references.h                     |  7 ++++
 include/mujoco/mjdata.h                       |  3 ++
 include/mujoco/mjmodel.h                      |  3 ++
 include/mujoco/mjspec.h                       |  2 +
 .../mujoco/codegen/generate_spec_bindings.py  | 15 +++++++
 python/mujoco/introspect/structs.py           | 15 +++++++
 python/mujoco/specs_test.py                   |  7 ++++
 python/mujoco/structs.cc                      | 24 ++++++++++-
 src/engine/engine_io.c                        |  3 ++
 src/user/user_flexcomp.cc                     |  2 +
 src/user/user_model.cc                        | 40 +++++++++++++++++++
 src/user/user_model.h                         |  7 ++++
 src/user/user_objects.cc                      | 36 +++++++++++++++++
 src/user/user_objects.h                       |  1 +
 unity/Runtime/Bindings/MjBindings.cs          |  2 +
 15 files changed, 165 insertions(+), 2 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 39eece88..6b38571b 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -414,6 +414,9 @@ struct mjData_ {
 
   // thread pool pointer
   uintptr_t threadpool;
+
+  // compilation signature
+  uint64_t  signature;       // also held by the mjSpec that compiled the model
 };
 typedef struct mjData_ mjData;
 typedef enum mjtDisableBit_ {     // disable default feature bitflags
@@ -1451,6 +1454,9 @@ struct mjModel_ {
 
   // paths
   char*     paths;                // paths to assets, 0-terminated            (npaths x 1)
+
+  // compilation signature
+  uint64_t  signature;            // also held by the mjSpec that compiled this model
 };
 typedef struct mjModel_ mjModel;
 struct mjResource_ {
@@ -1713,6 +1719,7 @@ typedef enum mjtOrientation_ {     // type of orientation specifier
 } mjtOrientation;
 typedef struct mjsElement_ {       // element type, do not modify
   mjtObj elemtype;                 // element type
+  uint64_t signature;              // compilation signature
 } mjsElement;
 typedef struct mjsCompiler_ {      // compiler options
   mjtByte autolimits;              // infer "limited" attribute based on range
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index ddb42215..2b5eb7c6 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -442,6 +442,9 @@ struct mjData_ {
 
   // thread pool pointer
   uintptr_t threadpool;
+
+  // compilation signature
+  uint64_t  signature;       // also held by the mjSpec that compiled the model
 };
 typedef struct mjData_ mjData;
 
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 0099cf78..9f76205f 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -1155,6 +1155,9 @@ struct mjModel_ {
 
   // paths
   char*     paths;                // paths to assets, 0-terminated            (npaths x 1)
+
+  // compilation signature
+  uint64_t  signature;            // also held by the mjSpec that compiled this model
 };
 typedef struct mjModel_ mjModel;
 
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 52e96f41..3764257b 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -23,6 +23,7 @@
 // this is a C-API
 #ifdef __cplusplus
 #include <cstddef>
+#include <cstdint>
 #include <string>
 #include <vector>
 
@@ -119,6 +120,7 @@ typedef enum mjtOrientation_ {     // type of orientation specifier
 
 typedef struct mjsElement_ {       // element type, do not modify
   mjtObj elemtype;                 // element type
+  uint64_t signature;              // compilation signature
 } mjsElement;
 
 
diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
index ba412275..e4617eab 100644
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ b/python/mujoco/codegen/generate_spec_bindings.py
@@ -613,12 +613,27 @@ def generate_find() -> None:
     print(code)
 
 
+def generate_signature() -> None:
+  """Generate signature functions."""
+  for key, _, _, _, _ in SPECS:
+    elem = key.removeprefix('mjs')
+    titlecase = 'Mjs' + elem
+    code = f"""\n
+      {key}.def_property_readonly("signature",
+      [](raw::{titlecase}& self) -> uint64_t {{
+        return mjs_getSpec(self.element)->element->signature;
+      }});
+    """
+    print(code)
+
+
 def main(argv: Sequence[str]) -> None:
   if len(argv) > 1:
     raise app.UsageError('Too many command-line arguments.')
   generate()
   generate_add()
   generate_find()
+  generate_signature()
 
 
 if __name__ == '__main__':
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index fc75c798..2cd2ff27 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -4454,6 +4454,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='paths to assets, 0-terminated',
                  array_extent=('npaths',),
              ),
+             StructFieldDecl(
+                 name='signature',
+                 type=ValueType(name='uint64_t'),
+                 doc='also held by the mjSpec that compiled this model',
+             ),
          ),
      )),
     ('mjThreadPool',
@@ -6037,6 +6042,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='uintptr_t'),
                  doc='thread pool pointer',
              ),
+             StructFieldDecl(
+                 name='signature',
+                 type=ValueType(name='uint64_t'),
+                 doc='also held by the mjSpec that compiled the model',
+             ),
          ),
      )),
     ('mjvPerturb',
@@ -9044,6 +9054,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtObj'),
                  doc='element type',
              ),
+             StructFieldDecl(
+                 name='signature',
+                 type=ValueType(name='uint64_t'),
+                 doc='compilation signature',
+             ),
          ),
      )),
     ('mjsCompiler',
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index c946f420..f0c3bb6c 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -1153,6 +1153,13 @@ class SpecsTest(absltest.TestCase):
         AttributeError, "object has no attribute 'invalid'"
     ):
       print(mj_model.bind(joints).invalid)
+    invalid_spec = mujoco.MjSpec()
+    invalid_spec.worldbody.add_body(name='main')
+    with self.assertRaisesRegex(
+        ValueError,
+        'The mjSpec does not match mjModel. Please recompile the mjSpec.',
+    ):
+      print(mj_model.bind(invalid_spec.body('main')))
 
   def test_incorrect_hfield_size(self):
     nrow = 300
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index f9272721..6925b980 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -1710,6 +1710,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
         // Return the full bytes array of concatenated paths
         return m.paths_bytes;
       });
+  mjModel.def_property_readonly(
+      "signature", [](const MjModelWrapper& m) -> const uint64_t& {
+        return m.get()->signature;
+      });
 
 #define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS)             \
   mjModel.def(                                                                \
@@ -1730,7 +1734,13 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjModel.def(                                                        \
       "bind_scalar",                                                  \
       [](MjModelWrapper& m, spectype& spec) -> auto& {                \
-        return m.indexer().field##_by_name(mjs_getString(spec.name)); \
+        if (mjs_getSpec(spec.element)->element->signature !=          \
+            m.get()->signature) {                                     \
+          throw py::value_error(                                      \
+              "The mjSpec does not match mjModel. Please recompile "  \
+              "the mjSpec.");                                         \
+        }                                                             \
+        return m.indexer().field(mjs_getId(spec.element)); \
       },                                                              \
       py::return_value_policy::reference_internal,                    \
       py::arg_v("spec", py::none()));
@@ -2018,6 +2028,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
         std::istringstream input(b, std::ios::in | std::ios::binary);
         return MjDataWrapper::Deserialize(input);
       }));
+  mjData.def_property_readonly(
+      "signature", [](const MjDataWrapper& d) -> uint64_t {
+        return d.get()->signature;
+      });
 
 #define X(type, var)                                             \
   mjData.def_property(                                           \
@@ -2076,7 +2090,13 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjData.def(                                                         \
       "bind_scalar",                                                  \
       [](MjDataWrapper& d, spectype& spec) -> auto& {                 \
-        return d.indexer().field##_by_name(mjs_getString(spec.name)); \
+        if (mjs_getSpec(spec.element)->element->signature !=          \
+            d.get()->signature) {                                     \
+          throw py::value_error(                                      \
+                 "The mjSpec does not match mjData. Please recompile "\
+                 "the mjSpec.");                                      \
+        }                                                             \
+        return d.indexer().field(mjs_getId(spec.element));            \
       },                                                              \
       py::return_value_policy::reference_internal,                    \
       py::arg_v("spec", py::none()));
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index f925410c..ec1757f6 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -2014,6 +2014,9 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
       }
     }
   }
+
+  // copy signature from model
+  d->signature = m->signature;
 }
 
 
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 50c12d68..80ee69d4 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -403,12 +403,14 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
   mjCFlex* flex = model->AddFlex();
   mjsFlex* pf = &flex->spec;
   int id = flex->id;
+  int uid = flex->uid;
 
   *flex = def.Flex();
   flex->PointToLocal();
 
   flex->model = model;
   flex->id = id;
+  flex->uid = uid;
   mjs_setString(pf->name, name.c_str());
   mjs_setInt(pf->elem, element.data(), element.size());
   mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 2a27d430..496fd2bd 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -201,6 +201,7 @@ mjCModel::mjCModel() {
   world->mass = 0;
   mjuu_zerovec(world->inertia, 3);
   world->id = 0;
+  world->uid = GetUid();
   world->parent = nullptr;
   world->weldid = 0;
   world->name = "world";
@@ -213,6 +214,9 @@ mjCModel::mjCModel() {
 
   // the source spec is the model itself, overwritten in the copy constructor
   source_spec_ = &spec;
+
+  // set the signature
+  spec.element->signature = 0;
 }
 
 
@@ -289,6 +293,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
     // copy the element from the other model to this model
     if (deepcopy_) {
       source[i]->ForgetKeyframes();
+      candidate->uid = GetUid();
     } else {
       candidate->AddRef();
     }
@@ -499,6 +504,9 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
     nq = nv = na = nu = nmocap = 0;
   }
 
+  // update signature before we reset the tree lists
+  spec.element->signature = Signature();
+
   PointToLocal();
   return *this;
 }
@@ -633,6 +641,9 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
   RemoveFromList(sensors_, oldmodel);
   RemovePlugins();
 
+  // update signature before we reset the tree lists
+  spec.element->signature = Signature();
+
   return *this;
 }
 
@@ -803,6 +814,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
       break;
   }
 
+  // update signature before we reset the tree lists
+  spec.element->signature = Signature();
+
   ResetTreeLists();  // in case of a nested delete
   MakeTreeLists();
   ProcessLists(/*checkrepeat=*/false);
@@ -1019,7 +1033,9 @@ template <class T>
 T* mjCModel::AddObject(vector<T*>& list, string type) {
   T* obj = new T(this);
   obj->id = (int)list.size();
+  obj->uid = GetUid();
   list.push_back(obj);
+  spec.element->signature = Signature();
   return obj;
 }
 
@@ -1030,7 +1046,9 @@ T* mjCModel::AddObjectDefault(vector<T*>& list, string type, mjCDef* def) {
   T* obj = new T(this, def ? def : defaults_[0]);
   obj->id = (int)list.size();
   obj->classname = def ? def->name : "main";
+  obj->uid = GetUid();
   list.push_back(obj);
+  spec.element->signature = Signature();
   return obj;
 }
 
@@ -4572,6 +4590,28 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     mju::strcpy_arr(errInfo.message, warningtext);
     errInfo.warning = true;
   }
+
+  // save signature
+  m->signature = Signature();
+}
+
+
+
+uint64_t mjCModel::Signature() {
+  std::string uid_str;
+  for (int i = 0; i < mjNOBJECT; ++i) {
+    if (i == mjOBJ_XBODY || i == mjOBJ_UNKNOWN || i == mjOBJ_DOF) {
+      continue;
+    }
+    if (object_lists_[i] == nullptr) {
+      throw mjCError(0, "object list %s is null", std::to_string(i).c_str());
+    }
+    uid_str += '|';
+    for (mjCBase* object : *object_lists_[i]) {
+      uid_str += std::to_string(object->uid) + " ";
+    }
+  }
+  return mj_hashString(uid_str.c_str(), UINT64_MAX);
 }
 
 
diff --git a/src/user/user_model.h b/src/user/user_model.h
index c97216e5..81b94752 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -16,6 +16,7 @@
 #define MUJOCO_SRC_USER_USER_MODEL_H_
 
 #include <array>
+#include <cstdint>
 #include <functional>
 #include <map>
 #include <string>
@@ -324,6 +325,9 @@ class mjCModel : public mjCModel_, private mjSpec {
   // set attached flag
   void SetAttached(bool deepcopy) { attached_ |= !deepcopy; }
 
+  // get new uid
+  int GetUid() { return uid_count_++; }
+
  private:
   // settings for each defaults class
   std::vector<mjCDef*> defaults_;
@@ -440,11 +444,14 @@ class mjCModel : public mjCModel_, private mjSpec {
   void MarkPluginInstance(std::unordered_map<std::string, bool>& instances,
                           const std::vector<T*>& list);
 
+  // generate a signature for the model
+  uint64_t Signature();
 
   mjListKeyMap ids;   // map from object names to ids
   mjCError errInfo;   // last error info
   std::vector<mjKeyInfo> key_pending_;  // attached keyframes
   bool deepcopy_;     // copy objects when attaching
   bool attached_ = false;  // true if model is attached to a parent model
+  int uid_count_ = 0;  // unique id count for all objects
 };
 #endif  // MUJOCO_SRC_USER_USER_MODEL_H_
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index a493bf30..0af3548c 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -837,6 +837,7 @@ mjCBody::mjCBody(mjCModel* _model) {
 
 mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
   model = _model;
+  uid = model->GetUid();
   mjSpec* origin = model->FindSpec(other.compiler);
   compiler = origin ? &origin->compiler : &model->spec.compiler;
   *this = other;
@@ -930,6 +931,7 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   frames.back()->frame = other.frame;
   if (model->deepcopy_) {
     frames.back()->NameSpace(other_model);
+    frames.back()->uid = model->GetUid();
   } else {
     frames.back()->AddRef();
   }
@@ -1022,6 +1024,8 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
     // increment refcount if shallow copy is made
     if (!model->deepcopy_) {
       dst.back()->AddRef();
+    } else {
+      dst.back()->uid = model->GetUid();
     }
 
     // set namespace
@@ -1237,6 +1241,10 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
   model->MakeTreeLists();
 
   obj->parent = this;
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1248,6 +1256,10 @@ mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
   frames.push_back(obj);
   model->ResetTreeLists();
   model->MakeTreeLists();
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1268,6 +1280,10 @@ mjCJoint* mjCBody::AddFreeJoint() {
   model->ResetTreeLists();
   model->MakeTreeLists();
 
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1287,6 +1303,10 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
   model->ResetTreeLists();
   model->MakeTreeLists();
 
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1306,6 +1326,10 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
   model->ResetTreeLists();
   model->MakeTreeLists();
 
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1325,6 +1349,10 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
   model->ResetTreeLists();
   model->MakeTreeLists();
 
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1344,6 +1372,10 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
   model->ResetTreeLists();
   model->MakeTreeLists();
 
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
@@ -1363,6 +1395,10 @@ mjCLight* mjCBody::AddLight(mjCDef* _def) {
   model->ResetTreeLists();
   model->MakeTreeLists();
 
+
+  // update signature
+  obj->uid = model->GetUid();
+  model->spec.element->signature = model->Signature();
   return obj;
 }
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 47703182..6d9b146e 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -219,6 +219,7 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
 class mjCBase_ : public mjsElement {
  public:
   int id;                 // object id
+  int uid;                // unique identifier
   std::string name;       // object name
   std::string classname;  // defaults class name
   std::string info;       // error message info set by the user
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 845c5c91..7aecffe5 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5008,6 +5008,7 @@ public unsafe struct mjData_ {
   public double* efc_force;
   public int* efc_state;
   public UIntPtr threadpool;
+  public UInt64 signature;
 }
 
 [StructLayout(LayoutKind.Sequential)]
@@ -5672,6 +5673,7 @@ public unsafe struct mjModel_ {
   public char* names;
   public int* names_map;
   public char* paths;
+  public UInt64 signature;
 }
 
 [StructLayout(LayoutKind.Sequential)]

From 69f83492038ace73c9b87deba4318902d95fe0fd Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 25 Mar 2025 14:21:52 -0700
Subject: [PATCH 007/191] Add signature error checking at the end of
 compilation.

Fixed some edge cases that caused the new error to be triggered.

PiperOrigin-RevId: 740483759
Change-Id: I6ced3ba55476d5c18103e205151ecace94f2b29b
---
 src/user/user_model.cc   | 31 +++++++++++++++++++++++++------
 src/user/user_objects.cc |  1 +
 2 files changed, 26 insertions(+), 6 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 496fd2bd..a594538a 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -245,6 +245,10 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
     mjCBody* world = new mjCBody(*other.bodies_[0], this);
     bodies_.push_back(world);
 
+    // update tree lists
+    ResetTreeLists();
+    MakeTreeLists();
+
     // add everything else
     *this += other;
 
@@ -259,6 +263,9 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
     for (int i=0; i < mjNOBJECT; i++) {
       ids[i] = other.ids[i];
     }
+
+    // update signature after we updated everything
+    spec.element->signature = Signature();
   }
   deepcopy_ = other.deepcopy_;
   return *this;
@@ -504,10 +511,11 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
     nq = nv = na = nu = nmocap = 0;
   }
 
-  // update signature before we reset the tree lists
-  spec.element->signature = Signature();
-
+  // update pointers to local elements
   PointToLocal();
+
+  // update signature after we updated the tree lists and we updated the pointers
+  spec.element->signature = Signature();
   return *this;
 }
 
@@ -814,12 +822,12 @@ void mjCModel::DeleteElement(mjsElement* el) {
       break;
   }
 
-  // update signature before we reset the tree lists
-  spec.element->signature = Signature();
-
   ResetTreeLists();  // in case of a nested delete
   MakeTreeLists();
   ProcessLists(/*checkrepeat=*/false);
+
+  // update signature after we updated everything
+  spec.element->signature = Signature();
 }
 
 
@@ -4593,6 +4601,17 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
   // save signature
   m->signature = Signature();
+
+  // special cases that are not caused by user edits
+  if (compiler.fusestatic || compiler.discardvisual ||
+      !spec.element->signature || !pairs_.empty() || !excludes_.empty()) {
+    spec.element->signature = m->signature;
+  }
+
+  // check that the signature matches the spec
+  if (m->signature != spec.element->signature) {
+    throw mjCError(0, "signature mismatch");  // SHOULD NOT OCCUR
+  }
 }
 
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 0af3548c..5154af48 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1422,6 +1422,7 @@ mjCFrame* mjCBody::ToFrame() {
       parent->bodies.end());
   model->ResetTreeLists();
   model->MakeTreeLists();
+  model->spec.element->signature = model->Signature();
   return newframe;
 }
 

From d6943731b284ee51375147a3f7e520259cf2beb5 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Tue, 25 Mar 2025 14:55:25 -0700
Subject: [PATCH 008/191] Fix bug in nativeccd multiccd.

PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
---
 src/engine/engine_collision_gjk.c        |  2 +-
 test/engine/engine_collision_gjk_test.cc | 40 ++++++++++++++++++++++++
 2 files changed, 41 insertions(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index fb13c666..16859bf5 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -1546,7 +1546,7 @@ static mjtNum planeNormal(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3],
 // find what side of a plane a point p lies
 static int halfspace(const mjtNum a[3], const mjtNum n[3], const mjtNum p[3]) {
   mjtNum diff[3] = {p[0] - a[0], p[1] - a[1], p[2] - a[2]};
-  return dot3(diff, n) > 0;
+  return dot3(diff, n) >= 0.0;
 }
 
 
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 437d314d..6db923f2 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -951,6 +951,46 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD9) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+      <geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+    </worldbody>
+  </mujoco>)";
+
+  std::array<char, 1000> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  mjtNum* xpos = data->geom_xpos;
+
+  xpos[0] = -0.1034859999999999946584949839234468527138;
+  xpos[1] = -0.0765140000000000264357424839545274153352;
+  xpos[2] = 0.1257628745456405572333835607423679903150;
+
+  xpos = data->geom_xpos + 3;
+
+  xpos[0] = -0.1034859999999999946584949839234468527138;
+  xpos[1] = -0.0765140000000000264357424839545274153352;
+  xpos[2] = 0.1751399999999999623767621415026951581240;
+
+  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  std::vector<mjtNum> dir, pos;
+  mjtNum dist;
+  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 8);
+
+  EXPECT_EQ(ncons, 4);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(MjGjkTest, SmallBoxMesh) {
   static constexpr char xml[] = R"(
   <mujoco>

From 5c955b8fe264e5235c2e2c89a6532259e80cae4c Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 26 Mar 2025 05:35:33 -0700
Subject: [PATCH 009/191] Add frame support to the cable composite.

Also cleanup user_composite.cc includes.

PiperOrigin-RevId: 740730596
Change-Id: I05df59926d8e61de45fd6b2a3a63121b7a390448
---
 src/user/user_composite.cc   | 18 +++++++-----------
 src/user/user_composite.h    |  1 +
 src/xml/xml_native_reader.cc |  5 +++--
 src/xml/xml_native_reader.h  |  3 ++-
 4 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index 0c09164b..98c3ed41 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -12,25 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <mujoco/mjspec.h>
 #include "user/user_composite.h"
 
-#include <algorithm>
 #include <cmath>
-#include <cstddef>
-#include <cstdio>
 #include <cstring>
-#include <map>
-#include <stdexcept>
 #include <string>
-#include <utility>
 #include <vector>
 
-#include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjspec.h>
 #include <mujoco/mjtnum.h>
 #include "cc/array_safety.h"
-#include "engine/engine_io.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
@@ -40,9 +32,9 @@
 #include "user/user_util.h"
 
 namespace {
+
 namespace mju = ::mujoco::util;
-using mujoco::user::VectorToString;
-using mujoco::user::StringToVector;
+
 }  // namespace
 
 // strncpy with 0, return false
@@ -60,6 +52,7 @@ mjCComposite::mjCComposite(void) {
   type = mjCOMPTYPE_PARTICLE;
   count[0] = count[1] = count[2] = 1;
   mjuu_setvec(offset, 0, 0, 0);
+  frame = nullptr;
 
   // plugin variables
   mjs_defaultPlugin(&plugin);
@@ -381,6 +374,9 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
                            offset[1]+uservert[3*ix+1],
                            offset[2]+uservert[3*ix+2]);
     mjuu_copyvec(body->quat, this_quat, 4);
+    if (frame) {
+      mjs_setFrame(body->element, frame);
+    }
   } else {
     mjuu_setvec(body->pos, length_prev, 0, 0);
     double negquat[4] = {prev_quat[0], -prev_quat[1], -prev_quat[2], -prev_quat[3]};
diff --git a/src/user/user_composite.h b/src/user/user_composite.h
index 383dd3a2..0f826760 100644
--- a/src/user/user_composite.h
+++ b/src/user/user_composite.h
@@ -80,6 +80,7 @@ class mjCComposite {
   std::vector<float> uservert;    // user-specified vertex positions
   double size[3];                 // rope size (meaning depends on the shape)
   mjtCompShape curve[3];          // geometric shape
+  mjsFrame* frame;                // frame where the composite is defined
 
   // body names used in the skin
   std::vector<std::string> username;
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 4f941c15..44efc4ec 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -2388,7 +2388,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
 
 
 // make composite
-void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault* def) {
+void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsFrame* frame, const mjsDefault* def) {
   string text;
   int n;
 
@@ -2402,6 +2402,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault*
   }
   ReadAttr(elem, "count", 3, comp.count, text, false, false);
   ReadAttr(elem, "offset", 3, comp.offset, text);
+  comp.frame = frame;
 
   // plugin
   XMLElement* eplugin = FirstChildElement(elem, "plugin");
@@ -3467,7 +3468,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
     // composite sub-element
     else if (name == "composite") {
       // parse composite
-      OneComposite(elem, body, def);
+      OneComposite(elem, body, frame, def);
     }
 
     // flexcomp sub-element
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
index 41aacbbb..0e568f99 100644
--- a/src/xml/xml_native_reader.h
+++ b/src/xml/xml_native_reader.h
@@ -80,7 +80,8 @@ class mjXReader : public mjXBase {
   void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
   void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
   void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
-  void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, const mjsDefault* def);
+  void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsFrame* pframe,
+                    const mjsDefault* def);
   void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody, const mjVFS* vfs);
   void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
 

From 644b42bee39348a456202840bf6cbe84200dbab0 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 26 Mar 2025 05:35:54 -0700
Subject: [PATCH 010/191] Add mujoco/experimental and move USD work there.

PiperOrigin-RevId: 740730698
Change-Id: If9c68798cda502d6d7632906a034437e2557802e
---
 .../usd/plugins/mjcf/mjcf_file_format.cc      |  201 ++++
 .../usd/plugins/mjcf/mjcf_file_format.h       |   85 ++
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 1000 +++++++++++++++++
 .../usd/plugins/mjcf/mujoco_to_usd.h          |   32 +
 .../usd/plugins/mjcf/plugInfo.json            |   25 +
 src/experimental/usd/plugins/mjcf/utils.cc    |  199 ++++
 src/experimental/usd/plugins/mjcf/utils.h     |  127 +++
 test/experimental/usd/plugins/mjcf/fixture.cc |   64 ++
 test/experimental/usd/plugins/mjcf/fixture.h  |   67 ++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc |  387 +++++++
 .../usd/plugins/mjcf/testdata/materials.xml   |   15 +
 .../usd/plugins/mjcf/testdata/mesh_obj.xml    |   10 +
 .../mjcf/testdata/meshes/tetrahedron.obj      |   16 +
 .../plugins/mjcf/testdata/textures/cube.png   |  Bin 0 -> 6888 bytes
 14 files changed, 2228 insertions(+)
 create mode 100644 src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
 create mode 100644 src/experimental/usd/plugins/mjcf/mjcf_file_format.h
 create mode 100644 src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
 create mode 100644 src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
 create mode 100644 src/experimental/usd/plugins/mjcf/plugInfo.json
 create mode 100644 src/experimental/usd/plugins/mjcf/utils.cc
 create mode 100644 src/experimental/usd/plugins/mjcf/utils.h
 create mode 100644 test/experimental/usd/plugins/mjcf/fixture.cc
 create mode 100644 test/experimental/usd/plugins/mjcf/fixture.h
 create mode 100644 test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/materials.xml
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/cube.png

diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
new file mode 100644
index 00000000..8c5858c9
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
@@ -0,0 +1,201 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "mjcf/mjcf_file_format.h"
+
+#include <array>
+#include <memory>
+#include <string>
+#include <unordered_set>
+
+#include <mujoco/mujoco.h>
+#include "mjcf/mujoco_to_usd.h"
+#include <pxr/base/tf/diagnostic.h>
+#include <pxr/base/tf/enum.h>
+#include <pxr/base/tf/pathUtils.h>
+#include <pxr/base/tf/registryManager.h>
+#include <pxr/base/tf/staticTokens.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/work/loops.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/ar/asset.h>
+#include <pxr/usd/ar/resolvedPath.h>
+#include <pxr/usd/ar/resolver.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
+#include <pxr/usd/sdf/layer.h>
+#include <pxr/usd/usd/usdaFileFormat.h>
+#include "tinyxml2.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+TF_DEFINE_PUBLIC_TOKENS(UsdMjcfFileFormatTokens, USD_MJCF_FILE_FORMAT_TOKENS);
+
+TF_REGISTRY_FUNCTION(TfType) {
+  SDF_DEFINE_FILE_FORMAT(UsdMjcfFileFormat, SdfFileFormat);
+}
+
+enum ErrorCodes { XmlParsingError };
+TF_REGISTRY_FUNCTION(TfEnum) {
+  TF_ADD_ENUM_NAME(XmlParsingError, "Error when parsing XML.");
+};
+
+namespace {
+
+void ResolveMjcfDependencies(const std::string &xml_string,
+                             const std::string &resolved_path);
+
+void AccumulateFilesRecursive(std::unordered_set<std::string> &files,
+                              tinyxml2::XMLElement *elem,
+                              const std::string &resolved_path) {
+  // get filename
+  const char *file = elem->Attribute("file");
+
+  if (file != nullptr) {
+    auto identifier = pxr::ArGetResolver().CreateIdentifier(
+        std::string(file), pxr::ArResolvedPath(resolved_path));
+    if (!strcasecmp(elem->Value(), "include") ||
+        !strcasecmp(elem->Value(), "model")) {
+      auto include_resolved_path = pxr::ArGetResolver().Resolve(identifier);
+      auto asset = pxr::ArGetResolver().OpenAsset(include_resolved_path);
+      ResolveMjcfDependencies(asset->GetBuffer().get(), include_resolved_path);
+
+      // Neither of these elements should have children.
+      return;
+    }
+
+    files.insert(identifier);
+  }
+
+  if (!strcasecmp(elem->Value(), "texture")) {
+    static const char *attributes[] = {"fileright", "fileup",    "fileleft",
+                                       "filedown",  "filefront", "fileback"};
+    for (const auto &attribute : attributes) {
+      const char *file = elem->Attribute(attribute);
+      if (file != nullptr) {
+        auto identifier = pxr::ArGetResolver().CreateIdentifier(
+            std::string(file), pxr::ArResolvedPath(resolved_path));
+        files.insert(identifier);
+      }
+    }
+  }
+
+  tinyxml2::XMLElement *child = elem->FirstChildElement();
+  for (; child; child = child->NextSiblingElement()) {
+    AccumulateFilesRecursive(files, child, resolved_path);
+  }
+}
+
+void ResolveMjcfDependencies(const std::string &xml_string,
+                             const std::string &resolved_path) {
+  // load XML file or parse string
+  tinyxml2::XMLDocument doc;
+  doc.Parse(xml_string.c_str());
+
+  // error checking
+  if (doc.Error()) {
+    TF_ERROR(XmlParsingError, "%d:\n%s\n", doc.ErrorID(), doc.ErrorStr());
+    return;
+  }
+
+  // get top-level element
+  tinyxml2::XMLElement *root = doc.RootElement();
+  if (!root) {
+    TF_ERROR(XmlParsingError, "XML root element not found");
+    return;
+  }
+
+  // Accumulate file dependencies.
+  std::unordered_set<std::string> files = {};
+  AccumulateFilesRecursive(files, root, resolved_path);
+
+  auto open_asset = [resolved_path](const std::string &identifier) {
+    pxr::ArGetResolver().OpenAsset(pxr::ArGetResolver().Resolve(identifier));
+  };
+  // Open all assets in parallel.
+  pxr::WorkParallelForEach(files.begin(), files.end(), open_asset);
+}
+}  // namespace
+
+UsdMjcfFileFormat::UsdMjcfFileFormat()
+    : SdfFileFormat(
+          UsdMjcfFileFormatTokens->Id, UsdMjcfFileFormatTokens->Version,
+          UsdMjcfFileFormatTokens->Target, UsdMjcfFileFormatTokens->Id) {}
+
+UsdMjcfFileFormat::~UsdMjcfFileFormat() {}
+
+bool UsdMjcfFileFormat::CanRead(const std::string &filePath) const {
+  auto extension = pxr::TfGetExtension(filePath);
+  if (extension.empty()) {
+    return false;
+  }
+
+  return extension == this->GetFormatId();
+}
+
+bool UsdMjcfFileFormat::ReadImpl(pxr::SdfLayer *layer, mjSpec *spec) const {
+  auto data = InitData(layer->GetFileFormatArguments());
+
+  auto success = mujoco::usd::WriteSpecToData(spec, data);
+  mj_deleteSpec(spec);
+  if (!success) {
+    return false;
+  }
+
+  _SetLayerData(layer, data);
+
+  return true;
+}
+
+bool UsdMjcfFileFormat::ReadFromString(pxr::SdfLayer *layer,
+                                       const std::string &str) const {
+  std::array<char, 1024> error;
+  mjSpec *spec =
+      mj_parseXMLString(str.c_str(), nullptr, error.data(), error.size());
+  if (spec == nullptr) {
+    TF_WARN(XmlParsingError, "%s", error.data());
+    return false;
+  }
+
+  return ReadImpl(layer, spec);
+}
+
+bool UsdMjcfFileFormat::Read(pxr::SdfLayer *layer,
+                             const std::string &resolved_path,
+                             bool metadata_only) const {
+  // Resolved all dependencies so that they are accessible when parsing
+  // the XML.
+  std::shared_ptr<pxr::ArAsset> asset =
+      pxr::ArGetResolver().OpenAsset(pxr::ArResolvedPath(resolved_path));
+  auto buffer = asset->GetBuffer();
+  ResolveMjcfDependencies(buffer.get(), resolved_path);
+
+  // Parse to USD.
+  std::array<char, 1024> error;
+  mjSpec *spec =
+      mj_parseXML(resolved_path.c_str(), nullptr, error.data(), error.size());
+  if (spec == nullptr) {
+    TF_WARN(XmlParsingError, "%s", error.data());
+    return false;
+  }
+  return ReadImpl(layer, spec);
+}
+
+bool UsdMjcfFileFormat::WriteToString(const SdfLayer &layer, std::string *str,
+                                      const std::string &comment) const {
+  return SdfFileFormat::FindById(pxr::UsdUsdaFileFormatTokens->Id)
+      ->WriteToString(layer, str, comment);
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.h b/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
new file mode 100644
index 00000000..c5776ec4
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
@@ -0,0 +1,85 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MJCF_FILE_FORMAT_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MJCF_FILE_FORMAT_H_
+
+#include <string>
+
+#include <mujoco/mujoco.h>
+#include <pxr/base/tf/declarePtrs.h>
+#include <pxr/base/tf/staticTokens.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
+#include <pxr/usd/usd/api.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// The Id should realistically be mjcf, but the id and extension need to match.
+// So near term it just assumes the only .xml file we would import is MJCF.
+#define USD_MJCF_FILE_FORMAT_TOKENS \
+  ((Id, "xml"))((Version, "1.0"))((Target, "usd"))
+
+TF_DECLARE_PUBLIC_TOKENS(UsdMjcfFileFormatTokens, USD_MJCF_FILE_FORMAT_TOKENS);
+
+TF_DECLARE_WEAK_AND_REF_PTRS(UsdMjcfFileFormat);
+
+class UsdMjcfFileFormat : public SdfFileFormat {
+ public:
+  using SdfFileFormat::FileFormatArguments;
+
+  // Returns true if 'file' can be read by this format plugin.
+  USD_API
+  bool CanRead(const std::string &file) const override;
+
+  // Reads scene description from the asset specified by resolved_path into
+  // 'layer'.
+  //
+  // metadataOnly is a flag that asks for only the layer metadata to be read in,
+  // which can be much faster if that is all that is required but currently we
+  // ignore it.
+  //
+  // Returns true if the asset is successfully read into layer, false otherwise.
+  USD_API
+  bool Read(pxr::SdfLayer *layer, const std::string &resolved_path,
+            bool metadata_only) const override;
+
+  // Reads data in the string 'str' into 'layer'.
+  //
+  // If the file is successfully read, this method returns true. Otherwise,
+  // false is returned and errors are posted.
+  USD_API
+  bool ReadFromString(SdfLayer *layer, const std::string &str) const override;
+
+  // Writes the contents in 'layer' to 'str'. This just forwards to the usda
+  // implementation.
+  USD_API
+  bool WriteToString(const SdfLayer &layer, std::string *str,
+                     const std::string &comment) const override;
+
+ protected:
+  SDF_FILE_FORMAT_FACTORY_ACCESS;
+
+  UsdMjcfFileFormat();
+  virtual ~UsdMjcfFileFormat();
+
+ private:
+  // Function delegated to by Read and ReadFromString.
+  bool ReadImpl(SdfLayer *layer, mjSpec *spec) const;
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MJCF_FILE_FORMAT_H_
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
new file mode 100644
index 00000000..f1c8e5ee
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -0,0 +1,1000 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "mjcf/mujoco_to_usd.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+#include "mjcf/utils.h"
+#include <pxr/base/arch/attributes.h>
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/rotation.h>
+#include <pxr/base/gf/vec2f.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/callContext.h>
+#include <pxr/base/tf/diagnostic.h>
+#include <pxr/base/tf/diagnosticHelper.h>
+#include <pxr/base/tf/enum.h>
+#include <pxr/base/tf/registryManager.h>
+#include <pxr/base/tf/staticData.h>
+#include <pxr/base/tf/staticTokens.h>
+#include <pxr/base/tf/stringUtils.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/vt/array.h>
+#include <pxr/base/vt/dictionary.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/usd/kind/registry.h>
+#include <pxr/usd/sdf/abstractData.h>
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usdGeom/metrics.h>
+#include <pxr/usd/usdGeom/tokens.h>
+#include <pxr/usd/usdLux/tokens.h>
+#include <pxr/usd/usdShade/tokens.h>
+#include <pxr/usdImaging/usdImaging/tokens.h>
+
+namespace {
+
+// The ID of the World in mjModel and mjData.
+static constexpr int kWorldIndex = 0;
+
+// Using to satisfy TF_DEFINE_PRIVATE_TOKENS macro below and avoid operating in
+// PXR_NS.
+using pxr::TfToken;
+template <typename T>
+using TfStaticData = pxr::TfStaticData<T>;
+
+// clang-format off
+TF_DEFINE_PRIVATE_TOKENS(kTokens,
+                         // Xform ops
+                         ((body, "Body"))
+                         ((body_name, "mujoco:body_name"))
+                         ((geom, "Geom"))
+                         ((light, "Light"))
+                         ((meshScope, "MeshSources"))
+                         ((materialsScope, "Materials"))
+                         ((surface, "PreviewSurface"))
+                         ((world, "World"))
+                         ((xformOpTransform, "xformOp:transform"))
+                         ((xformOpScale, "xformOp:scale"))
+                         (st)
+                         ((primvarsSt, "primvars:st"))
+                         ((outputsSt, "outputs:st"))
+                         ((inputsSt, "inputs:st"))
+                         ((inputsVarname, "inputs:varname"))
+                         ((inputsFile, "inputs:file"))
+                         ((inputsWrapS, "inputs:wrapS"))
+                         ((inputsWrapT, "inputs:wrapT"))
+                         ((inputsDiffuseColor, "inputs:diffuseColor"))
+                         ((outputsRgb, "outputs:rgb"))
+                         ((inputsMetallic, "inputs:metallic"))
+                         (repeat)
+                         );
+
+// Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
+using pxr::TfEnum;
+using pxr::Tf_RegistryStaticInit;
+using pxr::Tf_RegistryInit;
+using pxr::TfEnum;
+template <typename T>
+using Arch_PerLibInit = pxr::Arch_PerLibInit<T>;
+enum ErrorCodes { UnsupportedGeomTypeError, MujocoCompilationError };
+
+TF_REGISTRY_FUNCTION(pxr::TfEnum) {
+  TF_ADD_ENUM_NAME(UnsupportedGeomTypeError, "UsdGeom type is unsupported.")
+  TF_ADD_ENUM_NAME(MujocoCompilationError, "Mujoco spec failed to compile.")
+}
+
+// Usings to satisfy TF_ERROR macro.
+using pxr::TfCallContext;
+using pxr::Tf_PostErrorHelper;
+// clang-format on
+
+using mujoco::usd::AddAttributeConnection;
+using mujoco::usd::AddPrimInherit;
+using mujoco::usd::AddPrimReference;
+using mujoco::usd::ApplyApiSchema;
+using mujoco::usd::CreateAttributeSpec;
+using mujoco::usd::CreateClassSpec;
+using mujoco::usd::CreatePrimSpec;
+using mujoco::usd::CreateRelationshipSpec;
+using mujoco::usd::SetAttributeDefault;
+using mujoco::usd::SetAttributeMetadata;
+using mujoco::usd::SetLayerMetadata;
+using mujoco::usd::SetPrimKind;
+using mujoco::usd::SetPrimMetadata;
+
+pxr::GfMatrix4d MujocoPosQuatToTransform(double *pos, double *quat) {
+  pxr::GfQuatd quaternion = pxr::GfQuatd::GetIdentity();
+  quaternion.SetReal(quat[0]);
+  quaternion.SetImaginary(quat[1], quat[2], quat[3]);
+  pxr::GfRotation rotation(quaternion);
+
+  pxr::GfVec3d translation(0.0, 0.0, 0.0);
+  translation.Set(pos[0], pos[1], pos[2]);
+
+  pxr::GfMatrix4d transform;
+  transform.SetTransform(rotation, translation);
+  return transform;
+}
+
+}  // namespace
+
+class ModelWriter {
+ public:
+  ModelWriter(mjSpec *spec, mjModel *model, pxr::SdfAbstractDataRefPtr &data)
+      : spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
+    body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
+    body_xforms_ = std::vector<pxr::GfMatrix4d>(model->nbody);
+  }
+  ~ModelWriter() { mj_deleteModel(model_); }
+
+  void Write() {
+    // Create top level class holder.
+    class_path_ = CreateClassSpec(data_, pxr::SdfPath::AbsoluteRootPath(),
+                                  pxr::TfToken("__class__"));
+
+    // Create the world body.
+    body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex);
+    body_xforms_[kWorldIndex] = pxr::GfMatrix4d().SetIdentity();
+
+    SetLayerMetadata(data_, pxr::SdfFieldKeys->Documentation,
+                     "Generated by mujoco model writer.");
+    // Mujoco is Z up by default.
+    SetLayerMetadata(data_, pxr::UsdGeomTokens->upAxis, pxr::UsdGeomTokens->z);
+    // Mujoco is authored in meters by default.
+    SetLayerMetadata(data_, pxr::UsdGeomTokens->metersPerUnit,
+                     pxr::UsdGeomLinearUnits::meters);
+
+    // Set the world body to be the default prim for referencing/payloads.
+    SetLayerMetadata(data_, pxr::SdfFieldKeys->DefaultPrim,
+                     body_paths_[kWorldIndex].GetNameToken());
+
+    // Author mesh scope + mesh prims to be referenced.
+    WriteMeshes();
+    WriteMaterials();
+    WriteBodies();
+  }
+
+ private:
+  mjSpec *spec_;
+  mjModel *model_;
+
+  // This is a handle to the Sdf data to be written into the generated USD
+  // layer.
+  pxr::SdfAbstractDataRefPtr &data_;
+  // Path to top level class spec that all classes should be children of.
+  pxr::SdfPath class_path_;
+  // Mapping from Mujoco body id to SdfPath.
+  std::vector<pxr::SdfPath> body_paths_;
+  // Mapping from Mujoco body id to world space transform.
+  std::vector<pxr::GfMatrix4d> body_xforms_;
+  // Mapping from mesh names to Mesh prim path.
+  std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
+
+  // Given a name index and a parent prim path this returns a
+  // token such that appending it to the parent prim path does not
+  // identify an existing prim spec.
+  //
+  // This is necessary since mujoco does not require names for elements
+  // so we must differentiate between elements of the same type.
+  //
+  // For example:
+  // <mujoco model="model with two planes">
+  //    <worldbody>
+  //      <geom type="plane"/>
+  //      <geom type="plane"/>
+  //    </worldbody>
+  //  </mujoco>
+  //
+  //  We expect that the occurrence of this happens little enough that linear
+  //  searching is plenty efficient.
+  pxr::TfToken GetAvailablePrimName(const std::string base_name,
+                                    const pxr::TfToken fallback_name,
+                                    const pxr::SdfPath &parent_path) {
+    const auto valid_base_name = pxr::TfMakeValidIdentifier(
+        base_name.empty() ? fallback_name : base_name);
+    std::string name = valid_base_name;
+    pxr::SdfPath test_path = parent_path.AppendChild(pxr::TfToken(name));
+    int count = 1;
+    while (data_->HasSpec(test_path) &&
+           data_->GetSpecType(test_path) == pxr::SdfSpecType::SdfSpecTypePrim) {
+      name = pxr::TfStringPrintf("%s_%d", valid_base_name.c_str(), count++);
+      test_path = parent_path.AppendChild(pxr::TfToken(name));
+    }
+    return pxr::TfToken(name);
+  }
+
+  // This function, conversely to GetAvailablePrimName will not handle
+  // collisions. This is useful when looking up a prim path that might exist or
+  // a path that you know must be unique.
+  pxr::TfToken GetValidPrimName(const std::string name) {
+    return pxr::TfToken(pxr::TfMakeValidIdentifier(name));
+  }
+
+  struct BodyPathComponents {
+    pxr::SdfPath parent_path;
+    pxr::TfToken body_name;
+  };
+
+  pxr::SdfPath CreateParentIfNotExists(mjsBody *body,
+                                       const pxr::SdfPath &world_path,
+                                       pxr::SdfAbstractDataRefPtr &data) {
+    // To allow for easier scene authoring and modification, we want to
+    // place MJCF bodies belonging to the same kinematic chain under some
+    // identity parent Xform prim. This allows users to move the entire
+    // asset.
+    //
+    // We cannot simply recreate the MJCF kinematic tree structure
+    // because in USD it is assumed that children move rigidly with their
+    // parents. This is not true in MJCF if you have joints. We could perhaps
+    // use a more complex heuristic where we evaluate a common tree prefix
+    // in MJCF that is effectively welded together but for now we choose
+    // simplicity.
+
+    // In the trivial case where the parent of body is already the world
+    // body we want to create a parent xform of the same name.
+    // So if the MJCF has a child of the world body called "root" we will
+    // create a parent Xform at /World/root and the actual body will be
+    // created at /World/root/root.
+    mjsBody *last_parent = body;
+    mjsBody *parent = mjs_getParent(body->element);
+    while (mjs_getId(parent->element) != kWorldIndex) {
+      last_parent = parent;
+      parent = mjs_getParent(parent->element);
+    }
+
+    pxr::TfToken last_parent_name = GetValidPrimName(*last_parent->name);
+    pxr::SdfPath parent_xform_path = world_path.AppendChild(last_parent_name);
+    if (!data->HasSpec(parent_xform_path)) {
+      pxr::SdfPath prim_path = CreatePrimSpec(
+          data, world_path, last_parent_name, pxr::UsdGeomTokens->Xform);
+
+      SetPrimKind(data_, prim_path, pxr::KindTokens->component);
+    }
+    return parent_xform_path;
+  }
+
+  void WriteScaleXformOp(const pxr::SdfPath &prim_path,
+                         const pxr::GfVec3f &scale) {
+    pxr::SdfPath scale_attr_path =
+        CreateAttributeSpec(data_, prim_path, kTokens->xformOpScale,
+                            pxr::SdfValueTypeNames->Float3);
+    SetAttributeDefault(data_, scale_attr_path, scale);
+  }
+
+  void WriteTransformXformOp(const pxr::SdfPath &prim_path,
+                             const pxr::GfMatrix4d &transform) {
+    pxr::SdfPath transform_op_path =
+        CreateAttributeSpec(data_, prim_path, kTokens->xformOpTransform,
+                            pxr::SdfValueTypeNames->Matrix4d);
+    SetAttributeDefault(data_, transform_op_path, transform);
+  }
+
+  void WriteXformOpOrder(const pxr::SdfPath &prim_path,
+                         const pxr::VtArray<pxr::TfToken> &order) {
+    pxr::SdfPath xform_op_order_path =
+        CreateAttributeSpec(data_, prim_path, pxr::UsdGeomTokens->xformOpOrder,
+                            pxr::SdfValueTypeNames->TokenArray);
+    SetAttributeDefault(data_, xform_op_order_path, order);
+  }
+
+  void PrependToXformOpOrder(const pxr::SdfPath &prim_path,
+                             const pxr::VtArray<pxr::TfToken> &order) {
+    auto xform_op_order_path =
+        prim_path.AppendProperty(pxr::UsdGeomTokens->xformOpOrder);
+    if (!data_->HasSpec(xform_op_order_path)) {
+      WriteXformOpOrder(prim_path, order);
+      return;
+    }
+
+    auto existing_order =
+        data_->Get(xform_op_order_path, pxr::SdfFieldKeys->Default)
+            .UncheckedGet<pxr::VtArray<pxr::TfToken>>();
+
+    pxr::VtArray<pxr::TfToken> new_order(order.size() + existing_order.size());
+    std::copy(order.begin(), order.end(), new_order.begin());
+    std::copy(existing_order.begin(), existing_order.end(),
+              new_order.begin() + order.size());
+
+    SetAttributeDefault(data_, xform_op_order_path, new_order);
+  }
+
+  void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path) {
+    auto name = GetAvailablePrimName(*mesh->name, pxr::UsdGeomTokens->Mesh,
+                                     parent_path);
+    pxr::SdfPath subcomponent_path =
+        CreatePrimSpec(data_, parent_path, name, pxr::UsdGeomTokens->Xform);
+    pxr::SdfPath mesh_path =
+        CreatePrimSpec(data_, subcomponent_path, pxr::UsdGeomTokens->Mesh,
+                       pxr::UsdGeomTokens->Mesh);
+    mesh_paths_[*mesh->name] = subcomponent_path;
+
+    // NOTE: The geometry data taken from the spec is the post-compilation
+    // data after it has been mjCMesh::Compile'd. So don't be surprised if
+    // things like user defined vertices have moved due to re-centering to
+    // CoM and other modifications (see mjCMesh::Process for other xforms).
+    int mesh_id = mjs_getId(mesh->element);
+    int vert_start_offset = model_->mesh_vertadr[mesh_id] * 3;
+    int nvert = model_->mesh_vertnum[mesh_id];
+    pxr::VtArray<pxr::GfVec3f> points;
+    points.reserve(nvert);
+    for (int i = vert_start_offset; i < vert_start_offset + nvert * 3; i += 3) {
+      points.emplace_back(&model_->mesh_vert[i]);
+    }
+
+    pxr::SdfPath points_attr_path =
+        CreateAttributeSpec(data_, mesh_path, pxr::UsdGeomTokens->points,
+                            pxr::SdfValueTypeNames->Vector3fArray);
+    SetAttributeDefault(data_, points_attr_path, points);
+
+    // NOTE: nface is never 0.
+    int nface = model_->mesh_facenum[mesh_id];
+    pxr::VtArray<int> faces;
+    faces.reserve(nface * 3);
+    int face_start_offset = model_->mesh_faceadr[mesh_id] * 3;
+    for (int i = face_start_offset; i < face_start_offset + nface * 3; i += 3) {
+      faces.push_back(model_->mesh_face[i]);
+      faces.push_back(model_->mesh_face[i + 1]);
+      faces.push_back(model_->mesh_face[i + 2]);
+    }
+    pxr::SdfPath face_vertex_idx_attr_path = CreateAttributeSpec(
+        data_, mesh_path, pxr::UsdGeomTokens->faceVertexIndices,
+        pxr::SdfValueTypeNames->IntArray);
+    SetAttributeDefault(data_, face_vertex_idx_attr_path, faces);
+
+    pxr::VtArray<int> vertex_counts;
+    for (int i = 0; i < nface; ++i) {
+      // Mujoco is always triangles.
+      vertex_counts.push_back(3);
+    }
+    pxr::SdfPath face_vertex_counts_attr_path = CreateAttributeSpec(
+        data_, mesh_path, pxr::UsdGeomTokens->faceVertexCounts,
+        pxr::SdfValueTypeNames->IntArray);
+    SetAttributeDefault(data_, face_vertex_counts_attr_path, vertex_counts);
+
+    if (model_->mesh_normalnum[mesh_id]) {
+      // We have to convert from Mujoco's indexed normals to USD's faceVarying
+      // normals.
+      pxr::VtArray<pxr::GfVec3f> normals;
+      normals.reserve(nface * 3);
+      int normal_start_adr = model_->mesh_normaladr[mesh_id];
+      int face_start_offset = model_->mesh_faceadr[mesh_id] * 3;
+      for (int i = face_start_offset; i < face_start_offset + nface * 3; ++i) {
+        int normal_adr = normal_start_adr + model_->mesh_facenormal[i];
+        normals.emplace_back(&model_->mesh_normal[normal_adr * 3]);
+      }
+      pxr::SdfPath normals_attr_path =
+          CreateAttributeSpec(data_, mesh_path, pxr::UsdGeomTokens->normals,
+                              pxr::SdfValueTypeNames->Vector3fArray);
+      SetAttributeDefault(data_, normals_attr_path, normals);
+      SetAttributeMetadata(data_, normals_attr_path,
+                           pxr::UsdGeomTokens->interpolation,
+                           pxr::UsdGeomTokens->faceVarying);
+    }
+
+    if (model_->mesh_texcoordnum[mesh_id]) {
+      // We have to convert from Mujoco's indexed texcoords to USD's faceVarying
+      // texcoords.
+      pxr::VtArray<pxr::GfVec2f> texcoords;
+      texcoords.reserve(nface * 3);
+      int texcoord_start_adr = model_->mesh_texcoordadr[mesh_id];
+      int face_start_offset = model_->mesh_faceadr[mesh_id] * 3;
+      for (int i = face_start_offset; i < face_start_offset + nface * 3; ++i) {
+        int texcoord_adr = texcoord_start_adr + model_->mesh_facetexcoord[i];
+        // Invert the V coordinate, Mujoco assumes OpenGL 0,0 is top left.
+        // But USD UVs use image bottom left 0,0 convention.
+        pxr::GfVec2f uv(&model_->mesh_texcoord[texcoord_adr * 2]);
+        uv[1] = 1.0f - uv[1];
+        texcoords.push_back(uv);
+      }
+
+      pxr::SdfPath texcoords_attr_path =
+          CreateAttributeSpec(data_, mesh_path, kTokens->primvarsSt,
+                              pxr::SdfValueTypeNames->TexCoord2fArray);
+      SetAttributeDefault(data_, texcoords_attr_path, texcoords);
+      SetAttributeMetadata(data_, texcoords_attr_path,
+                           pxr::UsdGeomTokens->interpolation,
+                           pxr::UsdGeomTokens->faceVarying);
+    }
+
+    // Default subdivision scheme is catmull clark so explicitly set it
+    // to none here.
+    pxr::SdfPath subdivision_scheme_path = CreateAttributeSpec(
+        data_, mesh_path, pxr::UsdGeomTokens->subdivisionScheme,
+        pxr::SdfValueTypeNames->Token);
+    SetAttributeDefault(data_, subdivision_scheme_path,
+                        pxr::UsdGeomTokens->none);
+  }
+
+  void WriteMeshes() {
+    // Create a scope for the meshes to keep things organized
+    pxr::SdfPath scope_path =
+        CreatePrimSpec(data_, body_paths_[kWorldIndex], kTokens->meshScope,
+                       pxr::UsdGeomTokens->Scope);
+
+    // Make the mesh scope invisible since they will be referenced by the bits
+    // that should be visible.
+    SetPrimMetadata(data_, scope_path, pxr::SdfFieldKeys->Active, false);
+
+    mjsMesh *mesh = mjs_asMesh(mjs_firstElement(spec_, mjOBJ_MESH));
+    while (mesh) {
+      WriteMesh(mesh, scope_path);
+      mesh = mjs_asMesh(mjs_nextElement(spec_, mesh->element));
+    }
+  }
+
+  pxr::SdfPath AddTextureShader(const pxr::SdfPath &material_path,
+                                const char *texture_file) {
+    // Shader "uvmap"
+    pxr::SdfPath uvmap_shader_path =
+        CreatePrimSpec(data_, material_path, pxr::TfToken("uvmap"),
+                       pxr::UsdShadeTokens->Shader);
+
+    pxr::SdfPath uvmap_info_id_attr = CreateAttributeSpec(
+        data_, uvmap_shader_path, pxr::UsdShadeTokens->infoId,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+    SetAttributeDefault(data_, uvmap_info_id_attr,
+                        pxr::UsdImagingTokens->UsdPrimvarReader_float2);
+
+    pxr::SdfPath uvmap_varname_attr =
+        CreateAttributeSpec(data_, uvmap_shader_path, kTokens->inputsVarname,
+                            pxr::SdfValueTypeNames->Token);
+    SetAttributeDefault(data_, uvmap_varname_attr, kTokens->st);
+
+    pxr::SdfPath uvmap_st_output_attr =
+        CreateAttributeSpec(data_, uvmap_shader_path, kTokens->outputsSt,
+                            pxr::SdfValueTypeNames->Float2);
+
+    // Shader "texture"
+    pxr::SdfPath texture_shader_path =
+        CreatePrimSpec(data_, material_path, pxr::TfToken("texture"),
+                       pxr::UsdShadeTokens->Shader);
+    pxr::SdfPath texture_info_id_attr = CreateAttributeSpec(
+        data_, texture_shader_path, pxr::UsdShadeTokens->infoId,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+    SetAttributeDefault(data_, texture_info_id_attr,
+                        pxr::UsdImagingTokens->UsdUVTexture);
+
+    pxr::SdfPath texture_file_attr =
+        CreateAttributeSpec(data_, texture_shader_path, kTokens->inputsFile,
+                            pxr::SdfValueTypeNames->Asset);
+    SetAttributeDefault(data_, texture_file_attr,
+                        pxr::SdfAssetPath(texture_file));
+
+    pxr::SdfPath texture_st_input_attr =
+        CreateAttributeSpec(data_, texture_shader_path, kTokens->inputsSt,
+                            pxr::SdfValueTypeNames->Float2);
+    AddAttributeConnection(data_, texture_st_input_attr, uvmap_st_output_attr);
+
+    pxr::SdfPath texture_wrap_s_attr =
+        CreateAttributeSpec(data_, texture_shader_path, kTokens->inputsWrapS,
+                            pxr::SdfValueTypeNames->Token);
+    SetAttributeDefault(data_, texture_wrap_s_attr, kTokens->repeat);
+
+    pxr::SdfPath texture_wrap_t_attr =
+        CreateAttributeSpec(data_, texture_shader_path, kTokens->inputsWrapT,
+                            pxr::SdfValueTypeNames->Token);
+    SetAttributeDefault(data_, texture_wrap_t_attr, kTokens->repeat);
+
+    pxr::SdfPath texture_rgb_output_attr =
+        CreateAttributeSpec(data_, texture_shader_path, kTokens->outputsRgb,
+                            pxr::SdfValueTypeNames->Float3);
+
+    return texture_rgb_output_attr;
+  }
+
+  void WriteMaterial(mjsMaterial *material, const pxr::SdfPath &parent_path) {
+    auto name = GetAvailablePrimName(
+        *material->name, pxr::UsdShadeTokens->Material, parent_path);
+    pxr::SdfPath material_path =
+        CreatePrimSpec(data_, parent_path, name, pxr::UsdShadeTokens->Material);
+
+    // Shader "PreviewSurface"
+    pxr::SdfPath preview_surface_shader_path = CreatePrimSpec(
+        data_, material_path, kTokens->surface, pxr::UsdShadeTokens->Shader);
+
+    pxr::SdfPath info_id_attr = CreateAttributeSpec(
+        data_, preview_surface_shader_path, pxr::UsdShadeTokens->infoId,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+    SetAttributeDefault(data_, info_id_attr,
+                        pxr::UsdImagingTokens->UsdPreviewSurface);
+
+    pxr::SdfPath surface_output_attr = CreateAttributeSpec(
+        data_, preview_surface_shader_path, pxr::UsdShadeTokens->outputsSurface,
+        pxr::SdfValueTypeNames->Token);
+
+    pxr::SdfPath displacement_output_attr =
+        CreateAttributeSpec(data_, preview_surface_shader_path,
+                            pxr::UsdShadeTokens->outputsDisplacement,
+                            pxr::SdfValueTypeNames->Token);
+
+    pxr::SdfPath diffuse_color_attr = CreateAttributeSpec(
+        data_, preview_surface_shader_path, kTokens->inputsDiffuseColor,
+        pxr::SdfValueTypeNames->Color3f);
+
+    // Find the main texture if specified.
+    std::string main_texture_name = (*material->textures)[mjTEXROLE_RGB];
+    mjsTexture *main_texture = mjs_asTexture(
+        mjs_findElement(spec_, mjOBJ_TEXTURE, main_texture_name.c_str()));
+    if (main_texture) {
+      // Create the texture shader and connect it to the diffuse color
+      // attribute.
+      pxr::SdfPath texture_rgb_output_attr =
+          AddTextureShader(material_path, main_texture->file->c_str());
+      AddAttributeConnection(data_, diffuse_color_attr,
+                             texture_rgb_output_attr);
+    } else {
+      // If no texture is specified, use the rgba diffuse color.
+      SetAttributeDefault(data_, diffuse_color_attr,
+                          pxr::GfVec3f(material->rgba[0], material->rgba[1],
+                                       material->rgba[2]));
+    }
+
+    pxr::SdfPath metallic_attr = CreateAttributeSpec(
+        data_, preview_surface_shader_path, kTokens->inputsMetallic,
+        pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, metallic_attr, material->metallic);
+
+    pxr::SdfPath material_surface_output_attr = CreateAttributeSpec(
+        data_, material_path, pxr::UsdShadeTokens->outputsSurface,
+        pxr::SdfValueTypeNames->Token);
+
+    AddAttributeConnection(data_, material_surface_output_attr,
+                           surface_output_attr);
+
+    pxr::SdfPath material_displacement_output_attr = CreateAttributeSpec(
+        data_, material_path, pxr::UsdShadeTokens->outputsDisplacement,
+        pxr::SdfValueTypeNames->Token);
+
+    AddAttributeConnection(data_, material_displacement_output_attr,
+                           displacement_output_attr);
+  }
+
+  void WriteMaterials() {
+    // Create a scope for the meshes to keep things organized
+    pxr::SdfPath scope_path =
+        CreatePrimSpec(data_, body_paths_[kWorldIndex], kTokens->materialsScope,
+                       pxr::UsdGeomTokens->Scope);
+
+    mjsMaterial *material =
+        mjs_asMaterial(mjs_firstElement(spec_, mjOBJ_MATERIAL));
+    while (material) {
+      WriteMaterial(material, scope_path);
+      material = mjs_asMaterial(mjs_nextElement(spec_, material->element));
+    }
+  }
+
+  pxr::SdfPath WriteMeshGeom(const mjsGeom *geom,
+                             const pxr::SdfPath &body_path) {
+    std::string mj_name = geom->name->empty() ? *geom->meshname : *geom->name;
+    auto name =
+        GetAvailablePrimName(mj_name, pxr::UsdGeomTokens->Mesh, body_path);
+    pxr::SdfPath subcomponent_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Xform);
+
+    // Reference the mesh asset written in WriteMeshes.
+    AddPrimReference(data_, subcomponent_path, mesh_paths_[*geom->meshname]);
+
+    return subcomponent_path;
+  }
+
+  pxr::SdfPath WriteBoxGeom(const mjsGeom *geom,
+                            const pxr::SdfPath &body_path) {
+    auto name =
+        GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Cube, body_path);
+    pxr::SdfPath box_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cube);
+
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+
+    // MuJoCo uses half sizes.
+    pxr::SdfPath size_attr_path =
+        CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->size,
+                            pxr::SdfValueTypeNames->Float);
+    pxr::GfVec3f scale(static_cast<float>(geom_size[0]),
+                       static_cast<float>(geom_size[1]),
+                       static_cast<float>(geom_size[2]));
+    SetAttributeDefault(data_, size_attr_path, 2.0);
+
+    pxr::SdfPath extent_attr_path =
+        CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->extent,
+                            pxr::SdfValueTypeNames->Float3Array);
+    SetAttributeDefault(
+        data_, extent_attr_path,
+        pxr::VtArray<pxr::GfVec3f>({
+            pxr::GfVec3f(-geom_size[0], -geom_size[1], -geom_size[2]),
+            pxr::GfVec3f(geom_size[0], geom_size[1], geom_size[2]),
+        }));
+
+    WriteScaleXformOp(box_path, scale);
+    WriteXformOpOrder(box_path,
+                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpScale});
+    return box_path;
+  }
+
+  pxr::SdfPath WriteCapsuleGeom(const mjsGeom *geom,
+                                const pxr::SdfPath &body_path) {
+    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Capsule,
+                                     body_path);
+    pxr::SdfPath capsule_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Capsule);
+
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+
+    // MuJoCo uses half sizes.
+    pxr::SdfPath radius_attr_path =
+        CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->radius,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, radius_attr_path, geom_size[0] * 2);
+
+    pxr::SdfPath height_attr_path =
+        CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->height,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, height_attr_path, geom_size[1] * 2);
+    return capsule_path;
+  }
+
+  pxr::SdfPath WriteCylinderGeom(const mjsGeom *geom,
+                                 const pxr::SdfPath &body_path) {
+    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Cylinder,
+                                     body_path);
+    pxr::SdfPath cylinder_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cylinder);
+
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+
+    // MuJoCo uses half sizes.
+    pxr::SdfPath radius_attr_path =
+        CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->radius,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, radius_attr_path, geom_size[0] * 2);
+
+    pxr::SdfPath height_attr_path =
+        CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->height,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, height_attr_path, geom_size[1] * 2);
+    return cylinder_path;
+  }
+
+  pxr::SdfPath WriteEllipsoidGeom(const mjsGeom *geom,
+                                  const pxr::SdfPath &body_path) {
+    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Sphere,
+                                     body_path);
+    pxr::SdfPath ellipsoid_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
+
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+
+    pxr::GfVec3f scale = {static_cast<float>(geom_size[0] * 2),
+                          static_cast<float>(geom_size[1] * 2),
+                          static_cast<float>(geom_size[2] * 2)};
+
+    // MuJoCo uses half sizes.
+    pxr::SdfPath radius_attr_path =
+        CreateAttributeSpec(data_, ellipsoid_path, pxr::UsdGeomTokens->radius,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, radius_attr_path, 1.0f);
+
+    WriteScaleXformOp(ellipsoid_path, scale);
+    WriteXformOpOrder(ellipsoid_path,
+                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpScale});
+    return ellipsoid_path;
+  }
+
+  pxr::SdfPath WriteSphereGeom(const mjsGeom *geom,
+                               const pxr::SdfPath &body_path) {
+    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Sphere,
+                                     body_path);
+    pxr::SdfPath sphere_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
+
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+
+    // MuJoCo uses half sizes.
+    pxr::SdfPath radius_attr_path =
+        CreateAttributeSpec(data_, sphere_path, pxr::UsdGeomTokens->radius,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, radius_attr_path, geom_size[0] * 2);
+    return sphere_path;
+  }
+
+  void WriteGeom(mjsGeom *geom, const mjsBody *body) {
+    const int body_id = mjs_getId(body->element);
+    const auto &body_path = body_paths_[body_id];
+    auto name = GetAvailablePrimName(*geom->name, kTokens->geom, body_path);
+
+    pxr::SdfPath geom_path;
+    int geom_id = mjs_getId(geom->element);
+    switch (geom->type) {
+      case mjGEOM_MESH:
+        geom_path = WriteMeshGeom(geom, body_path);
+        break;
+      case mjGEOM_BOX:
+        geom_path = WriteBoxGeom(geom, body_path);
+        break;
+      case mjGEOM_CAPSULE:
+        geom_path = WriteCapsuleGeom(geom, body_path);
+        break;
+      case mjGEOM_CYLINDER:
+        geom_path = WriteCylinderGeom(geom, body_path);
+        break;
+      case mjGEOM_ELLIPSOID:
+        geom_path = WriteEllipsoidGeom(geom, body_path);
+        break;
+      case mjGEOM_SPHERE:
+        geom_path = WriteSphereGeom(geom, body_path);
+        break;
+      default:
+        TF_WARN(UnsupportedGeomTypeError, "Unsupported geom type for geom %d",
+                geom_id);
+        return;
+    }
+
+    mjsDefault *spec_default = mjs_getDefault(geom->element);
+    pxr::TfToken valid_class_name = GetValidPrimName(*spec_default->name);
+    pxr::SdfPath geom_class_path = class_path_.AppendChild(valid_class_name);
+    if (!data_->HasSpec(geom_class_path)) {
+      pxr::SdfPath class_path =
+          CreateClassSpec(data_, class_path_, valid_class_name);
+      auto visibility_attr =
+          CreateAttributeSpec(data_, class_path, pxr::UsdGeomTokens->visibility,
+                              pxr::SdfValueTypeNames->Token);
+      SetAttributeDefault(data_, visibility_attr,
+                          pxr::UsdGeomTokens->inherited);
+    }
+
+    // Bind material if it exists.
+    if (!geom->material->empty()) {
+      pxr::SdfPath material_path =
+          body_paths_[kWorldIndex]
+              .AppendChild(kTokens->materialsScope)
+              .AppendChild(GetValidPrimName(*geom->material));
+      if (data_->HasSpec(material_path)) {
+        ApplyApiSchema(data_, geom_path,
+                       pxr::UsdShadeTokens->MaterialBindingAPI);
+        // Bind the material to this geom.
+        CreateRelationshipSpec(data_, geom_path,
+                               pxr::UsdShadeTokens->materialBinding,
+                               material_path, pxr::SdfVariabilityUniform);
+      }
+    }
+
+    if (body_id == kWorldIndex) {
+      SetPrimKind(data_, geom_path, pxr::KindTokens->component);
+    }
+    // Inherit from class.
+    AddPrimInherit(data_, geom_path, geom_class_path);
+
+    auto transform = MujocoPosQuatToTransform(&model_->geom_pos[3 * geom_id],
+                                              &model_->geom_quat[4 * geom_id]);
+    WriteTransformXformOp(geom_path, transform);
+
+    PrependToXformOpOrder(
+        geom_path, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
+  }
+
+  void WriteGeoms(mjsBody *body) {
+    mjsGeom *geom = mjs_asGeom(mjs_firstChild(body, mjOBJ_GEOM, false));
+    while (geom) {
+      WriteGeom(geom, body);
+      geom = mjs_asGeom(mjs_nextChild(body, geom->element, false));
+    }
+  }
+
+  void WriteCamera(mjsCamera *spec_cam, const mjsBody *body) {
+    const auto &body_path = body_paths_[mjs_getId(body->element)];
+    auto name = GetAvailablePrimName(*spec_cam->name,
+                                     pxr::UsdGeomTokens->Camera, body_path);
+    // Create a root Xform for the world body with the model name if it exists
+    // otherwise called 'World'.
+    pxr::SdfPath camera_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Camera);
+
+    int cam_id = mjs_getId(spec_cam->element);
+    auto transform = MujocoPosQuatToTransform(&model_->cam_pos[3 * cam_id],
+                                              &model_->cam_quat[4 * cam_id]);
+    WriteTransformXformOp(camera_path, transform);
+    WriteXformOpOrder(camera_path,
+                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
+
+    // If the camera intrinsics are specified, then it is important that we
+    // reproduce the code in mujoco/src/engine/engine_vis_visualize.c
+    const float *cam_sensorsize = &model_->cam_sensorsize[cam_id * 2];
+    bool use_intrinsic = cam_sensorsize[1] > 0.0f;
+    float znear = spec_->visual.map.znear * model_->stat.extent * 100;
+    float zfar = spec_->visual.map.zfar * model_->stat.extent * 100;
+    mjtNum fovy = model_->cam_fovy[cam_id];
+    const float *cam_intrinsic = &model_->cam_intrinsic[cam_id * 4];
+
+    const float aspect_ratio =
+        use_intrinsic ? cam_sensorsize[0] / cam_sensorsize[1] : 4.0f / 3;
+    float vertical_apperture =
+        2 * znear *
+        (use_intrinsic ? 1.0f / cam_intrinsic[1] *
+                             (cam_sensorsize[1] / 2.f - cam_intrinsic[3])
+                       : mju_tan((fovy / 2) * (M_PI / 180.0)));
+    float horizontal_aperture =
+        use_intrinsic ? 2 * znear / cam_intrinsic[0] *
+                            (cam_sensorsize[0] / 2.f - cam_intrinsic[2])
+                      : vertical_apperture * aspect_ratio;
+
+    pxr::SdfPath clipping_range_attr_path = CreateAttributeSpec(
+        data_, camera_path, pxr::UsdGeomTokens->clippingRange,
+        pxr::SdfValueTypeNames->Float2);
+    SetAttributeDefault(data_, clipping_range_attr_path,
+                        pxr::GfVec2f(znear, zfar));
+    pxr::SdfPath focal_length_attr_path =
+        CreateAttributeSpec(data_, camera_path, pxr::UsdGeomTokens->focalLength,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, focal_length_attr_path, znear);
+
+    pxr::SdfPath vertical_aperture_attr_path = CreateAttributeSpec(
+        data_, camera_path, pxr::UsdGeomTokens->verticalAperture,
+        pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, vertical_aperture_attr_path, vertical_apperture);
+
+    pxr::SdfPath horizontal_aperture_attr_path = CreateAttributeSpec(
+        data_, camera_path, pxr::UsdGeomTokens->horizontalAperture,
+        pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, horizontal_aperture_attr_path,
+                        horizontal_aperture);
+  }
+
+  void WriteCameras(mjsBody *body) {
+    mjsCamera *cam = mjs_asCamera(mjs_firstChild(body, mjOBJ_CAMERA, false));
+    while (cam) {
+      WriteCamera(cam, body);
+      cam = mjs_asCamera(mjs_nextChild(body, cam->element, false));
+    }
+  }
+
+  void WriteLight(mjsLight *light, const mjsBody *body) {
+    const auto &body_path = body_paths_[mjs_getId(body->element)];
+    auto name = GetAvailablePrimName(*light->name, kTokens->light, body_path);
+    // Create a root Xform for the world body with the model name if it exists
+    // otherwise called 'World'.
+    pxr::SdfPath light_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdLuxTokens->SphereLight);
+
+    int light_id = mjs_getId(light->element);
+    auto transform = MujocoPosQuatToTransform(&model_->light_pos[3 * light_id],
+                                              &model_->light_dir[4 * light_id]);
+    WriteTransformXformOp(light_path, transform);
+    WriteXformOpOrder(light_path,
+                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
+  }
+
+  void WriteLights(mjsBody *body) {
+    mjsLight *light = mjs_asLight(mjs_firstChild(body, mjOBJ_LIGHT, false));
+    while (light) {
+      WriteLight(light, body);
+      light = mjs_asLight(mjs_nextChild(body, light->element, false));
+    }
+  }
+
+  void WriteBody(mjsBody *body) {
+    int body_id = mjs_getId(body->element);
+    pxr::SdfPath parent_path =
+        CreateParentIfNotExists(body, body_paths_[kWorldIndex], data_);
+    pxr::TfToken body_name = GetValidPrimName(*body->name);
+
+    // Create Xform prim for body.
+    pxr::SdfPath body_path = CreatePrimSpec(data_, parent_path, body_name,
+                                            pxr::UsdGeomTokens->Xform);
+    // The parent_path will be a component which makes the actual articulated
+    // bodies subcomponents.
+    SetPrimKind(data_, body_path, pxr::KindTokens->subcomponent);
+
+    // Create classes if necessary
+    mjsDefault *spec_default = mjs_getDefault(body->element);
+
+    pxr::TfToken body_class_name = GetValidPrimName(*spec_default->name);
+    pxr::SdfPath body_class_path = class_path_.AppendChild(body_class_name);
+    if (!data_->HasSpec(body_class_path)) {
+      CreateClassSpec(data_, class_path_, body_class_name);
+    }
+
+    // Create XformOp attribute for body transform.
+    pxr::SdfPath xform_op_path =
+        CreateAttributeSpec(data_, body_path, kTokens->xformOpTransform,
+                            pxr::SdfValueTypeNames->Matrix4d);
+
+    // Make sure to account for the parent since UsdPhysics doesn't support
+    // nested bodies!
+    auto parent_xform = body_xforms_[model_->body_parentid[body_id]];
+    // mjModel will have all frames already accounted for so no need to worry
+    // about them here.
+    body_xforms_[body_id] =
+        MujocoPosQuatToTransform(&model_->body_pos[body_id * 3],
+                                 &model_->body_quat[body_id * 4]) *
+        parent_xform;
+    SetAttributeDefault(data_, xform_op_path, body_xforms_[body_id]);
+
+    // Create XformOpOrder attribute for body transform order.
+    // For us this is simply the transform we authored above.
+    WriteXformOpOrder(body_path,
+                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
+
+    pxr::VtDictionary customData;
+    customData[kTokens->body_name] = *body->name;
+    SetPrimMetadata(data_, body_path, pxr::SdfFieldKeys->CustomData,
+                    customData);
+
+    body_paths_[body_id] = body_path;
+  }
+
+  void WriteBodies() {
+    mjsBody *body = mjs_asBody(mjs_firstElement(spec_, mjOBJ_BODY));
+    while (body) {
+      // Only write a rigidbody if we are not the world body.
+      // We fall through since the world body might have static
+      // geom children.
+      if (mjs_getId(body->element) != kWorldIndex) {
+        WriteBody(body);
+      }
+      WriteGeoms(body);
+      WriteCameras(body);
+      WriteLights(body);
+      body = mjs_asBody(mjs_nextElement(spec_, body->element));
+    }
+  }
+
+  pxr::SdfPath WriteWorldBody(const size_t body_index) {
+    // Create a root Xform for the world body with the model name if it exists
+    // otherwise called 'World'.
+    auto name = GetAvailablePrimName(*spec_->modelname, kTokens->world,
+                                     pxr::SdfPath::AbsoluteRootPath());
+    pxr::SdfPath world_group_path =
+        CreatePrimSpec(data_, pxr::SdfPath::AbsoluteRootPath(), name,
+                       pxr::UsdGeomTokens->Xform);
+    SetPrimKind(data_, world_group_path, pxr::KindTokens->group);
+    return world_group_path;
+  }
+};
+
+namespace mujoco {
+namespace usd {
+
+bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data) {
+  // Create pseudo root first.
+  data->CreateSpec(pxr::SdfPath::AbsoluteRootPath(),
+                   pxr::SdfSpecTypePseudoRoot);
+
+  mjModel *model = mj_compile(spec, nullptr);
+  if (model == nullptr) {
+    TF_ERROR(MujocoCompilationError, "%s", mjs_getError(spec));
+    return false;
+  }
+
+  ModelWriter(spec, model, data).Write();
+
+  return true;
+}
+
+}  // namespace usd
+}  // namespace mujoco
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
new file mode 100644
index 00000000..4c5934c6
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
@@ -0,0 +1,32 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/abstractData.h>
+
+namespace mujoco {
+namespace usd {
+// Given an mjSpec, write it to a SdfAbstractData.
+//
+// Args:
+//   spec: mjSpec built programmatically or via parsed XML.
+//   data: SdfAbstractDataRefPtr that will be written to.
+bool WriteSpecToData(mjSpec* spec, pxr::SdfAbstractDataRefPtr& data);
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
diff --git a/src/experimental/usd/plugins/mjcf/plugInfo.json b/src/experimental/usd/plugins/mjcf/plugInfo.json
new file mode 100644
index 00000000..25869b76
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/plugInfo.json
@@ -0,0 +1,25 @@
+{
+  "Plugins": [
+    {
+      "Info": {
+        "Types": {
+          "UsdMjcfFileFormat": {
+            "bases": ["SdfFileFormat"],
+            "displayName": "MJCF USD File Format",
+            "extensions": ["xml"],
+            "formatId": "xml",
+            "primary": true,
+            "supportsReading": true,
+            "supportsWriting": false,
+            "target": "usd"
+          }
+        }
+      },
+      "LibraryPath": "",
+      "Name": "usdMjcf",
+      "ResourcePath": "",
+      "Root": ".",
+      "Type": "library"
+    }
+  ]
+}
diff --git a/src/experimental/usd/plugins/mjcf/utils.cc b/src/experimental/usd/plugins/mjcf/utils.cc
new file mode 100644
index 00000000..880cce55
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/utils.cc
@@ -0,0 +1,199 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "mjcf/utils.h"
+
+#include <string>
+#include <vector>
+
+#include <pxr/base/tf/token.h>
+#include <pxr/usd/sdf/abstractData.h>
+#include <pxr/usd/sdf/listOp.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/reference.h>
+#include <pxr/usd/sdf/schema.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/sdf/valueTypeName.h>
+#include <pxr/usd/usd/tokens.h>
+namespace {
+
+template <typename T>
+void AppendChild(pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& specPath,
+                 const pxr::TfToken& childKey, const T& child) {
+  // Get existing children.
+  std::vector<T> children;
+  pxr::SdfAbstractDataTypedValue<std::vector<T>> getter(&children);
+  data->Has(specPath, childKey, &getter);
+
+  children.push_back(child);
+  data->Set(specPath, childKey,
+            pxr::SdfAbstractDataConstTypedValue<std::vector<T>>(&children));
+}
+
+template <typename T>
+void AppendListOp(pxr::SdfAbstractDataRefPtr& data,
+                  const pxr::SdfPath& spec_path, const pxr::TfToken& field,
+                  const T& item) {
+  // Get existing list op.
+  pxr::SdfListOp<T> list_op;
+  pxr::SdfAbstractDataTypedValue<pxr::SdfListOp<T>> getter(&list_op);
+  data->Has(spec_path, field, &getter);
+
+  auto items = list_op.GetExplicitItems();
+  items.push_back(item);
+  list_op.SetExplicitItems(items);
+  data->Set(spec_path, field,
+            pxr::SdfAbstractDataConstTypedValue<pxr::SdfListOp<T>>(&list_op));
+}
+
+template <typename T>
+void PrependListOp(pxr::SdfAbstractDataRefPtr& data,
+                   const pxr::SdfPath& spec_path, const pxr::TfToken& field,
+                   const T& item) {
+  // Get existing list op.
+  pxr::SdfListOp<T> listOp;
+  pxr::SdfAbstractDataTypedValue<pxr::SdfListOp<T>> getter(&listOp);
+  data->Has(spec_path, field, &getter);
+
+  auto prependedItems = listOp.GetPrependedItems();
+  prependedItems.insert(prependedItems.begin(), item);
+  listOp.SetPrependedItems(prependedItems);
+  data->Set(spec_path, field,
+            pxr::SdfAbstractDataConstTypedValue<pxr::SdfListOp<T>>(&listOp));
+}
+}  // namespace
+
+namespace mujoco {
+namespace usd {
+
+pxr::SdfPath CreatePrimSpec(pxr::SdfAbstractDataRefPtr& data,
+                            const pxr::SdfPath& parent_path,
+                            const pxr::TfToken& name, const pxr::TfToken& type,
+                            pxr::SdfSpecifier specifier) {
+  const pxr::SdfPath prim_path = parent_path.AppendChild(name);
+  data->CreateSpec(prim_path, pxr::SdfSpecTypePrim);
+  data->Set(prim_path, pxr::SdfFieldKeys->Specifier,
+            pxr::SdfAbstractDataConstTypedValue<pxr::SdfSpecifier>(&specifier));
+  if (!type.IsEmpty()) {
+    data->Set(prim_path, pxr::SdfFieldKeys->TypeName,
+              pxr::SdfAbstractDataConstTypedValue<const pxr::TfToken>(&type));
+  }
+
+  AppendChild(data, parent_path, pxr::SdfChildrenKeys->PrimChildren, name);
+
+  return prim_path;
+}
+
+pxr::SdfPath CreateAttributeSpec(pxr::SdfAbstractDataRefPtr& data,
+                                 const pxr::SdfPath& prim_path,
+                                 const pxr::TfToken& name,
+                                 const pxr::SdfValueTypeName& type_name,
+                                 pxr::SdfVariability variability) {
+  const pxr::SdfPath propertyPath = prim_path.AppendProperty(name);
+  data->CreateSpec(propertyPath, pxr::SdfSpecTypeAttribute);
+
+  pxr::TfToken typeNameToken = type_name.GetAsToken();
+  data->Set(propertyPath, pxr::SdfFieldKeys->TypeName,
+            pxr::SdfAbstractDataConstTypedValue<pxr::TfToken>(&typeNameToken));
+  if (variability != pxr::SdfVariabilityVarying) {
+    data->Set(
+        propertyPath, pxr::SdfFieldKeys->Variability,
+        pxr::SdfAbstractDataConstTypedValue<pxr::SdfVariability>(&variability));
+  }
+
+  AppendChild(data, prim_path, pxr::SdfChildrenKeys->PropertyChildren, name);
+
+  return propertyPath;
+}
+
+pxr::SdfPath CreateRelationshipSpec(pxr::SdfAbstractDataRefPtr& data,
+                                    const pxr::SdfPath& prim_path,
+                                    const pxr::TfToken& relationship_name,
+                                    const pxr::SdfPath& relationship_path,
+                                    pxr::SdfVariability variability) {
+  pxr::SdfPath prop_path = prim_path.AppendProperty(relationship_name);
+  data->CreateSpec(prop_path, pxr::SdfSpecTypeRelationship);
+  if (variability != pxr::SdfVariabilityVarying) {
+    data->Set(
+        prop_path, pxr::SdfFieldKeys->Variability,
+        pxr::SdfAbstractDataConstTypedValue<pxr::SdfVariability>(&variability));
+  }
+
+  AppendChild(data, prim_path, pxr::SdfChildrenKeys->PropertyChildren,
+              relationship_name);
+
+  AppendChild(data, prop_path, pxr::SdfChildrenKeys->RelationshipTargetChildren,
+              relationship_path);
+  AppendListOp(data, prop_path, pxr::SdfFieldKeys->TargetPaths,
+               relationship_path);
+
+  pxr::SdfPath target_path = prop_path.AppendTarget(relationship_path);
+  data->CreateSpec(target_path, pxr::SdfSpecTypeRelationshipTarget);
+
+  return prop_path;
+}
+
+pxr::SdfPath CreateClassSpec(pxr::SdfAbstractDataRefPtr& data,
+                             const pxr::SdfPath& prim_path,
+                             const pxr::TfToken& class_name) {
+  pxr::SdfPath class_path = prim_path.AppendChild(class_name);
+  pxr::SdfSpecifier class_specifier = pxr::SdfSpecifier::SdfSpecifierClass;
+  data->CreateSpec(class_path, pxr::SdfSpecTypePrim);
+  data->Set(
+      class_path, pxr::SdfFieldKeys->Specifier,
+      pxr::SdfAbstractDataConstTypedValue<pxr::SdfSpecifier>(&class_specifier));
+
+  AppendChild(data, prim_path, pxr::SdfChildrenKeys->PrimChildren, class_name);
+
+  return class_path;
+}
+
+void AddAttributeConnection(pxr::SdfAbstractDataRefPtr& data,
+                            const pxr::SdfPath& attribute_path,
+                            const pxr::SdfPath& target_attribute_path) {
+  AppendChild(data, attribute_path, pxr::SdfChildrenKeys->ConnectionChildren,
+              target_attribute_path);
+  AppendListOp(data, attribute_path, pxr::SdfFieldKeys->ConnectionPaths,
+               target_attribute_path);
+
+  data->CreateSpec(attribute_path.AppendTarget(target_attribute_path),
+                   pxr::SdfSpecTypeConnection);
+}
+
+void AddPrimReference(pxr::SdfAbstractDataRefPtr& data,
+                      const pxr::SdfPath& prim_path,
+                      const pxr::SdfPath& referenced_prim_path) {
+  PrependListOp(data, prim_path, pxr::SdfFieldKeys->References,
+                pxr::SdfReference("", referenced_prim_path));
+}
+
+void AddPrimInherit(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path,
+                    const pxr::SdfPath& class_path) {
+  PrependListOp(data, prim_path, pxr::SdfFieldKeys->InheritPaths, class_path);
+}
+
+void ApplyApiSchema(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path,
+                    const pxr::TfToken& schema_name) {
+  PrependListOp(data, prim_path, pxr::UsdTokens->apiSchemas, schema_name);
+}
+
+void SetPrimKind(pxr::SdfAbstractDataRefPtr& data,
+                 const pxr::SdfPath& prim_path, pxr::TfToken kind) {
+  SetPrimMetadata(data, prim_path, pxr::TfToken("kind"), kind);
+}
+
+}  // namespace usd
+}  // namespace mujoco
diff --git a/src/experimental/usd/plugins/mjcf/utils.h b/src/experimental/usd/plugins/mjcf/utils.h
new file mode 100644
index 00000000..4a2643ec
--- /dev/null
+++ b/src/experimental/usd/plugins/mjcf/utils.h
@@ -0,0 +1,127 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
+
+#include <type_traits>
+
+#include <pxr/base/tf/token.h>
+#include <pxr/imaging/hd/primTypeIndex.h>
+#include <pxr/usd/sdf/abstractData.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/sdf/valueTypeName.h>
+
+namespace mujoco {
+namespace usd {
+
+// Create a prim spec and append it as a child of parent_path.
+pxr::SdfPath CreatePrimSpec(
+    pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& parent_path,
+    const pxr::TfToken& name, const pxr::TfToken& type = pxr::TfToken(),
+    pxr::SdfSpecifier specifier = pxr::SdfSpecifier::SdfSpecifierDef);
+
+// Create an attribute spec and append it as a child of parent_path.
+// By default the attribute will be varying.
+pxr::SdfPath CreateAttributeSpec(
+    pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& prim_path,
+    const pxr::TfToken& name, const pxr::SdfValueTypeName& type_name,
+    pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
+
+// Create a relationship spec and append it as a child of prim_path.
+pxr::SdfPath CreateRelationshipSpec(
+    pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& prim_path,
+    const pxr::TfToken& relationship_name,
+    const pxr::SdfPath& relationship_path,
+    pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
+
+pxr::SdfPath CreateClassSpec(pxr::SdfAbstractDataRefPtr& data,
+                             const pxr::SdfPath& prim_path,
+                             const pxr::TfToken& class_name);
+
+void AddAttributeConnection(pxr::SdfAbstractDataRefPtr& data,
+                            const pxr::SdfPath& attribute_path,
+                            const pxr::SdfPath& target_attribute_path);
+
+void AddPrimReference(pxr::SdfAbstractDataRefPtr& data,
+                      const pxr::SdfPath& prim_path,
+                      const pxr::SdfPath& referenced_prim_path);
+
+void AddPrimInherit(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path,
+                    const pxr::SdfPath& class_path);
+
+void ApplyApiSchema(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path,
+                    const pxr::TfToken& schema_name);
+
+void SetPrimKind(pxr::SdfAbstractDataRefPtr& data,
+                 const pxr::SdfPath& prim_path, pxr::TfToken kind);
+
+// Set the value specified by key on any field at field_path.
+template <typename T>
+void SetField(pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& field_path,
+              const pxr::TfToken key, T&& value) {
+  using Deduced = typename std::remove_reference_t<T>;
+  const auto typed_val = pxr::SdfAbstractDataConstTypedValue<Deduced>(&value);
+  const pxr::SdfAbstractDataConstValue& untyped_val = typed_val;
+
+  data->Set(field_path, key, untyped_val);
+}
+
+// Set the value specified by key on an attribute spec at attribute_path.
+template <typename T>
+void SetAttribute(pxr::SdfAbstractDataRefPtr& data,
+                  const pxr::SdfPath& attribute_path, const pxr::TfToken key,
+                  T&& value) {
+  SetField(data, attribute_path, key, value);
+}
+
+// Set the value specified by key on a prim spec at prim_path.
+template <typename T>
+void SetPrimMetadata(pxr::SdfAbstractDataRefPtr& data,
+                     const pxr::SdfPath& prim_path, const pxr::TfToken key,
+                     T&& value) {
+  SetAttribute(data, prim_path, key, value);
+}
+
+// Set the value specified by key on an attribute spec at attribute_path.
+template <typename T>
+void SetAttributeMetadata(pxr::SdfAbstractDataRefPtr& data,
+                          const pxr::SdfPath& attribute_path,
+                          const pxr::TfToken key, T&& value) {
+  SetAttribute(data, attribute_path, key, value);
+}
+
+// Set the default value on an attribute spec at attribute_path.
+template <typename T>
+void SetAttributeDefault(pxr::SdfAbstractDataRefPtr& data,
+                         const pxr::SdfPath& attribute_path,
+                         T&& default_value) {
+  SetAttribute(data, attribute_path, pxr::SdfFieldKeys->Default, default_value);
+}
+
+// Set the value specified by key on the root layer.
+template <typename T>
+void SetLayerMetadata(pxr::SdfAbstractDataRefPtr& data, const pxr::TfToken& key,
+                      T&& value) {
+  SetAttribute(data, pxr::SdfPath::AbsoluteRootPath(), key, value);
+}
+
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
diff --git a/test/experimental/usd/plugins/mjcf/fixture.cc b/test/experimental/usd/plugins/mjcf/fixture.cc
new file mode 100644
index 00000000..19cd8e6e
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/fixture.cc
@@ -0,0 +1,64 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "test/experimental/usd/plugins/mjcf/fixture.h"
+
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/log/check.h>
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/modelAPI.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdGeom/mesh.h>
+#include <pxr/usd/usdGeom/primvarsAPI.h>
+namespace mujoco {
+
+using pxr::SdfPath;
+
+pxr::SdfLayerRefPtr LoadLayer(const std::string& xml) {
+  auto layer = pxr::SdfLayer::CreateAnonymous(
+      "test_layer", pxr::SdfFileFormat::FindByExtension("xml"));
+  layer->ImportFromString(xml);
+  EXPECT_THAT(layer, testing::NotNull());
+  return layer;
+}
+
+template <>
+void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
+                                             const char* path,
+                                             const pxr::SdfAssetPath& value) {
+  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
+  EXPECT_TRUE(attr.IsValid());
+  pxr::SdfAssetPath attr_value;
+  attr.Get(&attr_value);
+  EXPECT_EQ(attr_value.GetAssetPath(), value.GetAssetPath());
+}
+
+void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
+                                  const char* connection_path) {
+  auto attr = stage->GetAttributeAtPath(SdfPath(path));
+  EXPECT_TRUE(attr.IsValid());
+  pxr::SdfPathVector sources;
+  attr.GetConnections(&sources);
+  EXPECT_EQ(sources.size(), 1);
+  EXPECT_EQ(sources[0], SdfPath(connection_path));
+}
+//
+}  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
new file mode 100644
index 00000000..64985fae
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -0,0 +1,67 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
+#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
+
+#include <string>
+
+#include <gtest/gtest.h>
+#include "test/fixture.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/modelAPI.h>
+#include <pxr/usd/usd/stage.h>
+
+#define EXPECT_PRIM_VALID(stage, path) \
+  EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
+
+#define EXPECT_PRIM_KIND(stage, path, kind)                          \
+  {                                                                  \
+    pxr::TfToken prim_kind;                                          \
+    pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
+    EXPECT_EQ(kind, prim_kind);                                      \
+  }
+namespace mujoco {
+
+pxr::SdfLayerRefPtr LoadLayer(const std::string& xml);
+
+template <typename T>
+void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
+                          const T& value) {
+  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
+  EXPECT_TRUE(attr.IsValid());
+  T attr_value;
+  attr.Get(&attr_value);
+  EXPECT_EQ(attr_value, value);
+}
+
+// Specialization for SdfAssetPath, so that we can compare only the asset path
+// and not care about whatever the resolved path is.
+// Otherwise the default operator== would fail because it tests for equality of
+// the asset path AND the resolved path.
+template <>
+void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
+                                             const char* path,
+                                             const pxr::SdfAssetPath& value);
+
+void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
+                                  const char* connection_path);
+
+using MjcfSdfFileFormatPluginTest = MujocoTest;
+
+}  // namespace mujoco
+#endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
new file mode 100644
index 00000000..8ca9bdba
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -0,0 +1,387 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/strings/string_view.h>
+#include "test/experimental/usd/plugins/mjcf/fixture.h"
+#include "test/fixture.h"
+#include <pxr/base/gf/vec2f.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/staticData.h>
+#include <pxr/base/tf/staticTokens.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/vt/array.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/kind/registry.h>
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/modelAPI.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdGeom/mesh.h>
+#include <pxr/usd/usdGeom/primvar.h>
+#include <pxr/usd/usdGeom/primvarsAPI.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+// clang-format off
+TF_DEFINE_PRIVATE_TOKENS(_tokens,
+                         (st)
+                         );
+// clang-format on
+PXR_NAMESPACE_CLOSE_SCOPE
+
+namespace mujoco {
+namespace {
+
+using pxr::SdfPath;
+
+static const char* kMaterialsPath =
+    "experimental/usd/plugins/mjcf/testdata/materials.xml";
+static const char* kMeshObjPath =
+    "experimental/usd/plugins/mjcf/testdata/mesh_obj.xml";
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestClassAuthored) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <default>
+        <default class="test">
+        </default>
+      </default>
+      <worldbody>
+        <body name="test_body" pos="0 0 0">
+          <geom class="test" type="sphere" size="2 2 2"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_VALID(stage, "/__class__");
+  EXPECT_PRIM_VALID(stage, "/__class__/test");
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="mesh test">
+      <asset>
+        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      </asset>
+      <worldbody>
+        <body name="test_body">
+          <geom type="mesh" mesh="tetrahedron"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_VALID(stage, "/mesh_test");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron/Mesh");
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
+  const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
+
+  auto stage = pxr::UsdStage::Open(xml_path);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials");
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_red");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_red/PreviewSurface");
+  ExpectAttributeEqual(
+      stage,
+      "/mesh_test/Materials/material_red/PreviewSurface.inputs:diffuseColor",
+      pxr::GfVec3f(0.8, 0, 0));
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture");
+  EXPECT_PRIM_VALID(stage,
+                    "/mesh_test/Materials/material_texture/PreviewSurface");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/uvmap");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/texture");
+  ExpectAttributeHasConnection(
+      stage,
+      "/mesh_test/Materials/material_texture/"
+      "PreviewSurface.inputs:diffuseColor",
+      "/mesh_test/Materials/material_texture/texture.outputs:rgb");
+  ExpectAttributeEqual(
+      stage, "/mesh_test/Materials/material_texture/texture.inputs:file",
+      pxr::SdfAssetPath("textures/cube.png"));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="mesh test">
+      <asset>
+        <mesh
+          name="tetrahedron"
+          face="0 3 2  0 1 3  0 2 1  1 2 3"
+          vertex="0 1 0  0 0 0  1 0 1  1 0 -1"
+          normal="1 0 0  0 1 0  0 0 1  -1 0 0"
+          texcoord="0.5 0.5  0 0.5  1 1  1 0"/>
+      </asset>
+      <worldbody>
+        <body name="test_body">
+          <geom type="mesh" mesh="tetrahedron"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+
+  auto mesh = pxr::UsdGeomMesh::Get(
+      stage, SdfPath("/mesh_test/test_body/test_body/tetrahedron/Mesh"));
+  ASSERT_TRUE(mesh);
+  pxr::VtArray<int> face_vertex_counts;
+  mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
+  EXPECT_EQ(face_vertex_counts.size(), 4);
+  EXPECT_EQ(face_vertex_counts, pxr::VtArray<int>({3, 3, 3, 3}));
+
+  pxr::VtArray<int> face_vertex_indices;
+  mesh.GetFaceVertexIndicesAttr().Get(&face_vertex_indices);
+  EXPECT_EQ(face_vertex_indices.size(), 12);
+  EXPECT_EQ(face_vertex_indices,
+            pxr::VtArray<int>({0, 3, 2, 0, 1, 3, 0, 2, 1, 1, 2, 3}));
+
+  pxr::VtArray<pxr::GfVec3f> normals;
+  mesh.GetNormalsAttr().Get(&normals);
+  EXPECT_EQ(normals.size(), face_vertex_indices.size());
+  // We can't directly check the normals values because they are altered by
+  // Mujoco's compiling step. So we at least check that normals with the same
+  // original index are the same.
+  for (int i = 0; i < face_vertex_indices.size(); ++i) {
+    for (int j = i + 1; j < face_vertex_indices.size(); ++j) {
+      if (face_vertex_indices[i] == face_vertex_indices[j]) {
+        EXPECT_EQ(normals[i], normals[j]);
+      }
+    }
+  }
+
+  auto primvars_api = pxr::UsdGeomPrimvarsAPI(mesh.GetPrim());
+
+  pxr::VtArray<pxr::GfVec2f> texcoords;
+  EXPECT_TRUE(primvars_api.HasPrimvar(pxr::_tokens->st));
+  auto primvar_st = primvars_api.GetPrimvar(pxr::_tokens->st);
+  primvar_st.Get(&texcoords);
+  EXPECT_EQ(texcoords.size(), face_vertex_indices.size());
+
+  // Check the faceVarying texcoords against the manually indexed source
+  // texcoords.
+  pxr::VtArray<pxr::GfVec2f> source_texcoords{
+      {0.5, 0.5}, {0, 0.5}, {1, 0}, {1, 1}};
+  for (int i = 0; i < face_vertex_indices.size(); ++i) {
+    EXPECT_EQ(texcoords[i], source_texcoords[face_vertex_indices[i]]);
+  }
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest,
+       TestFaceVaryingMeshSourcesObjWithIndexedNormals) {
+  const std::string xml_path = GetTestDataFilePath(kMeshObjPath);
+
+  auto stage = pxr::UsdStage::Open(xml_path);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  auto mesh = pxr::UsdGeomMesh::Get(
+      stage, SdfPath("/mesh_test/test_body/test_body/mesh/Mesh"));
+  ASSERT_TRUE(mesh);
+  pxr::VtArray<int> face_vertex_counts;
+  mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
+  EXPECT_EQ(face_vertex_counts.size(), 4);
+  EXPECT_EQ(face_vertex_counts, pxr::VtArray<int>({3, 3, 3, 3}));
+
+  pxr::VtArray<int> face_vertex_indices;
+  mesh.GetFaceVertexIndicesAttr().Get(&face_vertex_indices);
+  EXPECT_EQ(face_vertex_indices.size(), 12);
+  EXPECT_EQ(face_vertex_indices,
+            pxr::VtArray<int>({0, 3, 2, 0, 1, 3, 0, 2, 1, 1, 2, 3}));
+
+  pxr::VtArray<pxr::GfVec3f> normals;
+  mesh.GetNormalsAttr().Get(&normals);
+  EXPECT_EQ(normals.size(), face_vertex_indices.size());
+  // We can't directly check the normals values because they are altered by
+  // Mujoco's compiling step.
+  // We also can't access the normals indexing data, and can't use the vertex
+  // indexing data here because they are separate.
+  // So we check that the first half of the normals are the same, then the
+  // second half, as set in the OBJ file.
+  pxr::GfVec3f first_half_normal = normals[0];
+  pxr::GfVec3f second_half_normal = normals[face_vertex_indices.size() / 2];
+  EXPECT_NE(first_half_normal, second_half_normal);
+  int i = 0;
+  for (; i < face_vertex_indices.size() / 2; ++i) {
+    EXPECT_EQ(normals[i], first_half_normal);
+  }
+  for (; i < face_vertex_indices.size(); ++i) {
+    EXPECT_EQ(normals[i], second_half_normal);
+  }
+
+  auto primvars_api = pxr::UsdGeomPrimvarsAPI(mesh.GetPrim());
+
+  pxr::VtArray<pxr::GfVec2f> texcoords;
+  EXPECT_TRUE(primvars_api.HasPrimvar(pxr::_tokens->st));
+  auto primvar_st = primvars_api.GetPrimvar(pxr::_tokens->st);
+  primvar_st.Get(&texcoords);
+  EXPECT_EQ(texcoords.size(), face_vertex_indices.size());
+
+  // Check the faceVarying texcoords against the manually indexed source
+  // texcoords.
+  // NOTE: For OBJ we must use different indices for the texcoords than for the
+  // vertices!
+  std::vector<int> source_face_texcoord_indices{0, 1, 2, 1, 2, 3,
+                                                2, 3, 0, 3, 0, 1};
+  pxr::VtArray<pxr::GfVec2f> source_texcoords{
+      {0.5, 0.5}, {0, 0.5}, {1, 0}, {1, 1}};
+  // NOTE: The v component of the texcoords is flipped when Mujoco loads the
+  // OBJ.
+  for (auto& uv : source_texcoords) {
+    uv[1] = 1 - uv[1];
+  }
+  for (int i = 0; i < source_face_texcoord_indices.size(); ++i) {
+    EXPECT_EQ(texcoords[i], source_texcoords[source_face_texcoord_indices[i]]);
+  }
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestBody) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="body test">
+      <asset>
+        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      </asset>
+      <worldbody>
+        <body name="test_body" pos="0 1 0">
+          <joint type="free" />
+          <frame pos="0 0 1">
+            <frame pos="0 0 1">
+              <body name="test_body_2" pos="1 0 0">
+                <geom type="mesh" mesh="tetrahedron"/>
+              </body>
+            </frame>
+          </frame>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_VALID(stage, "/body_test");
+  EXPECT_PRIM_VALID(stage, "/body_test/test_body");
+  EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body");
+  EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body_2");
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestBasicParenting) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="root" pos="0 1 0">
+              <body name="root/body_1" pos="1 0 0" />
+              <body name="root/body_2" pos="1 0 0">
+                <body name="root/body_3" pos="1 0 0" />
+              </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_VALID(stage, "/test/root");
+  EXPECT_PRIM_VALID(stage, "/test/root/root");
+  EXPECT_PRIM_VALID(stage, "/test/root/root_body_1");
+  EXPECT_PRIM_VALID(stage, "/test/root/root_body_2");
+  EXPECT_PRIM_VALID(stage, "/test/root/root_body_3");
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <asset>
+        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      </asset>
+      <worldbody>
+        <body name="root" pos="0 1 0">
+          <joint type="free" />
+          <geom type="mesh" mesh="tetrahedron"/>
+          <body name="middle">
+            <body name="tet">
+              <joint type="hinge" />
+              <geom type="mesh" mesh="tetrahedron"/>
+            </body>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_VALID(stage, "/test/root");
+  EXPECT_PRIM_VALID(stage, "/test/root/root");
+  EXPECT_PRIM_VALID(stage, "/test/root/middle");
+  EXPECT_PRIM_VALID(stage, "/test/root/tet");
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <asset>
+        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      </asset>
+      <worldbody>
+        <body name="root" pos="0 1 0">
+          <joint type="free" />
+          <geom type="mesh" mesh="tetrahedron"/>
+          <body name="middle">
+            <body name="tet">
+              <joint type="hinge" />
+              <geom type="mesh" mesh="tetrahedron"/>
+            </body>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_KIND(stage, "/test", pxr::KindTokens->group);
+  EXPECT_PRIM_KIND(stage, "/test/root", pxr::KindTokens->component);
+  EXPECT_PRIM_KIND(stage, "/test/root/root", pxr::KindTokens->subcomponent);
+  EXPECT_PRIM_KIND(stage, "/test/root/middle", pxr::KindTokens->subcomponent);
+  EXPECT_PRIM_KIND(stage, "/test/root/tet", pxr::KindTokens->subcomponent);
+}
+
+}  // namespace
+}  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/testdata/materials.xml b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
new file mode 100644
index 00000000..735a789d
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
@@ -0,0 +1,15 @@
+<mujoco model="mesh test">
+  <asset>
+    <texture name="texture" file="textures/cube.png" type="2d" />
+    <material name="material_red" rgba="0.8 0 0 1" />
+    <material name="material_texture" texture="texture" />
+    <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+  </asset>
+  <worldbody>
+    <body name="test_body">
+      <geom material="material_red" type="mesh" mesh="tetrahedron"/>
+      <geom material="material_texture" type="mesh" mesh="tetrahedron"/>
+    </body>
+  </worldbody>
+</mujoco>
+
diff --git a/test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml b/test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml
new file mode 100644
index 00000000..11465088
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml
@@ -0,0 +1,10 @@
+<mujoco model="mesh test">
+  <asset>
+    <mesh name="mesh" file="meshes/tetrahedron.obj"/>
+  </asset>
+  <worldbody>
+    <body name="test_body">
+      <geom type="mesh" mesh="mesh"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj b/test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj
new file mode 100644
index 00000000..98ab2e51
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj
@@ -0,0 +1,16 @@
+v 0 1 0
+v 0 0 0
+v 1 0 1
+v 1 0 -1
+vn 1 0 0
+vn -1 0 0
+vt 0.5 0.5
+vt 0 0.5
+vt 1 1
+vt 1 0
+
+f 1/1/1 4/2/1 3/3/1
+f 1/2/1 2/3/1 4/4/1
+f 1/3/2 3/4/2 2/1/2
+f 2/4/2 3/1/2 4/2/2
+
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/cube.png b/test/experimental/usd/plugins/mjcf/testdata/textures/cube.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c244eca6405e36009a8cf885df2f6487315bbb2
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HcmV?d00001


From e8c67ca586e23ac62e8f8ef58e82945036edcbf2 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 26 Mar 2025 14:43:55 -0700
Subject: [PATCH 011/191] Allow orientation for user composite.

PiperOrigin-RevId: 740909723
Change-Id: Id38a55114d4257a461bbced57d35d6bb42a2597d
---
 doc/XMLreference.rst         |  9 +++++++--
 doc/XMLschema.rst            |  2 ++
 doc/changelog.rst            |  5 +++++
 src/user/user_composite.cc   | 12 ++++++++----
 src/user/user_composite.h    |  3 ++-
 src/xml/xml_native_reader.cc |  5 +++--
 6 files changed, 27 insertions(+), 9 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index ca7258f8..5d052472 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -3003,8 +3003,13 @@ cable, which produces an inextensible chain of bodies connected with ball joints
 .. _body-composite-offset:
 
 :at:`offset`: :at-val:`real(3), "0 0 0"`
-   It specifies a 3D offset from the center of the parent body to the center of the grid of elements. The offset is
-   expressed in the local coordinate frame of the parent body.
+   It specifies a 3D offset from the center of the parent body to the center of the first body of the cable. The offset
+   is expressed in the local coordinate frame of the parent body.
+
+.. _body-composite-quat:
+
+:at:`quat`: :at-val:`real(4), "1 0 0 0"`
+   It specifies a quaternion that rotates the first body frame. The quaternion is expressed in the parent body frame.
 
 .. _body-composite-vertex:
 
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 0f71f6a3..6cbc0121 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -344,6 +344,8 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`vertex<body-composite-vertex>`                            | :ref:`initial<body-composite-initial>`                          | :ref:`curve<body-composite-curve>`                              | :ref:`size<body-composite-size>`                                | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`quat<body-composite-quat>`                                |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| composite |br| |_2| |L|       |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`joint                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 05d68306..fd565e76 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -11,6 +11,11 @@ Upcoming version (not yet released)
    - The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
      "true" to "false". This feature has proven to be counterintuitive for users.
 
+General
+^^^^^^^
+- Add :ref:`orientation<body-composite-quat>` parameter to :ref:`composite<body-composite>`. Moreover, allow the
+  composite to be the direct child of a frame.
+
 Bug fixes
 ^^^^^^^^^
 - :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index 98c3ed41..6cd21b51 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -52,6 +52,7 @@ mjCComposite::mjCComposite(void) {
   type = mjCOMPTYPE_PARTICLE;
   count[0] = count[1] = count[2] = 1;
   mjuu_setvec(offset, 0, 0, 0);
+  mjuu_setvec(quat, 1, 0, 0, 0);
   frame = nullptr;
 
   // plugin variables
@@ -260,19 +261,20 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
   // populate uservert if not specified
   if (uservert.empty()) {
     for (int ix=0; ix < count[0]; ix++) {
+      double v[3];
       for (int k=0; k < 3; k++) {
         switch (curve[k]) {
           case mjCOMPSHAPE_LINE:
-            uservert.push_back(ix*size[0]/(count[0]-1));
+            v[k] = ix*size[0]/(count[0]-1);
             break;
           case mjCOMPSHAPE_COS:
-            uservert.push_back(size[1]*cos(mjPI*ix*size[2]/(count[0]-1)));
+            v[k] = size[1]*cos(mjPI*ix*size[2]/(count[0]-1));
             break;
           case mjCOMPSHAPE_SIN:
-            uservert.push_back(size[1]*sin(mjPI*ix*size[2]/(count[0]-1)));
+            v[k] = size[1]*sin(mjPI*ix*size[2]/(count[0]-1));
             break;
           case mjCOMPSHAPE_ZERO:
-            uservert.push_back(0);
+            v[k] = 0;
             break;
           default:
             // SHOULD NOT OCCUR
@@ -280,6 +282,8 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
             break;
         }
       }
+      mjuu_rotVecQuat(v, v, quat);
+      uservert.insert(uservert.end(), v, v+3);
     }
   }
 
diff --git a/src/user/user_composite.h b/src/user/user_composite.h
index 0f826760..17378004 100644
--- a/src/user/user_composite.h
+++ b/src/user/user_composite.h
@@ -73,7 +73,8 @@ class mjCComposite {
   std::string prefix;             // name prefix
   mjtCompType type;               // composite type
   int count[3];                   // geom count in each dimension
-  double offset[3];               // position offset for particle and grid
+  double offset[3];               // position offset
+  double quat[4];                 // quaternion offset
 
   // currently used only for cable
   std::string initial;            // root boundary type
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 44efc4ec..272b5a2c 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -287,8 +287,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"<"},
           {"config", "*", "2", "key", "value"},
         {">"},
-        {"composite", "*", "8", "prefix", "type", "count", "offset",
-            "vertex", "initial", "curve", "size"},
+        {"composite", "*", "9", "prefix", "type", "count", "offset",
+            "vertex", "initial", "curve", "size", "quat"},
         {"<"},
             {"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
                 "solreffix", "solimpfix", "type", "axis",
@@ -2402,6 +2402,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsFrame* frame, c
   }
   ReadAttr(elem, "count", 3, comp.count, text, false, false);
   ReadAttr(elem, "offset", 3, comp.offset, text);
+  ReadAttr(elem, "quat", 4, comp.quat, text);
   comp.frame = frame;
 
   // plugin

From 0abf184d49b7e3c45fb403a2dc0f6b38cd388090 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Thu, 27 Mar 2025 11:04:40 -0700
Subject: [PATCH 012/191] Align comment in mjmodel.h.

PiperOrigin-RevId: 741214316
Change-Id: I449c4a6e1c70b30d60636e11f26fb0bc8653f2a5
---
 doc/includes/references.h | 2 +-
 include/mujoco/mjmodel.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 6b38571b..355b5183 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -910,7 +910,7 @@ struct mjModel_ {
   int ncam;                       // number of cameras
   int nlight;                     // number of lights
   int nflex;                      // number of flexes
-  int nflexnode;                   // number of dofs in all flexes
+  int nflexnode;                  // number of dofs in all flexes
   int nflexvert;                  // number of vertices in all flexes
   int nflexedge;                  // number of edges in all flexes
   int nflexelem;                  // number of elements in all flexes
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 9f76205f..185d31de 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -611,7 +611,7 @@ struct mjModel_ {
   int ncam;                       // number of cameras
   int nlight;                     // number of lights
   int nflex;                      // number of flexes
-  int nflexnode;                   // number of dofs in all flexes
+  int nflexnode;                  // number of dofs in all flexes
   int nflexvert;                  // number of vertices in all flexes
   int nflexedge;                  // number of edges in all flexes
   int nflexelem;                  // number of elements in all flexes

From 97092facd639e501f4e3821beb8842aa61dc4dda Mon Sep 17 00:00:00 2001
From: andrew <andrew.luo1@outlook.com>
Date: Thu, 27 Mar 2025 19:35:36 -0400
Subject: [PATCH 013/191] resolve PR comments

---
 python/mujoco/simulate.cc | 19 +++++-----
 python/mujoco/viewer.py   | 75 ++++++++++++++++++++++++++++-----------
 simulate/simulate.h       |  2 +-
 3 files changed, 67 insertions(+), 29 deletions(-)

diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 868bec28..326879cc 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -149,7 +149,7 @@ class SimulateWrapper {
 
   void ClearFigures() { simulate_->user_figures_.clear(); }
 
-  void SetOverlayText(
+  void SetText(
       const std::vector<std::tuple<int, int, std::string, std::string>>& overlay_texts) {
     // Collection of [font, gridpos, text1, text2] tuples for overlay text
     std::vector<std::tuple<int, int, std::string, std::string>> user_overlay_text;
@@ -161,21 +161,24 @@ class SimulateWrapper {
     simulate_->user_text_ = user_overlay_text;
   }
 
-  void ClearOverlayText() { simulate_->user_text_.clear(); }
+  void ClearText() { simulate_->user_text_.clear(); }
 
   void SetImages(
-    const std::vector<std::tuple<mjrRect, pybind11::array_t<unsigned char>>>& viewport_images
+    const std::vector<std::tuple<mjrRect, pybind11::array&>> viewports_images
   ) {
     // Clear previous images to prevent memory leaks
     ClearImages();
     
-    for (const auto& [viewport, image] : viewport_images) {
+    for (const auto& [viewport, image] : viewports_images) {
       auto buf = image.request();
+      if (buf.ndim != 3) {
+        throw std::invalid_argument("image must have 3 dimensions (H, W, C)");
+      }
       if (static_cast<int>(buf.shape[2]) != 3) {
         throw std::invalid_argument("image must have 3 channels");
       }
-      if (buf.ndim != 3) {
-        throw std::invalid_argument("image must have 3 dimensions (H, W, C)");
+      if (buf.itemsize != sizeof(unsigned char)) {
+        throw std::invalid_argument("image must be uint8 format");
       }
       
       // Calculate size of the image data
@@ -300,9 +303,9 @@ PYBIND11_MODULE(_simulate, pymodule) {
       .def("set_figures", &SimulateWrapper::SetFigures,
            py::arg("viewports_figures"))
       .def("clear_figures", &SimulateWrapper::ClearFigures)
-      .def("overlay_text", &SimulateWrapper::SetOverlayText,
+      .def("set_text", &SimulateWrapper::SetText,
            py::arg("overlay_texts"))
-      .def("clear_overlay_text", &SimulateWrapper::ClearOverlayText)
+      .def("clear_text", &SimulateWrapper::ClearText)
       .def("set_images", &SimulateWrapper::SetImages,
            py::arg("viewports_images"))
       .def("clear_images", &SimulateWrapper::ClearImages)
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index 21a1eeea..527fda50 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -117,10 +117,21 @@ class Handle:
     return None
 
   def set_figures(
-      self, viewports_figures: List[Tuple[mujoco.MjrRect, mujoco.MjvFigure]]
+      self, viewports_figures: Union[Tuple[mujoco.MjrRect, mujoco.MjvFigure],
+                                   List[Tuple[mujoco.MjrRect, mujoco.MjvFigure]]]
   ):
+    """Overlay figures on the viewer.
+
+    Args:
+      viewports_figures: Single tuple or list of tuples of (viewport, figure)
+        viewport: Rectangle defining position and size of the figure
+        figure: MjvFigure object containing the figure data to display
+    """
     sim = self._sim()
     if sim is not None:
+      # Convert single tuple to list if needed
+      if isinstance(viewports_figures, tuple):
+        viewports_figures = [viewports_figures]
       sim.set_figures(viewports_figures)
 
   def clear_figures(self):
@@ -128,43 +139,67 @@ class Handle:
     if sim is not None:
       sim.clear_figures()
 
-  def overlay_text(self, overlay_texts: List[Tuple[int, int, str, str]]):
+  def set_text(self, overlay_texts: Union[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]], 
+                                            List[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]]]]):
     """Overlay text on the viewer.
 
     Args:
-      overlay_texts: List of tuples of (font, gridpos, text1, text2)
-      let:
+      overlay_texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
         font: Font style from mujoco.mjtFontScale
         gridpos: Position of text box from mujoco.mjtGridPos
-        text1: Left text column
-        text2: Right text column
+        text1: Left text column, defaults to empty string if None
+        text2: Right text column, defaults to empty string if None
     """
     sim = self._sim()
     if sim is not None:
-      sim.overlay_text(overlay_texts)
+      # Convert single tuple to list if needed
+      if isinstance(overlay_texts, tuple):
+        overlay_texts = [overlay_texts]
+      
+      # Convert None values to empty strings
+      default_font = mujoco.mjtFontScale.mjFONTSCALE_150
+      default_gridpos = mujoco.mjtGridPos.mjGRID_TOPLEFT
+      processed_texts = [(
+                        default_font if font is None else font, 
+                        default_gridpos if gridpos is None else gridpos, 
+                         "" if text1 is None else text1,
+                         "" if text2 is None else text2)
+                        for font, gridpos, text1, text2 in overlay_texts]
+      
+      sim.set_text(processed_texts)
 
-  def clear_overlay_text(self):
+  def clear_text(self):
     sim = self._sim()
     if sim is not None:
-      sim.clear_overlay_text()
+      sim.clear_text()
 
   def set_images(
-      self, viewports_images: List[Tuple[mujoco.MjrRect, np.ndarray]]
+      self, viewports_images: Union[Tuple[mujoco.MjrRect, np.ndarray],
+                                  List[Tuple[mujoco.MjrRect, np.ndarray]]]
   ):
+    """Overlay images on the viewer.
+
+    Args:
+      viewports_images: Single tuple or list of tuples of (viewport, image)
+        viewport: Rectangle defining position and size of the image
+        image: RGB image with shape (height, width, 3)
+    """
     sim = self._sim()
     if sim is not None:
-      # Nearest neighbor resize
-      resize = lambda a, s: a[(np.arange(s[0]) * a.shape[0]) // s[0]][
-          :, (np.arange(s[1]) * a.shape[1]) // s[1]
-      ]
-      resized_viewports_images = []
+      # Convert single tuple to list if needed
+      if isinstance(viewports_images, tuple):
+        viewports_images = [viewports_images]
+
+      processed_images = []
       for viewport, image in viewports_images:
         targ_shape = (viewport.height, viewport.width)
-        resized = resize(image, targ_shape)
-        resized = np.flip(resized, axis=0)
-        resized = np.ascontiguousarray(resized)
-        resized_viewports_images.append((viewport, resized))
-      sim.set_images(resized_viewports_images)
+        # Check if image is already the correct shape
+        if image.shape[:2] != targ_shape:
+          raise ValueError(f"Image shape {image.shape[:2]} does not match target shape {targ_shape}")
+        flipped = np.flip(image, axis=0)
+        contiguous = np.ascontiguousarray(flipped)
+        processed_images.append((viewport, contiguous))
+      sim.set_images(processed_images)
 
   def clear_images(self):
     sim = self._sim()
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 0bf6ad25..00dc5fe5 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -249,7 +249,7 @@ class Simulate {
   mjvFigure figsize = {};
   mjvFigure figsensor = {};
 
-  // additional user-defined visualization geoms (used in passive mode)
+  // additional user-defined visualization
   mjvScene* user_scn = nullptr;
   mjtByte user_scn_flags_prev_[mjNRNDFLAG];
   std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;

From e272e467708e33f08278766eb7f12d01e1a98fc6 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Fri, 28 Mar 2025 00:37:19 -0700
Subject: [PATCH 014/191] Rename simulate "copy pose" button to "copy state",
 also save "qvel', `ctrl`, `mpos` and `mquat` if present. SHIFT-click will
 save values at full precision.

Example formatting:

```
# default precision
<key
  time="2.99"
  qpos="9.4287e-07 3.02972e-07 1.19963 0.999999 -9.3978e-06 0.00102591 8.06948e-06 -0.000337469 -0.000182994 -0.00282448 -0.000358084 -0.00370829 0.0631084 0.0996347 -0.00161963 0.0260658 -2.09992 -0.00459387 0.0474729 -0.0171906 0.0018216 0.72549 0.00133026 0.724951 0.000816735 0.724389 0.000454671 0.724 -0.00146646 -1.12233e-05 -0.0995942 0.00159877 0.0261695 -2.09993 0.00458912 0.0473279 0.0171317 0.00177837 0.725447 0.00131597 0.724941 0.00081406 0.724393 0.000465918 0.72402 -0.00140271 -1.42355e-05 0.0949171 0.0790632 -0.461397 1.02664 -9.42133e-05 -0.55539 -0.0952333 -0.0790705 -0.460978 1.02899 8.38339e-05 -0.671707 0.401772 0.197427 1.00101 0.999979 0.00125793 -0.00100982 -0.00631542"
  qvel="0.000132784 3.49155e-05 0.000536692 -0.000560519 -0.0242142 0.00693928 0.00119816 -0.000234844 0.00350923 -0.00036047 0.00137217 0.026605 0.000647559 -0.000813737 0.00151335 0.00158296 -0.000628786 0.0184574 -0.000751955 8.75972e-05 0.00017462 9.47749e-05 0.00018949 7.40435e-05 0.000170318 -2.65743e-05 5.67808e-05 0.000256585 -8.77605e-05 -0.00070146 5.90881e-05 0.00186213 0.00150788 0.000645196 0.0183261 -0.00189709 0.000234144 0.000180699 0.00020344 0.000161977 0.000154203 0.000127231 2.28526e-05 -2.85628e-06 0.000232213 2.32483e-05 -0.000415728 0.000285987 0.00873081 0.00361353 5.70155e-05 0.000316513 -0.00778618 0.00404914 -0.0239508 -0.0375704 -0.000528571 4.92965 3.51479e-15 -4.54231e-16 -9.39907e-15 -7.5733e-14 -1.54433e-14 8.71183e-14"
  ctrl="0 0 0 0 0 0 0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 -0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 0.1 0.08 -0.477 1.033 0 -0.556 -0.1 -0.08 -0.477 1.033 0 -0.556"
  mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5"
  mquat="1 0 0 0 1 0 0 0 1 0 0 0"
/>

# full precision
<key
  time="19.78000000000035     "
  qpos="-5.456931939182209e-13 4.210058291674657e-14  1.199596868198444      0.9999997705632744     -1.123107929038176e-05 -0.000677308838908712  -4.574736052563342e-13 4.81467762006399e-06   -0.0001470530836508491 -0.01285126600561344   -0.0003314670141921113 -0.003753266058087929  0.06165064101255623    0.01573179146576803    -3.013291189105153e-05 0.00898818165332332    -0.0005543865919957537 0.001960768693378906   0.003171337599202657   0.05998529721754536    -0.006869809693640725  0.7108455550986151     -2.768022862919269e-05 0.7234287700347743     -2.65358465809282e-05  0.7234305602907817     -2.427451970418236e-05 0.7234340023869628     0.0001444026830625057  0.004779116304496144   -0.01556918200171751   2.367030531882565e-05  0.00887857821391661    -0.0005393749458389281 -0.002002170464405725  0.004065365245773832   -0.059404381452836     -0.006700853036263364  0.7112073591870905     -2.793780628594305e-05 0.7234283783336887     -2.67570932686378e-05  0.7234302250735107     -2.446320244250625e-05 0.7234337167312712     0.0001441442525519209  0.004776981844081063   0.001964241516442131   -0.001279289930183057  0.0009901921906584617  0.005102724602622095   -0.0001969944416873799 0.0006055390861509305  -0.001981889349334628  0.001289775046291938   0.0009924227912350586  0.005084179458414934   0.0001970337430004949  0.0006055492125132441  0.4000059982468001     0.2000006330421453     1.001005166968155      0.9999986986616857     0.001264259603338192   -0.00100188514175821   -2.342548568520312e-05"
  qvel="8.028421913635349e-14  -7.933623204015651e-15 -1.766955416585763e-09 -1.242788325114248e-10 1.380680257623891e-08  4.072776622758517e-13  -2.152263214542579e-08 -3.878177040643757e-09 -7.698904695669224e-07 1.032750347898222e-09  -1.203279562630678e-09 -7.551458300921444e-08 2.469496246057255e-06  8.917880101195273e-08  -6.756803792056489e-06 -2.872076666906819e-06 1.785650772865195e-06  -5.01959632083366e-06  -5.599940213931672e-06 8.890181416091634e-07  1.64456042549838e-06   -1.371426840474208e-09 -2.120678515220117e-09 -2.024654983099582e-09 -3.146661587304676e-09 -2.584650818327909e-09 -4.007447393764789e-09 3.46515937628953e-09   1.271775029987075e-08  -2.488928508740539e-06 -8.746797042033161e-08 -6.8499144406484e-06   -2.901446048768352e-06 -1.790798673741401e-06 -5.013863339758384e-06 5.931327072492727e-06  9.379458926032098e-07  1.728266244061688e-06  -1.546731198107214e-09 -2.391411625987869e-09 -2.205072839286403e-09 -3.425520861505272e-09 -2.768770278332858e-09 -4.29204657928239e-09  3.77970711367913e-09   1.210836106515995e-08  2.48779855243758e-07   1.794262457563144e-08  2.425338558609319e-07  -4.490996387632652e-09 1.5470867213074e-10    -1.056275279772894e-10 -2.528203830071622e-07 -1.984360361016969e-08 2.432485190492325e-07  -4.490126811319184e-09 -1.553085076375719e-10 -1.050844929338509e-10 -5.03087850573677e-15  -3.069973955284326e-15 1.263049899085103e-14  -2.132657422360499e-13 1.240631051776082e-14  7.346260313161907e-14 "
  ctrl="0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                     "
  mpos="0.5                    0                      0.5                    0.5                    0                      0.5                    0.5                    0                      0.5                   "
  mquat="1                      0                      0                      0                      1                      0                      0                      0                      1                      0                      0                      0                     "
/>
```

PiperOrigin-RevId: 741427042
Change-Id: Ib33f3e6215b7933d9267fc4c222d7a0abc75dbb4
---
 simulate/simulate.cc | 83 +++++++++++++++++++++++++++++++++++++-------
 simulate/simulate.h  |  5 +--
 2 files changed, 74 insertions(+), 14 deletions(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index bf4b4a13..2f5ee146 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1141,17 +1141,74 @@ void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
 }
 
 
-// copy qpos to clipboard as key
-void CopyPose(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  char clipboard[5000] = "<key qpos='";
+// copy state to clipboard as key
+void CopyKey(mj::Simulate* sim, const mjModel* m, const mjData* d, bool fp) {
+  char clipboard[5000] = "<key\n";
   char buf[200];
+  const char p_regular[] = "%g";
+  const char p_full[] = "%-22.16g";
+  const char* format = fp ? p_full : p_regular;
 
-  // prepare string
-  for (int i=0; i<m->nq; i++) {
-    mju::sprintf_arr(buf, i==m->nq-1 ? "%g" : "%g ", d->qpos[i]);
+  // time
+  mju::strcat_arr(clipboard, "  time=\"");
+  mju::sprintf_arr(buf, format, d->time);
+  mju::strcat_arr(clipboard, buf);
+
+  // qpos
+  mju::strcat_arr(clipboard, "\"\n  qpos=\"");
+  for (int i = 0; i < m->nq; i++) {
+    mju::sprintf_arr(buf, format, d->qpos[i]);
+    if (i < m->nq-1) mju::strcat_arr(buf, " ");
     mju::strcat_arr(clipboard, buf);
   }
-  mju::strcat_arr(clipboard, "'/>");
+
+  // qvel
+  mju::strcat_arr(clipboard, "\"\n  qvel=\"");
+  for (int i = 0; i < m->nv; i++) {
+    mju::sprintf_arr(buf, format, d->qvel[i]);
+    if (i < m->nv-1) mju::strcat_arr(buf, " ");
+    mju::strcat_arr(clipboard, buf);
+  }
+
+  // act
+  if (m->na > 0) {
+    mju::strcat_arr(clipboard, "\"\n  act=\"");
+    for (int i = 0; i < m->na; i++) {
+      mju::sprintf_arr(buf, format, d->act[i]);
+      if (i < m->na-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+  }
+
+  // ctrl
+  if (m->nu > 0) {
+    mju::strcat_arr(clipboard, "\"\n  ctrl=\"");
+    for (int i = 0; i < m->nu; i++) {
+      mju::sprintf_arr(buf, format, d->ctrl[i]);
+      if (i < m->nu-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+  }
+
+  if (m->nmocap > 0) {
+    // mocap_pos
+    mju::strcat_arr(clipboard, "\"\n  mpos=\"");
+    for (int i = 0; i < 3*m->nmocap; i++) {
+      mju::sprintf_arr(buf, format, d->mocap_pos[i]);
+      if (i < 3*m->nmocap-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+
+    // mocap_quat
+    mju::strcat_arr(clipboard, "\"\n  mquat=\"");
+    for (int i = 0; i < 4*m->nmocap; i++) {
+      mju::sprintf_arr(buf, format, d->mocap_quat[i]);
+      if (i < 4*m->nmocap-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+  }
+
+  mju::strcat_arr(clipboard, "\"\n/>");
 
   // copy to clipboard
   sim->platform_ui->SetClipboardString(clipboard);
@@ -1412,8 +1469,9 @@ void UiEvent(mjuiState* state) {
         sim->pending_.align = true;
         break;
 
-      case 4:             // Copy pose
-        sim->pending_.copy_pose = true;
+      case 4:             // Copy key
+        sim->pending_.copy_key = true;
+        sim->pending_.copy_key_full_precision = sim->platform_ui->IsShiftKeyPressed();
         break;
 
       case 5:             // Adjust key
@@ -1967,9 +2025,10 @@ void Simulate::Sync() {
     pending_.align = false;
   }
 
-  if (pending_.copy_pose) {
-    CopyPose(this, m_, d_);
-    pending_.copy_pose = false;
+  if (pending_.copy_key) {
+    CopyKey(this, m_, d_, pending_.copy_key_full_precision);
+    pending_.copy_key = false;
+    pending_.copy_key_full_precision = false;
   }
 
   if (pending_.load_from_history) {
diff --git a/simulate/simulate.h b/simulate/simulate.h
index cd654192..23bdb604 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -144,7 +144,8 @@ class Simulate {
     std::optional<std::string> print_data;
     bool reset;
     bool align;
-    bool copy_pose;
+    bool copy_key;
+    bool copy_key_full_precision;
     bool load_from_history;
     bool load_key;
     bool save_key;
@@ -293,7 +294,7 @@ class Simulate {
     {mjITEM_BUTTON,    "Reset",         2, nullptr,              " #259"},
     {mjITEM_BUTTON,    "Reload",        5, nullptr,              "CL"},
     {mjITEM_BUTTON,    "Align",         2, nullptr,              "CA"},
-    {mjITEM_BUTTON,    "Copy pose",     2, nullptr,              "CC"},
+    {mjITEM_BUTTON,    "Copy state",    2, nullptr,              "CC"},
     {mjITEM_SLIDERINT, "Key",           3, &this->key,           "0 0"},
     {mjITEM_BUTTON,    "Load key",      3},
     {mjITEM_BUTTON,    "Save key",      3},

From 6e19035aabf75c6f1de5101cd437d56231d70452 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 28 Mar 2025 01:57:56 -0700
Subject: [PATCH 015/191] Add delete and detach docs.

PiperOrigin-RevId: 741444657
Change-Id: I4207eaf74524e8a3ca46130967c6fb0dd62b4d64
---
 doc/python.rst | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/doc/python.rst b/doc/python.rst
index edb2067b..62541701 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -601,6 +601,14 @@ Lists of all elements in a spec can be accessed using named properties, using th
 ``equalities``, ``tendons``, ``actuators``, ``skins``, ``textures``, ``texts``, ``tuples``, ``flexes``, ``hfields``,
 ``keys``, ``numerics``, ``excludes``, ``sensors``, ``plugins``.
 
+Element removal
+^^^^^^^^^^^^^^^
+For elements that can have children (bodies and defaults), the methods ``spec.detach_body(body)`` and
+``spec.detach_default(def)`` remove, respectively, ``body`` and ``def`` from the spec, together with all of their
+children. When detaching body subtrees, all elements which reference elements in the subtree, will also be removed. For
+all other elements, the method ``delete()`` removes the corresponding element from the spec, e.g.
+``spec.geom('my_geom').delete()`` will remove the geom named "my_geom" and all of the elements that reference it.
+
 Tree traversal
 ^^^^^^^^^^^^^^
 Traversal of the kinematic tree is aided by the following methods which return tree-related lists of elements:

From 01d4c4675369359f672ba4ed98929e773c474840 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 28 Mar 2025 06:26:30 -0700
Subject: [PATCH 016/191] Store the `mjsCompiler` -> appended `mjSpec` map when
 appending an `mjSpec`.

Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.

While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.

PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384
---
 src/user/user_model.cc     | 29 +++++++++++------------
 src/user/user_model.h      | 13 ++++-------
 src/user/user_objects.cc   |  4 ++--
 test/user/user_api_test.cc | 48 ++++++++++++++++++++++++++++++++++++++
 4 files changed, 69 insertions(+), 25 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index a594538a..a63f13c9 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -212,9 +212,6 @@ mjCModel::mjCModel() {
   // create mjCBase lists from children lists
   CreateObjectLists();
 
-  // the source spec is the model itself, overwritten in the copy constructor
-  source_spec_ = &spec;
-
   // set the signature
   spec.element->signature = 0;
 }
@@ -223,7 +220,6 @@ mjCModel::mjCModel() {
 
 mjCModel::mjCModel(const mjCModel& other) {
   CreateObjectLists();
-  source_spec_ = (mjSpec*)&other.spec;
   *this = other;
 }
 
@@ -239,6 +235,7 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
     // copy attached specs first so that we can resolve references to them
     for (const auto* s : other.specs_) {
       specs_.push_back(mj_copySpec(s));
+      compiler2spec_[&s->compiler] = specs_.back();
     }
 
     // the world copy constructor takes care of copying the tree
@@ -1165,9 +1162,13 @@ mjCPlugin* mjCModel::AddPlugin() {
 
 
 // append spec to spec
-void mjCModel::AppendSpec(mjSpec* spec) {
+void mjCModel::AppendSpec(mjSpec* spec, const mjsCompiler* compiler_) {
   // TODO: check if the spec is already in the list
   specs_.push_back(spec);
+
+  if (compiler_) {
+    compiler2spec_[compiler_] = spec;
+  }
 }
 
 
@@ -1461,10 +1462,15 @@ mjSpec* mjCModel::FindSpec(std::string name) const {
 
 
 // find spec by mjsCompiler pointer
-mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
-  if (&GetSourceSpec()->compiler == compiler_) {
-    return (mjSpec*)&spec;
+mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) {
+  if (compiler_ == &spec.compiler) {
+    return &spec;
   }
+
+  if (compiler2spec_.find(compiler_) != compiler2spec_.end()) {
+    return compiler2spec_[compiler_];
+  }
+
   for (auto s : specs_) {
     mjSpec* source = static_cast<mjCModel*>(s->element)->FindSpec(compiler_);
     if (source) {
@@ -1476,13 +1482,6 @@ mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
 
 
 
-// get the spec from which this model was created
-mjSpec* mjCModel::GetSourceSpec() const {
-  return source_spec_;
-}
-
-
-
 //------------------------------- COMPILER PHASES --------------------------------------------------
 
 // make lists of objects in tree: bodies, geoms, joints, sites, cameras, lights
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 81b94752..c55384bf 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -215,7 +215,9 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCTuple* AddTuple();
   mjCKey* AddKey();
   mjCPlugin* AddPlugin();
-  void AppendSpec(mjSpec* spec);
+
+  // append spec to this model, optionally map compiler options to the appended spec
+  void AppendSpec(mjSpec* spec, const mjsCompiler* compiler = nullptr);
 
   // delete elements marked as discard=true
   template <class T> void Delete(std::vector<T*>& elements,
@@ -248,7 +250,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCBase* FindObject(mjtObj type, std::string name) const;         // find object given type and name
   mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name);  // find tree object given name
   mjSpec* FindSpec(std::string name) const;                         // find spec given name
-  mjSpec* FindSpec(const mjsCompiler* compiler_) const;             // find spec given mjsCompiler
+  mjSpec* FindSpec(const mjsCompiler* compiler_);                   // find spec given mjsCompiler
   void ActivatePlugin(const mjpPlugin* plugin, int slot);           // activate plugin
 
   // accessors
@@ -316,9 +318,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // map from default class name to default class pointer
   std::unordered_map<std::string, mjCDef*> def_map;
 
-  // get the spec from which this model was created
-  mjSpec* GetSourceSpec() const;
-
   // set deepcopy flag
   void SetDeepCopy(bool deepcopy) { deepcopy_ = deepcopy; }
 
@@ -332,9 +331,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // settings for each defaults class
   std::vector<mjCDef*> defaults_;
 
-  // spec from which this model was created in copy constructor
-  mjSpec* source_spec_;
-
   // list of active plugins
   std::vector<std::pair<const mjpPlugin*, int>> active_plugins_;
 
@@ -453,5 +449,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   bool deepcopy_;     // copy objects when attaching
   bool attached_ = false;  // true if model is attached to a parent model
   int uid_count_ = 0;  // unique id count for all objects
+  std::unordered_map<const mjsCompiler*, mjSpec*> compiler2spec_;  // map from compiler to spec
 };
 #endif  // MUJOCO_SRC_USER_USER_MODEL_H_
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 5154af48..1e9cf407 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -904,7 +904,7 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
 mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
-    model->AppendSpec(mj_copySpec(&other.model->spec));
+    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
   // create a copy of the subtree that contains the frame
@@ -2038,7 +2038,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
 mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
-    model->AppendSpec(mj_copySpec(&other.model->spec));
+    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
   // apply namespace and store keyframes in the source model
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 84febf8e..3837c423 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -2514,6 +2514,54 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
   mj_deleteModel(copied_model);
 }
 
+TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
+  static constexpr char xml_parent[] = R"(
+  <mujoco>
+    <worldbody/>
+  </mujoco>
+  )";
+
+  static constexpr char xml_child[] = R"(
+  <mujoco>
+    <compiler eulerseq="zyx"/>
+    <worldbody>
+      <frame name="child" >
+        <site euler="0 90 180"/>
+      </frame>
+    </worldbody>
+  </mujoco>
+  )";
+
+  // load specs and compile child
+  mjSpec* parent = mj_parseXMLString(xml_parent, 0, nullptr, 0);
+  EXPECT_THAT(parent, NotNull());
+  mjSpec* child = mj_parseXMLString(xml_child, 0, nullptr, 0);
+  EXPECT_THAT(child, NotNull());
+  mjModel* m_child = mj_compile(child, 0);
+  EXPECT_THAT(m_child, NotNull());
+
+  // attach child frame to parent worldbody
+  mjsBody* world = mjs_findBody(parent, "world");
+  EXPECT_THAT(world, NotNull());
+  mjsFrame* child_frame = mjs_findFrame(child, "child");
+  EXPECT_THAT(child_frame, NotNull());
+  mjsFrame* attached_frame = mjs_attachFrame(world, child_frame, "child-", "");
+  EXPECT_THAT(attached_frame, NotNull());
+
+  // wrap the child frame in the parent frame and compile
+  mjModel* m_attached = mj_compile(parent, 0);
+  EXPECT_THAT(m_attached, NotNull());
+  EXPECT_NEAR(m_attached->site_quat[0], m_child->site_quat[0], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[1], m_child->site_quat[1], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[2], m_child->site_quat[2], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[3], m_child->site_quat[3], 1e-6);
+
+  mj_deleteSpec(parent);
+  mj_deleteSpec(child);
+  mj_deleteModel(m_child);
+  mj_deleteModel(m_attached);
+}
+
 TEST_F(MujocoTest, CopyAttachedSpec) {
   static constexpr char xml_parent[] = R"(
   <mujoco>

From 1f590c12750fa8ec8b61e1b052b6e809319535c9 Mon Sep 17 00:00:00 2001
From: Maxime <84160692+maxzand@users.noreply.github.com>
Date: Fri, 28 Mar 2025 19:50:52 -0400
Subject: [PATCH 017/191] Fixed contact force legend and added legends for
 accel and velocity

---
 python/tutorial.ipynb | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/python/tutorial.ipynb b/python/tutorial.ipynb
index 0c7be7be..c0933859 100644
--- a/python/tutorial.ipynb
+++ b/python/tutorial.ipynb
@@ -1360,16 +1360,18 @@
     "lines = ax[0,0].plot(sim_time, force)\n",
     "ax[0,0].set_title('contact force')\n",
     "ax[0,0].set_ylabel('Newton')\n",
-    "ax[0,0].legend(iter(lines), ('normal z', 'friction x', 'friction y'));\n",
+    "ax[0,0].legend(lines, ('normal z', 'friction x', 'friction y'));\n",
     "\n",
     "ax[1,0].plot(sim_time, acceleration)\n",
     "ax[1,0].set_title('acceleration')\n",
     "ax[1,0].set_ylabel('(meter,radian)/s/s')\n",
+    "ax[1,0].legend(['ax', 'ay', 'az', 'αx', 'αy', 'αz'])\n",
     "\n",
     "ax[2,0].plot(sim_time, velocity)\n",
     "ax[2,0].set_title('velocity')\n",
     "ax[2,0].set_ylabel('(meter,radian)/s')\n",
     "ax[2,0].set_xlabel('second')\n",
+    "ax[2,0].legend(['vx', 'vy', 'vz', 'ωx', 'ωy', 'ωz'])\n",
     "\n",
     "ax[0,1].plot(sim_time, ncon)\n",
     "ax[0,1].set_title('number of contacts')\n",

From 65500cfbdc15244d0cb6e80d831fa6f31eea29bd Mon Sep 17 00:00:00 2001
From: andrew <andrew.luo1@outlook.com>
Date: Sun, 30 Mar 2025 22:19:55 -0400
Subject: [PATCH 018/191] improve variable and function names

---
 python/mujoco/simulate.cc | 20 ++++++++++----------
 python/mujoco/viewer.py   | 16 ++++++++--------
 simulate/simulate.cc      |  2 +-
 simulate/simulate.h       |  2 +-
 4 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 326879cc..9c1e7bec 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -149,19 +149,19 @@ class SimulateWrapper {
 
   void ClearFigures() { simulate_->user_figures_.clear(); }
 
-  void SetText(
-      const std::vector<std::tuple<int, int, std::string, std::string>>& overlay_texts) {
+  void SetTexts(
+      const std::vector<std::tuple<int, int, std::string, std::string>>& texts) {
     // Collection of [font, gridpos, text1, text2] tuples for overlay text
-    std::vector<std::tuple<int, int, std::string, std::string>> user_overlay_text;
-    for (const auto& [font, gridpos, text1, text2] : overlay_texts) {
-      user_overlay_text.push_back(std::make_tuple(font, gridpos, text1, text2));
+    std::vector<std::tuple<int, int, std::string, std::string>> user_texts;
+    for (const auto& [font, gridpos, text1, text2] : texts) {
+      user_texts.push_back(std::make_tuple(font, gridpos, text1, text2));
     }
 
-    // Set them all at once to prevent overlay text flickering.
-    simulate_->user_text_ = user_overlay_text;
+    // Set them all at once to prevent text flickering.
+    simulate_->user_texts_ = user_texts;
   }
 
-  void ClearText() { simulate_->user_text_.clear(); }
+  void ClearTexts() { simulate_->user_texts_.clear(); }
 
   void SetImages(
     const std::vector<std::tuple<mjrRect, pybind11::array&>> viewports_images
@@ -303,9 +303,9 @@ PYBIND11_MODULE(_simulate, pymodule) {
       .def("set_figures", &SimulateWrapper::SetFigures,
            py::arg("viewports_figures"))
       .def("clear_figures", &SimulateWrapper::ClearFigures)
-      .def("set_text", &SimulateWrapper::SetText,
+      .def("set_texts", &SimulateWrapper::SetTexts,
            py::arg("overlay_texts"))
-      .def("clear_text", &SimulateWrapper::ClearText)
+      .def("clear_texts", &SimulateWrapper::ClearTexts)
       .def("set_images", &SimulateWrapper::SetImages,
            py::arg("viewports_images"))
       .def("clear_images", &SimulateWrapper::ClearImages)
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index 527fda50..e78e1229 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -139,12 +139,12 @@ class Handle:
     if sim is not None:
       sim.clear_figures()
 
-  def set_text(self, overlay_texts: Union[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]], 
+  def set_texts(self, texts: Union[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]], 
                                             List[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]]]]):
     """Overlay text on the viewer.
 
     Args:
-      overlay_texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
+      texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
         font: Font style from mujoco.mjtFontScale
         gridpos: Position of text box from mujoco.mjtGridPos
         text1: Left text column, defaults to empty string if None
@@ -153,8 +153,8 @@ class Handle:
     sim = self._sim()
     if sim is not None:
       # Convert single tuple to list if needed
-      if isinstance(overlay_texts, tuple):
-        overlay_texts = [overlay_texts]
+      if isinstance(texts, tuple):
+        texts = [texts]
       
       # Convert None values to empty strings
       default_font = mujoco.mjtFontScale.mjFONTSCALE_150
@@ -164,14 +164,14 @@ class Handle:
                         default_gridpos if gridpos is None else gridpos, 
                          "" if text1 is None else text1,
                          "" if text2 is None else text2)
-                        for font, gridpos, text1, text2 in overlay_texts]
+                        for font, gridpos, text1, text2 in texts]
       
-      sim.set_text(processed_texts)
+      sim.set_texts(processed_texts)
 
-  def clear_text(self):
+  def clear_texts(self):
     sim = self._sim()
     if sim is not None:
-      sim.clear_text()
+      sim.clear_texts()
 
   def set_images(
       self, viewports_images: Union[Tuple[mujoco.MjrRect, np.ndarray],
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 57e3eaaa..87023d50 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -2606,7 +2606,7 @@ void Simulate::Render() {
   }
 
   // overlay text
-  for (auto& [font, gridpos, text1, text2] : this->user_text_) {
+  for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
     ShowOverlayText(this, rect, font, gridpos, text1, text2);
   }
 
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 00dc5fe5..a8c9da58 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -253,7 +253,7 @@ class Simulate {
   mjvScene* user_scn = nullptr;
   mjtByte user_scn_flags_prev_[mjNRNDFLAG];
   std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
-  std::vector<std::tuple<int, int, std::string, std::string>> user_text_;
+  std::vector<std::tuple<int, int, std::string, std::string>> user_texts_;
   std::vector<std::tuple<mjrRect, unsigned char*>> user_images_;
 
   // OpenGL rendering and UI

From 8bcfe07e14c78f3ac95f31208dff31c89d747f4a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 31 Mar 2025 06:40:20 -0700
Subject: [PATCH 019/191] Fix potential division by zero in mj_tendonDot.

PiperOrigin-RevId: 742246626
Change-Id: I1f897bd0ca28e0efdffc5a93fadca35221eaeb38
---
 src/engine/engine_core_smooth.c | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 009860eb..22870d7b 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -938,15 +938,14 @@ void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
       // dpnt = 3D position difference, normalize
       mjtNum dpnt[3];
       mju_sub3(dpnt, wpnt+3, wpnt);
-      mjtNum norm = mju_norm3(dpnt);
-      mju_scl3(dpnt, dpnt, 1/norm);
+      mjtNum norm = mju_normalize3(dpnt);
 
       // dvel = d / dt (dpnt)
       mjtNum dvel[3];
       mju_sub3(dvel, wvel+3, wvel);
       mjtNum dot = mju_dot3(dpnt, dvel);
       mju_addToScl3(dvel, dpnt, -dot);
-      mju_scl3(dvel, dvel, 1/norm);
+      mju_scl3(dvel, dvel, norm > mjMINVAL ? 1/norm : 0);
 
       // TODO(tassa ) write sparse branch, requires mj_jacDotSparse
       // if (mj_isSparse(m)) { ... }

From 400a379b702fbf1d2224be20cebf071c6645133f Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 31 Mar 2025 11:04:11 -0700
Subject: [PATCH 020/191] Update `doc` requirements.

PiperOrigin-RevId: 742324590
Change-Id: I55d6535190a2281aec04ff16bd3f82f6c85870f9
---
 doc/requirements.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/requirements.txt b/doc/requirements.txt
index f5bddde1..aa0c90a4 100644
--- a/doc/requirements.txt
+++ b/doc/requirements.txt
@@ -1,6 +1,6 @@
 Sphinx==5.3.0
 furo==2022.9.29
-sphinxcontrib-bibtex==2.6.1
+sphinxcontrib-bibtex==2.6.3
 sphinxcontrib-katex==0.9.4
 sphinxcontrib-youtube==1.2.0
 sphinx-copybutton==0.5.2
@@ -10,7 +10,7 @@ sphinx-toolbox==3.8.2
 nbsphinx==0.9.1
 pandoc==1.1.0
 pygments==2.15.0
-jq==1.4.1
+jq==1.8.0
 Jinja2~=3.0
 wheel
 # see https://github.com/aws/aws-sam-cli/issues/3661 regarding markupsafe

From 05f3e914b0a02a1dc07f33f29d0c63abb414031b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 1 Apr 2025 01:16:06 -0700
Subject: [PATCH 021/191] Improve armature documentation

PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
---
 doc/XMLreference.rst                          |  20 +++++++++++++++---
 doc/images/XMLreference/armature.gif          | Bin 0 -> 137047 bytes
 doc/images/XMLreference/armature_dark.gif     | Bin 0 -> 149304 bytes
 test/engine/testdata/armature_equivalence.xml |  15 ++++++++++---
 4 files changed, 29 insertions(+), 6 deletions(-)
 create mode 100644 doc/images/XMLreference/armature.gif
 create mode 100644 doc/images/XMLreference/armature_dark.gif

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 5d052472..1c1854bb 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -2151,14 +2151,28 @@ rotations as unit quaternions.
    corresponding to mjModel.qpos_spring is also used to compute the spring reference lengths of all tendons, stored in
    mjModel.tendon_lengthspring. This is because :ref:`tendons <tendon>` can also have springs.
 
+.. image:: images/XMLreference/armature.gif
+   :width: 40%
+   :align: right
+   :class: only-light
+   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/armature_equivalence.xml
+.. image:: images/XMLreference/armature_dark.gif
+   :width: 40%
+   :align: right
+   :class: only-dark
+   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/armature_equivalence.xml
+
 .. _body-joint-armature:
 
 :at:`armature`: :at-val:`real, "0"`
    Additional inertia associated with movement of the joint that is not due to body mass. This added inertia is usually
    due to a rotor (a.k.a `armature <https://en.wikipedia.org/wiki/Armature_(electrical)>`__) spinning faster than the
-   joint itself due to a geared transmission; in this case the added inertia is known as "reflected inertia" and its
-   value is the rotational inertia of the spinning element multiplied by the square of the gear ratio. The value applies
-   to all degrees of freedom created by this joint.
+   joint itself due to a geared transmission. In the illustration, we compare (*left*) a 2-dof system with an armature
+   body (purple box), coupled with a gear ratio of :math:`3` to the pendulum using a :ref:`joint
+   equality<equality-joint>` constraint, and (*right*) a simple 1-dof pendulum with an equivalent :at:`armature`.
+   Because the gear ratio appears twice, multiplying both forces and lengths, the effect is known as "reflected
+   inertia" and the equivalent value is the inertia of the spinning body multiplied by the *square of the gear ratio*,
+   in this case :math:`9=3^2`. The value applies to all degrees of freedom created by this joint.
 
    Besides increasing the realism of joints with geared transmission, positive :at:`armature` significantly improves
    simulation stability, even for small values, and is a recommended possible fix when encountering stability issues.
diff --git a/doc/images/XMLreference/armature.gif b/doc/images/XMLreference/armature.gif
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/test/engine/testdata/armature_equivalence.xml b/test/engine/testdata/armature_equivalence.xml
index 78f16e02..c770488a 100644
--- a/test/engine/testdata/armature_equivalence.xml
+++ b/test/engine/testdata/armature_equivalence.xml
@@ -1,4 +1,13 @@
 <mujoco>
+  <visual>
+    <global elevation="-20"/>
+    <headlight ambient=".3 .3 .3" diffuse=".9 .9 .9"/>
+  </visual>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+  </default>
+
   <worldbody>
     <body name="link1">
       <!-- inertia of link1 is 1.0 -->
@@ -10,7 +19,7 @@
       <!-- inertia of motor1 is 1/12 * m * (0.2^2 + 0.2^2) = 0.2
            see https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
       <joint name="motor1" axis="0 -1 0"/>
-      <geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0"/>
+      <geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0" rgba=".6 .4 .8 1"/>
     </body>
 
     <body name="link2" pos="1.5 0 0">
@@ -27,8 +36,8 @@
   </equality>
 
   <actuator>
-    <position name="link1" joint="motor1" kp="1" kv=".1" ctrlrange="-5 5"/>
+    <position name="link1" joint="motor1" kp=".3" ctrlrange="-5 5"/>
     <!-- actuators are made equivalent by setting link2 gear to link1 gear ratio -->
-    <position name="link2" joint="link2"  kp="1" kv=".1" ctrlrange="-5 5" gear="3"/>
+    <position name="link2" joint="link2"  kp=".3" ctrlrange="-5 5" gear="3"/>
   </actuator>
 </mujoco>

From ebd30493c8301091f4a8c4d4dc35a96b1165a7ca Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 1 Apr 2025 01:44:42 -0700
Subject: [PATCH 022/191] Allow nameless bind in MJX.

PiperOrigin-RevId: 742592221
Change-Id: I9490aebd64e3a31219c552d5b6eb55236680f10d
---
 doc/changelog.rst                             |  6 +-
 doc/python.rst                                | 14 +++--
 mjx/mujoco/mjx/_src/support.py                | 57 ++++++-------------
 mjx/mujoco/mjx/_src/support_test.py           | 54 +++++++++---------
 mjx/mujoco/mjx/_src/types.py                  |  2 +
 .../mujoco/codegen/generate_spec_bindings.py  | 17 ++++++
 6 files changed, 78 insertions(+), 72 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index fd565e76..ad3f10cc 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -23,10 +23,14 @@ Bug fixes
 - Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an
   mjSpec to a frame or a site.
 
+Python bindings
+^^^^^^^^^^^^^^^
+- Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section<PyMJCF>`
+  in the documentation.
+
 Version 3.3.0 (Feb 26, 2025)
 ----------------------------
 
-
 Feature promotion
 ^^^^^^^^^^^^^^^^^
 .. youtube:: qJFbx-FR7Bc
diff --git a/doc/python.rst b/doc/python.rst
index 62541701..85a54b73 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -628,8 +628,10 @@ Parent:
   The parent body of a given element -- including bodies and frames -- can be accessed via the ``parent`` property.
   For example, the parent of a site can be accessed via ``site.parent``.
 
-Relationship to ``PyMJCF``
---------------------------
+.. _PyMJCF:
+
+Relationship to ``PyMJCF`` and ``bind``
+---------------------------------------
 
 `dm_control <https://github.com/google-deepmind/dm_control/tree/main>`__'s
 `PyMJCF <https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/README.md>`__ module provides similar
@@ -645,9 +647,8 @@ includes a reimplementation of the ``PyMJCF`` example in the ``dm_control``
 
 ``PyMJCF`` provides a notion of "binding", giving access to :ref:`mjModel` and :ref:`mjData` values via a helper class.
 In the native API, the helper class is not needed, so it is possible to directly bind an ``mjs`` object to
-:ref:`mjModel` and :ref:`mjData`. This requires the objects to have a non-empty name. For example, say we have multiple
-geoms containing the string "torso" in their name. We want to get their Cartesian positions in the XY plane from
-``mjData``. This can be done as follows:
+:ref:`mjModel` and :ref:`mjData`. For example, say we have multiple geoms containing the string "torso" in their name.
+We want to get their Cartesian positions in the XY plane from ``mjData``. This can be done as follows:
 
 .. code-block:: python
 
@@ -655,6 +656,9 @@ geoms containing the string "torso" in their name. We want to get their Cartesia
    pos_x = [torso.xpos[0] for torso in torsos]
    pos_y = [torso.xpos[1] for torso in torsos]
 
+Using the ``bind`` method requires the :ref:`mjModel` and :ref:`mjData` to be compiled from the :`ref:`mjSpec`. If
+objects are added or removed from the :ref:`mjSpec` since the last compilation, an error is raised.
+
 Notes
 -----
 
diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index 591ee0ee..90c517ef 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -295,73 +295,56 @@ class BindModel(object):
     self.prefix = ''
     ids = []
     for spec in specs:
-      if not spec.name:
-        raise KeyError(f'cannot bind spec with empty name')
+      if model.signature != spec.signature:
+        raise ValueError(
+            'mjSpec signature does not match mjx.Model signature:'
+            f' {spec.signature} != {model.signature}'
+        )
+      elif spec.id < 0:
+        raise KeyError(f'invalid id: {spec.id}')
       elif isinstance(spec, mujoco.MjsBody):
         self.prefix = 'body_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
       elif isinstance(spec, mujoco.MjsJoint):
         self.prefix = 'jnt_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
       elif isinstance(spec, mujoco.MjsGeom):
         self.prefix = 'geom_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
       elif isinstance(spec, mujoco.MjsSite):
         self.prefix = 'site_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
       elif isinstance(spec, mujoco.MjsLight):
         self.prefix = 'light_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
       elif isinstance(spec, mujoco.MjsCamera):
         self.prefix = 'cam_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
       elif isinstance(spec, mujoco.MjsMesh):
         self.prefix = 'mesh_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
       elif isinstance(spec, mujoco.MjsHField):
         self.prefix = 'hfield_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
       elif isinstance(spec, mujoco.MjsPair):
         self.prefix = 'pair_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
       elif isinstance(spec, mujoco.MjsTendon):
         self.prefix = 'tendon_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
       elif isinstance(spec, mujoco.MjsActuator):
         self.prefix = 'actuator_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
       elif isinstance(spec, mujoco.MjsSensor):
         self.prefix = 'sensor_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
       elif isinstance(spec, mujoco.MjsNumeric):
         self.prefix = 'numeric_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
       elif isinstance(spec, mujoco.MjsText):
         self.prefix = 'text_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
       elif isinstance(spec, mujoco.MjsTuple):
         self.prefix = 'tuple_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
       elif isinstance(spec, mujoco.MjsKey):
         self.prefix = 'key_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
       elif isinstance(spec, mujoco.MjsEquality):
         self.prefix = 'eq_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
       elif isinstance(spec, mujoco.MjsExclude):
         self.prefix = 'exclude_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
       elif isinstance(spec, mujoco.MjsSkin):
         self.prefix = 'skin_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
       elif isinstance(spec, mujoco.MjsMaterial):
         self.prefix = 'material_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
       else:
         raise ValueError('invalid spec type')
-      if idx < 0:
-        raise KeyError(f'invalid name: {spec.name}')  # pytype: disable=attribute-error
-      ids.append(idx)
+      ids.append(spec.id)
     if len(ids) == 1:
       self.id = ids[0]
     else:
@@ -402,42 +385,36 @@ class BindData(object):
     self.prefix = ''
     ids = []
     for spec in specs:
-      if not spec.name:
-        raise KeyError(f'cannot bind spec with empty name')
+      if model.signature != spec.signature:
+        raise ValueError(
+            'mjSpec signature does not match mjx.Model signature:'
+            f' {spec.signature} != {model.signature}'
+        )
+      if spec.id < 0:
+        raise KeyError(f'invalid id: {spec.id}')
       elif isinstance(spec, mujoco.MjsBody):
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
+        pass
       elif isinstance(spec, mujoco.MjsJoint):
         self.prefix = 'jnt_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
       elif isinstance(spec, mujoco.MjsGeom):
         self.prefix = 'geom_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
       elif isinstance(spec, mujoco.MjsSite):
         self.prefix = 'site_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
       elif isinstance(spec, mujoco.MjsLight):
         self.prefix = 'light_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
       elif isinstance(spec, mujoco.MjsCamera):
         self.prefix = 'cam_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
       elif isinstance(spec, mujoco.MjsTendon):
         self.prefix = 'ten_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
       elif isinstance(spec, mujoco.MjsActuator):
         self.prefix = 'actuator_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
       elif isinstance(spec, mujoco.MjsSensor):
         self.prefix = 'sensor_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
       elif isinstance(spec, mujoco.MjsEquality):
         self.prefix = 'eq_'
-        idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
       else:
         raise ValueError('invalid spec type')
-      if idx < 0:
-        raise KeyError(f'invalid name: {spec.name}')  # pytype: disable=attribute-error
-      ids.append(idx)
+      ids.append(spec.id)
     if len(ids) == 1:
       self.id = ids[0]
     else:
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 5948f9e1..1fd1971b 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -176,15 +176,15 @@ class SupportTest(parameterized.TestCase):
         </worldbody>
 
         <actuator>
-          <motor name="actuator1" joint="joint1"/>
-          <motor name="actuator2" joint="joint2"/>
-          <motor name="actuator3" joint="joint3"/>
+          <motor joint="joint1"/>
+          <motor joint="joint2"/>
+          <motor joint="joint3"/>
         </actuator>
 
         <sensor>
-          <framepos name="sensor1" objtype="body" objname="body1"/>
-          <framepos name="sensor2" objtype="body" objname="body2"/>
-          <framepos name="sensor3" objtype="body" objname="body3"/>
+          <framepos objtype="body" objname="body1"/>
+          <framepos objtype="body" objname="body2"/>
+          <framepos objtype="body" objname="body3"/>
         </sensor>
     </mujoco>
     """
@@ -309,29 +309,28 @@ class SupportTest(parameterized.TestCase):
           dx7.bind(mx, body).xfrc_applied, [0, 0, 0, 0, 0, 0]
       )
 
-    # test invalid name
-    with self.assertRaises(
-        AttributeError, msg='ctrl is not available for this type'
+    # test attribute and type mismatches
+    with self.assertRaisesRegex(
+        AttributeError, 'ctrl is not available for this type'
     ):
       print(dx.bind(mx, s.geoms).ctrl)
-    with self.assertRaises(
-        KeyError, msg='actuator_actuator_ctrl'
-    ):
+    with self.assertRaises(KeyError):
       print(dx.bind(mx, s.actuators).actuator_ctrl)
-    with self.assertRaises(
-        AttributeError, msg='actuator_actuator_ctrl'
+    with self.assertRaisesRegex(
+        AttributeError,
+        "'Data' object has no attribute 'actuator_actuator_ctrl'",
     ):
       print(dx.bind(mx, s.actuators).set('actuator_ctrl', [1, 2, 3]))
-    with self.assertRaises(
-        AttributeError, msg='qpos, qvel, qacc are not available for this type'
+    with self.assertRaisesRegex(
+        AttributeError, 'qpos, qvel, qacc are not available for this type'
     ):
       print(dx.bind(mx, s.geoms).qpos)
-    with self.assertRaises(KeyError, msg='invalid name: invalid_actuator_name'):
-      s.actuators[0].name = 'invalid_actuator_name'
-      print(dx.bind(mx, s.actuators).set('ctrl', [1, 2, 3]))
-    with self.assertRaises(KeyError, msg='invalid name: invalid_geom_name'):
-      s.geoms[0].name = 'invalid_geom_name'
-      print(mx.bind(s.geoms).pos)
+
+    # test that modified names do not raise an error
+    s.actuators[0].name = 'modified_actuator_name'
+    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, d.ctrl)
+    s.geoms[0].name = 'modified_geom_name'
+    np.testing.assert_array_equal(mx.bind(s.geoms[0]).pos, m.geom_pos[0, :])
 
     # test batched data
     batch_size = 16
@@ -343,12 +342,15 @@ class SupportTest(parameterized.TestCase):
           vdx.bind(mx, s.bodies[i]).xpos, [d.xpos[i, :]] * batch_size
       )
 
-    # test emtpy name
+    # test that adding a body requires recompilation
     s.worldbody.add_body()
-    m = s.compile()
-    mx = mjx.put_model(m)
-    with self.assertRaises(KeyError, msg='cannot bind spec with empty name'):
+    with self.assertRaises(ValueError) as e:
       mx.bind(s.bodies)
+    self.assertEqual(
+        str(e.exception),
+        'mjSpec signature does not match mjx.Model signature:'
+        ' 5495345807332648606 != 270010677651259353',
+    )
 
   _CONTACTS = """
     <mujoco>
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 228f3f3d..515d15f4 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -844,6 +844,7 @@ class Model(PyTreeNode):
     name_tupleadr: tuple name pointers                        (ntuple,)
     name_keyadr: keyframe name pointers                       (nkey,)
     names: names of all objects, 0-terminated                 (nnames,)
+    signature: compilation signature
   """
 
   nq: int
@@ -1187,6 +1188,7 @@ class Model(PyTreeNode):
   name_tupleadr: np.ndarray
   name_keyadr: np.ndarray
   names: bytes
+  signature: np.uint64
   _sizes: jax.Array
 
 
diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
index e4617eab..bb52643d 100644
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ b/python/mujoco/codegen/generate_spec_bindings.py
@@ -627,6 +627,22 @@ def generate_signature() -> None:
     print(code)
 
 
+def generate_id() -> None:
+  """Generate id functions."""
+  for key, _, _, _, _ in SPECS:
+    if key == 'mjsPlugin':
+      continue
+    elem = key.removeprefix('mjs')
+    titlecase = 'Mjs' + elem
+    code = f"""\n
+      {key}.def_property_readonly("id",
+      [](raw::{titlecase}& self) -> int {{
+        return mjs_getId(self.element);
+      }});
+    """
+    print(code)
+
+
 def main(argv: Sequence[str]) -> None:
   if len(argv) > 1:
     raise app.UsageError('Too many command-line arguments.')
@@ -634,6 +650,7 @@ def main(argv: Sequence[str]) -> None:
   generate_add()
   generate_find()
   generate_signature()
+  generate_id()
 
 
 if __name__ == '__main__':

From 86c970bc2315c788d594bc657e9b30fa7c5d29da Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 1 Apr 2025 03:33:54 -0700
Subject: [PATCH 023/191] Add error checking in mjs_setFrame.

Also raise error if the frame is not found in the mjCBody copy constructor.

Fixes #2543.

PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
---
 doc/APIreference/functions.rst        |  2 +-
 doc/includes/references.h             |  2 +-
 include/mujoco/mujoco.h               |  4 +-
 python/mujoco/introspect/functions.py |  4 +-
 python/mujoco/specs.cc                | 37 +++++++++++-----
 src/user/user_api.cc                  | 12 ++++--
 src/user/user_api.h                   |  4 +-
 src/user/user_objects.cc              | 17 +++++++-
 src/user/user_objects.h               |  3 ++
 src/xml/xml_native_reader.cc          |  4 +-
 test/xml/xml_native_reader_test.cc    | 61 +++++++++++++++++++++++++++
 11 files changed, 125 insertions(+), 25 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 7ca8f985..627b6871 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -4448,7 +4448,7 @@ Set element's default.
 
 .. mujoco-include:: mjs_setFrame
 
-Set element's enclosing frame.
+Set element's enclosing frame, return 0 on success.
 
 .. _mjs_resolveOrientation:
 
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 355b5183..541dab8d 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3683,7 +3683,7 @@ void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
 const char* mjs_getString(const mjString* source);
 const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 void mjs_setDefault(mjsElement* element, const mjsDefault* def);
-void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
+int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
                                    const mjsOrientation* orientation);
 mjsFrame* mjs_bodyToFrame(mjsBody** body);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 5158e1f8..84496910 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1640,8 +1640,8 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 // Set element's default.
 MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
 
-// Set element's enclosing frame.
-MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
+// Set element's enclosing frame, return 0 on success.
+MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 
 // Resolve alternative orientations to quat, return error if any.
 MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 737de191..d2955e80 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -10423,7 +10423,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
     ('mjs_setFrame',
      FunctionDecl(
          name='mjs_setFrame',
-         return_type=ValueType(name='void'),
+         return_type=ValueType(name='int'),
          parameters=(
              FunctionParameterDecl(
                  name='dest',
@@ -10438,7 +10438,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc="Set element's enclosing frame.",
+         doc="Set element's enclosing frame, return 0 on success.",
      )),
     ('mjs_resolveOrientation',
      FunctionDecl(
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index bc9e5299..3a834ff3 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -564,7 +564,9 @@ PYBIND11_MODULE(_specs, m) {
           if (!attached_frame) {
             throw pybind11::value_error(mjs_getError(self.ptr));
           }
-          mjs_setFrame(attached_frame->element, frame_ptr);
+          if (mjs_setFrame(attached_frame->element, frame_ptr) != 0) {
+            throw pybind11::value_error(mjs_getError(self.ptr));
+          }
         }
         if (site.has_value()) {
           raw::MjsSite* site_ptr = nullptr;
@@ -637,10 +639,11 @@ PYBIND11_MODULE(_specs, m) {
         return out;
       },
       py::return_value_policy::reference_internal);
-  mjsBody.def("set_frame",
-              [](raw::MjsBody& self, raw::MjsFrame& frame) -> void {
-                mjs_setFrame(self.element, &frame);
-              });
+  mjsBody.def("set_frame", [](raw::MjsBody& self, raw::MjsFrame& frame) {
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
+  });
   mjsBody.def_property(
       "classname",
       [](raw::MjsBody& self) -> raw::MjsDefault* {
@@ -850,7 +853,9 @@ PYBIND11_MODULE(_specs, m) {
   // ============================= MJSFRAME ====================================
   mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
   mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
-    mjs_setFrame(self.element, &frame);
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
   });
   mjsFrame.def_property_readonly(
       "parent",
@@ -879,7 +884,9 @@ PYBIND11_MODULE(_specs, m) {
   // ============================= MJSGEOM =====================================
   mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
   mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
-    mjs_setFrame(self.element, &frame);
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
   });
   mjsGeom.def_property_readonly(
       "parent",
@@ -899,7 +906,9 @@ PYBIND11_MODULE(_specs, m) {
   // ============================= MJSJOINT ====================================
   mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
   mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
-    mjs_setFrame(self.element, &frame);
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
   });
   mjsJoint.def_property_readonly(
       "parent",
@@ -919,7 +928,9 @@ PYBIND11_MODULE(_specs, m) {
   // ============================= MJSSITE =====================================
   mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
   mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
-    mjs_setFrame(self.element, &frame);
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
   });
   mjsSite.def_property_readonly(
       "parent",
@@ -957,7 +968,9 @@ PYBIND11_MODULE(_specs, m) {
   mjsCamera.def("delete",
                 [](raw::MjsCamera& self) { mjs_delete(self.element); });
   mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
-    mjs_setFrame(self.element, &frame);
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
   });
   mjsCamera.def_property_readonly(
       "parent",
@@ -977,7 +990,9 @@ PYBIND11_MODULE(_specs, m) {
   // ============================= MJSLIGHT ====================================
   mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
   mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
-    mjs_setFrame(self.element, &frame);
+    if (mjs_setFrame(self.element, &frame) != 0) {
+      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
+    }
   });
   mjsLight.def_property_readonly(
       "parent",
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 0e339780..646bb986 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -758,13 +758,19 @@ mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
 
 
 // set frame
-void mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
+int mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
   if (!frame) {
-    return;
+    return -1;
   }
   mjCFrame* frameC = static_cast<mjCFrame*>(frame->element);
   mjCBase* baseC = static_cast<mjCBase*>(dest);
-  baseC->SetFrame(frameC);
+  try {
+    baseC->SetFrame(frameC);
+    return 0;
+  } catch (mjCError& e) {
+    baseC->model->SetError(e);
+    return -1;
+  }
 }
 
 
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 3c6c4420..01aa9856 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -370,8 +370,8 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 // Set element's default.
 MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
 
-// Set element's enlcosing frame.
-MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
+// Set element's enclosing frame, return 0 on success.
+MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 
 // Resolve alternative orientations to quat, return error if any.
 MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 1e9cf407..d65ac68b 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -773,6 +773,9 @@ void mjCBase::SetFrame(mjCFrame* _frame) {
   if (!_frame) {
     return;
   }
+  if (_frame->body && GetParent() != _frame->body) {
+    throw mjCError(this, "Frame and body '%s' have mismatched parents", name.c_str());
+  }
   frame = _frame;
 }
 
@@ -891,8 +894,18 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
   for (int i=0; i < other.bodies.size(); i++) {
     bodies.push_back(new mjCBody(*other.bodies[i], model));  // triggers recursive call
     bodies.back()->parent = this;
-    bodies.back()->frame =
-      other.bodies[i]->frame ? frames[fmap[other.bodies[i]->frame]] : nullptr;
+    bodies.back()->frame = nullptr;
+    if (other.bodies[i]->frame) {
+      if (fmap.find(other.bodies[i]->frame) != fmap.end()) {
+        bodies.back()->frame = frames[fmap[other.bodies[i]->frame]];
+      } else {
+        throw mjCError(this, "Frame '%s' not found in other body",
+                       other.bodies[i]->frame->name.c_str());
+      }
+      if (bodies.back()->frame && bodies.back()->frame->body != this) {
+        throw mjCError(this, "Frame and body '%s' have mismatched parents", name.c_str());
+      }
+    }
   }
 
   return *this;
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 6d9b146e..f04bf850 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -254,6 +254,9 @@ class mjCBase : public mjCBase_ {
   // Copy plugins instantiated in this object
   virtual void CopyPlugin() {}
 
+  // Returns parent of this object
+  virtual mjCBase* GetParent() const { return nullptr; }
+
   // Copy assignment
   mjCBase& operator=(const mjCBase& other);
 
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 272b5a2c..7fda10cd 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -3647,7 +3647,9 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
         }
       } else {
         // only set frame to existing body
-        mjs_setFrame(child->element, pframe);
+        if (mjs_setFrame(child->element, pframe)) {
+          throw mjXError(elem, mjs_getError(spec));
+        }
       }
     }
 
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index 52650330..7b74af4c 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -1449,6 +1449,67 @@ TEST_F(XMLReaderTest, ParseReplicateRepeatedName) {
   EXPECT_THAT(error.data(), HasSubstr("Element 'replicate'"));
 }
 
+TEST_F(XMLReaderTest, RepeatedPrefix) {
+  static constexpr char parent[] = R"(
+  <mujoco>
+    <asset>
+      <model name="1" file="child_1.xml" content_type="text/xml" />
+      <model name="2" file="child_2.xml" content_type="text/xml" />
+    </asset>
+
+    <worldbody>
+      <attach model="1" body="1" prefix="prefix-"/>
+      <replicate count="1">
+        <attach model="2" body="2" prefix="prefix-"/>
+      </replicate>
+    </worldbody>
+  </mujoco>
+  )";
+
+  static constexpr char child_1[] = R"(
+  <mujoco>
+    <asset>
+      <model name="2" file="child_2.xml" content_type="text/xml"/>
+    </asset>
+
+    <worldbody>
+      <body name="1">
+        <body name="2">
+          <attach model="2" body="2" prefix="prefix2"/>
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+
+  static constexpr char child_2[] = R"(
+  <mujoco>
+    <worldbody>
+      <body name="2"/>
+    </worldbody>
+  </mujoco>
+  )";
+
+  auto vfs = std::make_unique<mjVFS>();
+  mj_defaultVFS(vfs.get());
+  mj_addBufferVFS(vfs.get(), "child_1.xml", child_1, sizeof(child_1));
+  mj_addBufferVFS(vfs.get(), "child_2.xml", child_2, sizeof(child_2));
+
+  std::array<char, 1024> err;
+  mjSpec* c2 = mj_parseXMLString(child_2, 0, err.data(), err.size());
+  EXPECT_THAT(c2, NotNull()) << err.data();
+  mjSpec* c1 = mj_parseXMLString(child_1, vfs.get(), err.data(), err.size());
+  EXPECT_THAT(c1, NotNull()) << err.data();
+  mj_deleteSpec(c1);
+  mj_deleteSpec(c2);
+
+  mjSpec* spec = mj_parseXMLString(parent, vfs.get(), err.data(), err.size());
+  EXPECT_THAT(spec, IsNull());
+  EXPECT_THAT(err.data(), HasSubstr("mismatched parents"));
+  mj_deleteSpec(spec);
+  mj_deleteVFS(vfs.get());
+}
+
 TEST_F(XMLReaderTest, ParseReplicateExcludeTendon) {
   static constexpr char xml[] = R"(
   <mujoco>

From 648a03c2cf136f67ceb6ab9f64e2d80bbf901d40 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 1 Apr 2025 05:20:59 -0700
Subject: [PATCH 024/191] Override inertia of body with visual geoms if
 discardvisual is true.

Fixes #2546.

PiperOrigin-RevId: 742650702
Change-Id: I753c1e1c89da732ece100676644bbecf9d6373bb
---
 src/user/user_model.cc     | 31 ++++++++++++++++++++++++++-----
 src/user/user_objects.cc   | 10 ----------
 test/user/user_api_test.cc |  3 +--
 3 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index a63f13c9..11ef0755 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -558,7 +558,7 @@ void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
 template <>
 void mjCModel::DeleteAll<mjCKey>(std::vector<mjCKey*>& elements) {
   for (mjCKey* element : elements) {
-    delete element;
+    element->Release();
   }
   elements.clear();
 }
@@ -1553,7 +1553,7 @@ static void DeleteElements(std::vector<T*>& elements,
   int i = 0;
   for (int j=0; j < elements.size(); j++) {
     if (discard[j]) {
-      delete elements[j];
+      elements[j]->Release();
     } else {
       elements[i] = elements[j];
       i++;
@@ -1611,7 +1611,7 @@ void mjCModel::DeleteAll<mjCMaterial>(std::vector<mjCMaterial*>& elements) {
   DeleteMaterial(sites_);
   DeleteMaterial(tendons_);
   for (mjCMaterial* element : elements) {
-    delete element;
+    element->Release();
   }
   elements.clear();
 }
@@ -1621,7 +1621,7 @@ template <>
 void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
   DeleteAllTextures(materials_);
   for (mjCTexture* element : elements) {
-    delete element;
+    element->Release();
   }
   elements.clear();
 }
@@ -1781,7 +1781,6 @@ void mjCModel::IndexAssets(bool discard) {
     }
   }
 
-  // discard visual meshes and geoms
   if (discard) {
     std::vector<bool> discard_mesh(meshes_.size(), false);
     std::vector<bool> discard_geom(geoms_.size(), false);
@@ -1795,6 +1794,28 @@ void mjCModel::IndexAssets(bool discard) {
       return geom->IsVisual();
     });
 
+    // update inertia in bodies
+    for (auto body : bodies_) {
+      if (body->spec.explicitinertial) {
+        continue;
+      }
+      for (auto geom : body->geoms) {
+        if (geom->IsVisual()) {
+          if (compiler.inertiafromgeom == mjINERTIAFROMGEOM_TRUE) {
+            compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
+          }
+          body->explicitinertial = true;  // for XML writer
+          body->spec.explicitinertial = true;
+          body->spec.mass = body->mass;
+          mjuu_copyvec(body->spec.ipos, body->ipos, 3);
+          mjuu_copyvec(body->spec.iquat, body->iquat, 4);
+          mjuu_copyvec(body->spec.inertia, body->inertia, 3);
+          break;
+        }
+      }
+    }
+
+    // discard visual meshes and geoms
     Delete(meshes_, discard_mesh);
     Delete(geoms_, discard_geom);
   }
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index d65ac68b..d46c51df 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1976,16 +1976,6 @@ void mjCBody::Compile(void) {
     }
   }
 
-  // if discarding visual geoms, use explicit inertias
-  if (compiler->discardvisual) {
-    for (int j=0; j < geoms.size(); j++) {
-      if (geoms[j]->IsVisual()) {
-        explicitinertial = true;
-        break;
-      }
-    }
-  }
-
   // free joint alignment, phase 2 (transform sites, cameras and lights)
   if (align_free) {
     // frames have already been compiled and applied to children
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 3837c423..d07f0388 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -520,8 +520,7 @@ TEST_F(PluginTest, RecompileCompare) {
         // if file is meant to fail, skip it
         if (absl::StrContains(p.path().string(), "malformed_") ||
             absl::StrContains(p.path().string(), "touch_grid") ||
-            absl::StrContains(p.path().string(), "cow") ||
-            absl::StrContains(p.path().string(), "discardvisual")) {
+            absl::StrContains(p.path().string(), "cow")) {
           continue;
         }
 

From 9ecec6f238e5a1932dc3c79ac4e4f65f5d53fd5f Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Tue, 1 Apr 2025 06:10:30 -0700
Subject: [PATCH 025/191] Fix bad contact from passing through polytope2 in
 nativeccd.

PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
---
 src/engine/engine_collision_gjk.c        |  26 ++-
 src/engine/engine_collision_gjk.h        |   2 +-
 test/engine/engine_collision_gjk_test.cc | 205 +++++++++++++++--------
 3 files changed, 155 insertions(+), 78 deletions(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 16859bf5..1fcc03d9 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -903,6 +903,26 @@ static void rotmat(mjtNum R[9], const mjtNum axis[3]) {
 
 
 
+// return nonzero if the ray v1v2 intersects the triangle v3v4v5
+static inline int rayTriangle(const mjtNum v1[3], const mjtNum v2[3], const mjtNum v3[3],
+                              const mjtNum v4[3], const mjtNum v5[3]) {
+  mjtNum diff12[3], diff13[3], diff14[3], diff15[3];
+  sub3(diff12, v2, v1);
+  sub3(diff13, v3, v1);
+  sub3(diff14, v4, v1);
+  sub3(diff15, v5, v1);
+
+  mjtNum vol1 = det3(diff13, diff14, diff12);
+  mjtNum vol2 = det3(diff14, diff15, diff12);
+  mjtNum vol3 = det3(diff15, diff13, diff12);
+
+  if (vol1 >= 0 && vol2 >= 0 && vol3 >= 0) return 1;
+  if (vol1 <= 0 && vol2 <= 0 && vol3 <= 0) return -1;
+  return 0;
+}
+
+
+
 // create a polytope from a 1-simplex (returns 0 on success)
 static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
   mjtNum *v1 = status->simplex[0].vert, *v2 = status->simplex[1].vert;
@@ -970,9 +990,9 @@ static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
     return polytope3(pt, status, obj1, obj2);
   }
 
-  // check that origin is in the hexahedron
-  if (status->dist > 10*mjMINVAL && !testTetra(v1, v3, v4, v5) && !testTetra(v2, v3, v4, v5)) {
-    return mjEPA_P2_MISSING_ORIGIN;
+  // check hexahedron is convex
+  if (!rayTriangle(v1, v2, v3, v4, v5)) {
+    return mjEPA_P2_NONCONVEX;
   }
 
   for (int i = 0; i < 6; i++) {
diff --git a/src/engine/engine_collision_gjk.h b/src/engine/engine_collision_gjk.h
index 027929e3..a8f2224b 100644
--- a/src/engine/engine_collision_gjk.h
+++ b/src/engine/engine_collision_gjk.h
@@ -44,7 +44,7 @@ typedef enum {
   mjEPA_NOCONTACT           = -1,
   mjEPA_SUCCESS             = 0,
   mjEPA_P2_INVALID_FACES,
-  mjEPA_P2_MISSING_ORIGIN,
+  mjEPA_P2_NONCONVEX,
   mjEPA_P2_ORIGIN_ON_FACE,
   mjEPA_P3_BAD_NORMAL,
   mjEPA_P3_INVALID_V4,
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 6db923f2..dfaebaad 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -93,7 +93,7 @@ mjtNum GeomDist(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
   return dist;
 }
 
-int Penetration(mjtNum& depth, std::vector<mjtNum>& dir,
+int Penetration(mjCCDStatus& status, mjtNum& depth, std::vector<mjtNum>& dir,
                 std::vector<mjtNum>& pos, mjModel* model, mjData* data,
                 int g1, int g2, mjtNum margin = 0, int max_contacts = 1) {
   mjCCDObj obj1, obj2;
@@ -128,7 +128,6 @@ int Penetration(mjtNum& depth, std::vector<mjtNum>& dir,
 #endif
 
   mjCCDConfig config;
-  mjCCDStatus status;
 
   // set config
   config.max_iterations = kMaxIterations;
@@ -235,9 +234,11 @@ TEST_F(MjGjkTest, SphereSphereNoDist) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 0);
   mj_deleteData(data);
@@ -262,9 +263,11 @@ TEST_F(MjGjkTest, SphereSphereIntersect) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 1);
 
@@ -304,9 +307,10 @@ TEST_F(MjGjkTest, BoxBoxDepth) {
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
 
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 1);
 
@@ -354,9 +358,11 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   if (ncons == 1) {
     EXPECT_NEAR(dist, -0.033401579411886845, kTolerance);
@@ -421,9 +427,11 @@ TEST_F(MjGjkTest, BoxBoxDepth3) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 1);
   EXPECT_NEAR(dist, -0.003066, kTolerance);
@@ -453,11 +461,14 @@ TEST_F(MjGjkTest, BoxBoxTouching) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 0);
+  EXPECT_GT(status.epa_status, 0);
 
   mj_deleteData(data);
   mj_deleteModel(model);
@@ -479,11 +490,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 4);
   EXPECT_NEAR(dist, -.1, kTolerance);
@@ -517,11 +530,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD2) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 4);
   EXPECT_NEAR(dist, -.1, kTolerance);
@@ -573,11 +588,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD3) {
   xpos[2] = 1.095456702630382306296041861060;
 
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 4);
   mj_deleteData(data);
@@ -634,11 +651,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD4) {
   xpos[1] = -0.023500601273213628239489025873;
   xpos[2] = -4.958782854594746325460619118530;
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 8);
   EXPECT_NEAR(dist, -0.00060425119242707459, kTolerance);
@@ -701,11 +720,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD5) {
   xpos[2] = -4.659108354876987156956147373421;
 
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 8);
   EXPECT_NEAR(dist, -0.0001077858631973211, kTolerance);
@@ -750,11 +771,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD6) {
   xpos[1] = 0.190777715293135141649827346555;
   xpos[2] = 0.100006658017411736993906856696;
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 5);
   EXPECT_NEAR(dist, -0.00009843, kTolerance);
@@ -817,11 +840,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD7) {
   xpos[2] = -4.958375812037025376355359185254;
 
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 8);
   mj_deleteData(data);
@@ -878,11 +903,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD8) {
   xpos[1] = -0.023505499999999998617106200527;
   xpos[2] = -4.958574289672835533338002278470;
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 4);
   mj_deleteData(data);
@@ -940,11 +967,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD9) {
   xpos[2] = 0.2156259187793853615566774806211469694972;
 
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 4);
   mj_deleteData(data);
@@ -979,11 +1008,13 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
   xpos[1] = -0.0765140000000000264357424839545274153352;
   xpos[2] = 0.1751399999999999623767621415026951581240;
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 8);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
 
   EXPECT_EQ(ncons, 4);
 
@@ -1030,9 +1061,11 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 1);
   EXPECT_NEAR(dist, 0, kTolerance);
@@ -1072,11 +1105,13 @@ TEST_F(MjGjkTest, BoxMesh) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom2, geom1, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 1000);
 
   EXPECT_EQ(ncons, 4);
   mj_deleteData(data);
@@ -1105,11 +1140,13 @@ TEST_F(MjGjkTest, BoxMesh2) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom2, geom1, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 1000);
 
   EXPECT_EQ(ncons, 5);
   mj_deleteData(data);
@@ -1138,11 +1175,13 @@ TEST_F(MjGjkTest, BoxMeshPrune) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom2, geom1, 0, 4);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 4);
 
   EXPECT_EQ(ncons, 4);
   mj_deleteData(data);
@@ -1173,11 +1212,13 @@ TEST_F(MjGjkTest, MeshMesh) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
 
   EXPECT_EQ(ncons, 5);
   mj_deleteData(data);
@@ -1208,11 +1249,13 @@ TEST_F(MjGjkTest, MeshMeshPrune) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
 
   EXPECT_EQ(ncons, 4);
   mj_deleteData(data);
@@ -1246,11 +1289,13 @@ TEST_F(MjGjkTest, BoxEdge) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
 
   EXPECT_EQ(ncons, 2);
   mj_deleteData(data);
@@ -1319,11 +1364,13 @@ TEST_F(MjGjkTest, BoxEdge2) {
   xpos[1] = 0.9828851949225971829093850828940048813820;
   xpos[2] = 3.0930077345364814789263618877157568931580;
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
 
   EXPECT_EQ(ncons, 2);
   mj_deleteData(data);
@@ -1391,11 +1438,13 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
   xpos[1] = -0.0000000000000000008679606505055748997840;
   xpos[2] = 2.8141526153588731773425024584867060184479;
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
 
   EXPECT_EQ(ncons, 2);
   mj_deleteData(data);
@@ -1439,11 +1488,13 @@ TEST_F(MjGjkTest, MeshEdge) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
 
   EXPECT_EQ(ncons, 2);
   mj_deleteData(data);
@@ -1461,9 +1512,11 @@ TEST_F(MjGjkTest, EllipsoidEllipsoidPenetrating) {
 
   int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 1);
   EXPECT_NEAR(dist, -0.00022548856248122027, kTolerance);
@@ -1542,11 +1595,13 @@ static constexpr char xml[] = R"(
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2);
 
   EXPECT_EQ(ncons, 1);
   EXPECT_NEAR(dist, -0.01, kTolerance);
@@ -1560,7 +1615,7 @@ static constexpr char xml[] = R"(
   EXPECT_NEAR(pos[2], -0.005, kTolerance);
 
   // multicontact
-  ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
+  ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
   EXPECT_EQ(ncons, 4);
 
   mj_deleteData(data);
@@ -1583,11 +1638,13 @@ TEST_F(MjGjkTest, EllipsoidEllipsoidIntersect) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
   mjtNum dist;
-  int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 15);
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 15);
 
   EXPECT_EQ(ncons, 1);
   EXPECT_NEAR(dist, -14.245732934582151, kTolerance);

From c0a7ea1edb65d94a17556d456880cbc18327d00b Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 1 Apr 2025 06:50:50 -0700
Subject: [PATCH 026/191] Added the element type mjOBJ_SPEC for mjSpec.

PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
---
 doc/includes/references.h            | 3 ++-
 include/mujoco/mjmodel.h             | 3 ++-
 python/mujoco/introspect/enums.py    | 1 +
 src/engine/engine_io.c               | 1 +
 src/user/user_model.cc               | 2 +-
 unity/Runtime/Bindings/MjBindings.cs | 1 +
 6 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 541dab8d..d3e7ba18 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -607,7 +607,8 @@ typedef enum mjtObj_ {            // type of MujoCo object
 
   // meta elements, do not appear in mjModel
   mjOBJ_FRAME         = 100,      // frame
-  mjOBJ_DEFAULT                   // default
+  mjOBJ_DEFAULT,                  // default
+  mjOBJ_MODEL                     // entire model
 
 } mjtObj;
 typedef enum mjtConstraint_ {     // type of constraint
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 185d31de..632f6ddd 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -269,7 +269,8 @@ typedef enum mjtObj_ {            // type of MujoCo object
 
   // meta elements, do not appear in mjModel
   mjOBJ_FRAME         = 100,      // frame
-  mjOBJ_DEFAULT                   // default
+  mjOBJ_DEFAULT,                  // default
+  mjOBJ_MODEL                     // entire model
 
 } mjtObj;
 
diff --git a/python/mujoco/introspect/enums.py b/python/mujoco/introspect/enums.py
index 66b937a2..9443566f 100644
--- a/python/mujoco/introspect/enums.py
+++ b/python/mujoco/introspect/enums.py
@@ -288,6 +288,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjNOBJECT', 26),
              ('mjOBJ_FRAME', 100),
              ('mjOBJ_DEFAULT', 101),
+             ('mjOBJ_MODEL', 102),
          ]),
      )),
     ('mjtConstraint',
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index ec1757f6..f982941f 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -2143,6 +2143,7 @@ static int numObjects(const mjModel* m, mjtObj objtype) {
   case mjOBJ_DEFAULT:
   case mjOBJ_FRAME:
   case mjOBJ_UNKNOWN:
+  case mjOBJ_MODEL:
     return -1;
   case mjOBJ_BODY:
   case mjOBJ_XBODY:
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 11ef0755..402f738b 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -166,7 +166,7 @@ static void processlist(mjListKeyMap& ids, vector<T*>& list,
 // constructor
 mjCModel::mjCModel() {
   mjs_defaultSpec(&spec);
-  elemtype = mjOBJ_UNKNOWN;
+  elemtype = mjOBJ_MODEL;
   spec_comment_.clear();
   spec_modelfiledir_.clear();
   spec_meshdir_.clear();
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 7aecffe5..d7e79806 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -320,6 +320,7 @@ public enum mjtObj : int{
   mjNOBJECT = 26,
   mjOBJ_FRAME = 100,
   mjOBJ_DEFAULT = 101,
+  mjOBJ_MODEL = 102,
 }
 public enum mjtConstraint : int{
   mjCNSTR_EQUALITY = 0,

From 305b68ecbfd9e32d13d0c92c8d7b55743dcacb56 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 1 Apr 2025 07:14:00 -0700
Subject: [PATCH 027/191] Add tests for `body.find_all()` of joints and geoms,
 fix error message.

Fixes #2525

PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
---
 python/mujoco/specs.cc      | 2 +-
 python/mujoco/specs_test.py | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 3a834ff3..64afef62 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -261,7 +261,7 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
         // this should never happen
         throw pybind11::value_error(
             "body.find_all supports the types: body, frame, geom, site, "
-            "light, camera.");
+            "joint, light, camera.");
         break;
     }
     el = mjs_nextChild(&body, el, recursive);
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index f0c3bb6c..bfefd71f 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -636,6 +636,8 @@ class SpecsTest(absltest.TestCase):
             <site name="site4"/>
             <body name="body4">
               <site name="site5"/>
+              <joint name="joint1"/>
+              <geom name="geom1" size="1"/>
             </body>
           </body>
         </body>
@@ -649,6 +651,8 @@ class SpecsTest(absltest.TestCase):
     self.assertLen(spec.sites, 5)
     self.assertLen(spec.worldbody.find_all('body'), 4)
     self.assertLen(spec.worldbody.find_all('site'), 5)
+    self.assertLen(spec.worldbody.find_all('joint'), 1)
+    self.assertLen(spec.worldbody.find_all('geom'), 1)
     self.assertEqual(spec.bodies[1].name, 'body1')
     self.assertEqual(spec.bodies[2].name, 'body2')
     self.assertEqual(spec.bodies[3].name, 'body3')

From 08d22baea1a21e13518d195b59d1b940505089f9 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Tue, 1 Apr 2025 07:20:17 -0700
Subject: [PATCH 028/191] Fix bug in horizon code in nativeccd where parallel
 faces are included in horizon.

PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
---
 src/engine/engine_collision_gjk.c        |  2 +-
 test/engine/engine_collision_gjk_test.cc | 66 ++++++++++++++++++++++++
 2 files changed, 67 insertions(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 1fcc03d9..92d49a6a 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -1271,7 +1271,7 @@ static int horizonRec(Polytope* pt, Face* face, int e) {
     mjtNum dist2 = face->dist * face->dist;
 
     // v is visible from w so it is deleted and adjacent faces are checked
-    if (dot3(face->v, pt->horizon.w) >= dist2) {
+    if (dot3(face->v, pt->horizon.w) > dist2) {
       deleteFace(pt, face);
 
       // recursively search the adjacent faces on the next two edges
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index dfaebaad..325f6fd7 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -1022,6 +1022,72 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+      <geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+    </worldbody>
+  </mujoco>)";
+
+  std::array<char, 1000> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  mjtNum* xpos = data->geom_xpos;
+  mjtNum* xmat = data->geom_xmat;
+
+  xmat[0] = 1.0000000000000000000000000000000000000000;
+  xmat[1] = 0.0000000000000000000000000000000000000000;
+  xmat[2] = 0.0000000000000000000000000000000000000000;
+  xmat[3] = 0.0000000000000000000000000000000000000000;
+  xmat[4] = 1.0000000000000000000000000000000000000000;
+  xmat[5] = -0.0000000000000000013928437397151766790940;
+  xmat[6] = 0.0000000000000000000000000000000000000000;
+  xmat[7] = 0.0000000000000000013928437397151766790940;
+  xmat[8] = 1.0000000000000000000000000000000000000000;
+
+  xpos[0] = -0.1036549999999999971400654885655967518687;
+  xpos[1] = -0.1963450000000000195132798808117513544858;
+  xpos[2] = 0.1247685038468368534658736734854755923152;
+
+
+  xpos = data->geom_xpos + 3;
+  xmat = data->geom_xmat + 9;
+
+  xmat[0] = 1.0000000000000000000000000000000000000000;
+  xmat[1] = 0.0000000000000000000000000000000000000000;
+  xmat[2] = 0.0000000000000000000000000000000000000000;
+  xmat[3] = 0.0000000000000000000000000000000000000000;
+  xmat[4] = 1.0000000000000000000000000000000000000000;
+  xmat[5] = -0.0000000000000000018885268354605779111974;
+  xmat[6] = 0.0000000000000000000000000000000000000000;
+  xmat[7] = 0.0000000000000000018885268354605779111974;
+  xmat[8] = 1.0000000000000000000000000000000000000000;
+
+  xpos[0] = -0.1036549999999999971400654885655967518687;
+  xpos[1] = -0.1963450000000000195132798808117513544858;
+  xpos[2] = 0.1745248497897437800485676007156143896282;
+
+
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
+  std::vector<mjtNum> dir, pos;
+  mjtNum dist;
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
+
+  EXPECT_EQ(ncons, 4);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(MjGjkTest, SmallBoxMesh) {
   static constexpr char xml[] = R"(
   <mujoco>

From a02a27d4a4758b298c1480e9cb93117ba03cd98f Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 1 Apr 2025 08:04:58 -0700
Subject: [PATCH 029/191] Combine all mjs_attach functions into one.

PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
---
 doc/APIreference/functions.rst        |  37 +-----
 doc/XMLreference.rst                  |   5 +-
 doc/changelog.rst                     |   2 +
 doc/includes/references.h             |  10 +-
 doc/programming/modeledit.rst         |  29 ++---
 include/mujoco/mujoco.h               |  18 +--
 python/mujoco/introspect/functions.py | 114 +-----------------
 python/mujoco/specs.cc                |  24 ++--
 src/user/user_api.cc                  | 159 +++++++++++++++-----------
 src/user/user_api.h                   |  18 +--
 src/xml/xml_native_reader.cc          |   4 +-
 test/user/user_api_test.cc            |  99 +++++++++-------
 test/user/user_model_test.cc          |   2 +-
 13 files changed, 202 insertions(+), 319 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 627b6871..029fac76 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -3808,41 +3808,14 @@ Free all pointers with ``mju_free()``.
 
 Attachment
 ^^^^^^^^^^
-.. _mjs_attachBody:
+.. _mjs_attach:
 
-`mjs_attachBody <#mjs_attachBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`mjs_attach <#mjs_attach>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. mujoco-include:: mjs_attachBody
+.. mujoco-include:: mjs_attach
 
-Attach child body to a parent frame, return the attached body if success or NULL otherwise.
-
-.. _mjs_attachFrame:
-
-`mjs_attachFrame <#mjs_attachFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_attachFrame
-
-Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
-
-.. _mjs_attachToSite:
-
-`mjs_attachToSite <#mjs_attachToSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_attachToSite
-
-Attach child body to a parent site, return the attached body if success or NULL otherwise.
-
-.. _mjs_attachFrameToSite:
-
-`mjs_attachFrameToSite <#mjs_attachFrameToSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_attachFrameToSite
-
-Attach child frame to a parent site, return the attached frame if success or NULL otherwise.
+Attach child to a parent, return the attached element if success or NULL otherwise.
 
 .. _mjs_detachBody:
 
diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 1c1854bb..1f0c6b99 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -175,11 +175,10 @@ replicating 200 times, suffixes will be ``000, 001, ...`` etc). All referencing
 and namespaced appropriately. Detailed examples of models using replicate can be found in the
 `model/replicate/ <https://github.com/google-deepmind/mujoco/tree/main/model/replicate>`__ directory.
 
-There is a caveat concerning :ref:`keyframes<keyframe>` when using replicate. Since :ref:`mjs_attachFrame` is used to
+There is a caveat concerning :ref:`keyframes<keyframe>` when using replicate. Since :ref:`mjs_attach` is used to
 self-attach multiple times the enclosed kinematic tree, if this tree contains further :ref:`attach<body-attach>`
 elements, keyframes will not be replicated nor namespaced by :ref:`replicate<replicate>`, but they will be attached and
-namespaced once by the innermost call of :ref:`mjs_attachFrame` or :ref:`mjs_attachBody`. See the limitations discussed
-in :ref:`attach<body-attach>`.
+namespaced once by the innermost call of :ref:`mjs_attach`. See the limitations discussed in :ref:`attach<body-attach>`.
 
 .. _replicate-count:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index ad3f10cc..4af1fae5 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -10,6 +10,8 @@ Upcoming version (not yet released)
 
    - The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
      "true" to "false". This feature has proven to be counterintuitive for users.
+   - All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``,
+     ``mjs_attachFrameToSite``) have been removed and replaced by a single function :ref:`mjs_attach`.
 
 General
 ^^^^^^^
diff --git a/doc/includes/references.h b/doc/includes/references.h
index d3e7ba18..8d1cf9c8 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3613,14 +3613,8 @@ void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
 void mju_threadPoolDestroy(mjThreadPool* thread_pool);
 void mju_defaultTask(mjTask* task);
 void mju_taskJoin(mjTask* task);
-mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
-                        const char* prefix, const char* suffix);
-mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
-                          const char* prefix, const char* suffix);
-mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
-                          const char* prefix, const char* suffix);
-mjsFrame* mjs_attachFrameToSite(mjsSite* parent, const mjsFrame* child,
-                                const char* prefix, const char* suffix);
+mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
+                       const char* prefix, const char* suffix);
 int mjs_detachBody(mjSpec* s, mjsBody* b);
 int mjs_detachDefault(mjSpec* s, mjsDefault* d);
 mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
diff --git a/doc/programming/modeledit.rst b/doc/programming/modeledit.rst
index cec8f03d..ac74efdf 100644
--- a/doc/programming/modeledit.rst
+++ b/doc/programming/modeledit.rst
@@ -111,9 +111,10 @@ This framework introduces a powerful new feature: attaching and detaching model
 to power the :ref:`attach<body-attach>` an :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user
 to move or copy a subtree from one model into another, while also copying or moving related referenced assets and
 referencing elements from outside the kinematic tree (e.g., actuators and sensors). Similarly, detaching a subtree will
-remove all associated elements from the model. The default behavior is to move during attach. The user can select to
-instead copy by passing the corresponding flag to ``mjs_setDeepCopy``. This flag is temporary set to true while parsing
-XMLs. It is possible to :ref:`attach a body to a frame<mjs_attachBody>`:
+remove all associated elements from the model. The default behavior is to move the child into the parent while
+attaching, so subsequent changes to the child will also change the parent. Alternatively, the user can choose to make an
+entirely new copy during attach using :ref:`mjs_setDeepCopy`. This flag is temporarily set to true while parsing XMLs.
+It is possible to :ref:`attach a body to a frame<mjs_attach>`:
 
 .. code-block:: C
 
@@ -121,29 +122,29 @@ XMLs. It is possible to :ref:`attach a body to a frame<mjs_attachBody>`:
    mjSpec* child = mj_makeSpec();
    parent->compiler.degree = 0;
    child->compiler.degree = 1;
-   mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), NULL);
-   mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), NULL);
-   mjsBody* attached_body_1 = mjs_attachBody(frame, body, "attached-", "-1");
+   mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), NULL)->element;
+   mjsElement* body = mjs_addBody(mjs_findBody(child, "world"), NULL)->element;
+   mjsBody* attached_body_1 = mjs_asBody(mjs_attach(frame, body, "attached-", "-1"));
 
-or :ref:`attach a body to a site<mjs_attachToSite>`:
+or :ref:`attach a body to a site<mjs_attach>`:
 
 .. code-block:: C
 
    mjSpec* parent = mj_makeSpec();
    mjSpec* child = mj_makeSpec();
-   mjsSite* site = mjs_addSite(mjs_findBody(parent, "world"), NULL);
-   mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), NULL);
-   mjsBody* attached_body_2 = mjs_attachToSite(site, body, "attached-", "-2");
+   mjsElement* site = mjs_addSite(mjs_findBody(parent, "world"), NULL)->element;
+   mjsElement* body = mjs_addBody(mjs_findBody(child, "world"), NULL)->element;
+   mjsBody* attached_body_2 = mjs_asBody(mjs_attach(site, body, "attached-", "-2"));
 
-or :ref:`attach a frame to a body<mjs_attachFrame>`:
+or :ref:`attach a frame to a body<mjs_attach>`:
 
 .. code-block:: C
 
    mjSpec* parent = mj_makeSpec();
    mjSpec* child = mj_makeSpec();
-   mjsBody* body = mjs_addBody(mjs_findBody(parent, "world"), NULL);
-   mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), NULL);
-   mjsFrame* attached_frame = mjs_attachFrame(body, frame, "attached-", "-1");
+   mjsElement* body = mjs_addBody(mjs_findBody(parent, "world"), NULL)->element;
+   mjsElement* frame = mjs_addFrame(mjs_findBody(child, "world"), NULL)->element;
+   mjsFrame* attached_frame = mjs_asFrame(mjs_attach(body, frame, "attached-", "-1"));
 
 Note that in the above examples, the parent and child models have different values for ``compiler.degree``,
 corresponding to the :ref:`compiler/angle<compiler-angle>` attribute, specifying the units in which angles are
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 84496910..c17c7e47 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1414,21 +1414,9 @@ MJAPI void mju_taskJoin(mjTask* task);
 
 //---------------------------------- Attachment ----------------------------------------------------
 
-// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
-MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
-                              const char* prefix, const char* suffix);
-
-// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
-MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
-                                const char* prefix, const char* suffix);
-
-// Attach child body to a parent site, return the attached body if success or NULL otherwise.
-MJAPI mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
-                                const char* prefix, const char* suffix);
-
-// Attach child frame to a parent site, return the attached frame if success or NULL otherwise.
-MJAPI mjsFrame* mjs_attachFrameToSite(mjsSite* parent, const mjsFrame* child,
-                                      const char* prefix, const char* suffix);
+// Attach child to a parent, return the attached element if success or NULL otherwise.
+MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
+                             const char* prefix, const char* suffix);
 
 // Delete body and descendants from mjSpec, remove all references, return 0 on success.
 MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index d2955e80..9e61b828 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -9000,23 +9000,23 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Wait for a task to complete.',
      )),
-    ('mjs_attachBody',
+    ('mjs_attach',
      FunctionDecl(
-         name='mjs_attachBody',
+         name='mjs_attach',
          return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
+             inner_type=ValueType(name='mjsElement'),
          ),
          parameters=(
              FunctionParameterDecl(
                  name='parent',
                  type=PointerType(
-                     inner_type=ValueType(name='mjsFrame'),
+                     inner_type=ValueType(name='mjsElement'),
                  ),
              ),
              FunctionParameterDecl(
                  name='child',
                  type=PointerType(
-                     inner_type=ValueType(name='mjsBody', is_const=True),
+                     inner_type=ValueType(name='mjsElement', is_const=True),
                  ),
              ),
              FunctionParameterDecl(
@@ -9032,109 +9032,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Attach child body to a parent frame, return the attached body if success or NULL otherwise.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_attachFrame',
-     FunctionDecl(
-         name='mjs_attachFrame',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='parent',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='child',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFrame', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='prefix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='suffix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Attach child frame to a parent body, return the attached frame if success or NULL otherwise.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_attachToSite',
-     FunctionDecl(
-         name='mjs_attachToSite',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='parent',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSite'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='child',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='prefix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='suffix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Attach child body to a parent site, return the attached body if success or NULL otherwise.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_attachFrameToSite',
-     FunctionDecl(
-         name='mjs_attachFrameToSite',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='parent',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSite'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='child',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFrame', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='prefix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='suffix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Attach child frame to a parent site, return the attached frame if success or NULL otherwise.',  # pylint: disable=line-too-long
+         doc='Attach child to a parent, return the attached element if success or NULL otherwise.',  # pylint: disable=line-too-long
      )),
     ('mjs_detachBody',
      FunctionDecl(
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 64afef62..62f4efe8 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -540,7 +540,7 @@ PYBIND11_MODULE(_specs, m) {
         SetFrame(worldbody, mjOBJ_CAMERA, worldframe);
         const char* p = prefix.has_value() ? prefix.value().c_str() : "";
         const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        raw::MjsFrame* attached_frame = nullptr;
+        raw::MjsElement* attached_frame = nullptr;
         if (frame.has_value()) {
           raw::MjsFrame* frame_ptr = nullptr;
           try {
@@ -560,11 +560,12 @@ PYBIND11_MODULE(_specs, m) {
           if (!parent_body) {
             throw pybind11::value_error("Frame does not have a parent body.");
           }
-          attached_frame = mjs_attachFrame(parent_body, worldframe, p, s);
+          attached_frame =
+              mjs_attach(parent_body->element, worldframe->element, p, s);
           if (!attached_frame) {
             throw pybind11::value_error(mjs_getError(self.ptr));
           }
-          if (mjs_setFrame(attached_frame->element, frame_ptr) != 0) {
+          if (mjs_setFrame(attached_frame, frame_ptr) != 0) {
             throw pybind11::value_error(mjs_getError(self.ptr));
           }
         }
@@ -583,7 +584,8 @@ PYBIND11_MODULE(_specs, m) {
             throw pybind11::value_error(
                 "Site spec does not match parent spec.");
           }
-          attached_frame = mjs_attachFrameToSite(site_ptr, worldframe, p, s);
+          attached_frame =
+              mjs_attach(site_ptr->element, worldframe->element, p, s);
           if (!attached_frame) {
             throw pybind11::value_error(mjs_getError(self.ptr));
           }
@@ -597,7 +599,7 @@ PYBIND11_MODULE(_specs, m) {
           self.assets[asset.first] = asset.second;
         }
         child.parent = &self;
-        return attached_frame;
+        return mjs_asFrame(attached_frame);
       },
       py::arg("child"), py::arg("prefix") = py::none(),
       py::arg("suffix") = py::none(), py::arg("site") = py::none(),
@@ -829,11 +831,11 @@ PYBIND11_MODULE(_specs, m) {
          std::optional<std::string>& suffix) -> raw::MjsFrame* {
         const char* p = prefix.has_value() ? prefix.value().c_str() : "";
         const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        auto new_frame = mjs_attachFrame(&self, &frame, p, s);
+        auto new_frame = mjs_attach(self.element, frame.element, p, s);
         if (!new_frame) {
           throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
         }
-        return new_frame;
+        return mjs_asFrame(new_frame);
       },
       py::arg("frame"), py::arg("prefix") = py::none(),
       py::arg("suffix") = py::none(),
@@ -870,12 +872,12 @@ PYBIND11_MODULE(_specs, m) {
          std::optional<std::string>& suffix) -> raw::MjsBody* {
         const char* p = prefix.has_value() ? prefix.value().c_str() : "";
         const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        auto new_body = mjs_attachBody(&self, &body, p, s);
+        auto new_body = mjs_attach(self.element, body.element, p, s);
         if (!new_body) {
           throw pybind11::value_error(
               mjs_getError(mjs_getSpec(self.element)));
         }
-        return new_body;
+        return mjs_asBody(new_body);
       },
       py::arg("body"), py::arg("prefix") = py::none(),
       py::arg("suffix") = py::none(),
@@ -953,12 +955,12 @@ PYBIND11_MODULE(_specs, m) {
          std::optional<std::string>& suffix) -> raw::MjsBody* {
         const char* p = prefix.has_value() ? prefix.value().c_str() : "";
         const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        auto new_body = mjs_attachToSite(&self, &body, p, s);
+        auto new_body = mjs_attach(self.element, body.element, p, s);
         if (!new_body) {
           throw pybind11::value_error(
               mjs_getError(mjs_getSpec(self.element)));
         }
-        return new_body;
+        return mjs_asBody(new_body);
       },
       py::arg("body"), py::arg("prefix") = py::none(),
       py::arg("suffix") = py::none(),
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 646bb986..a3d90e3a 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -73,7 +73,7 @@ mjSpec* mj_copySpec(const mjSpec* s) {
   try {
     modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
   } catch (mjCError& e) {
-    mju_error("Failed to copy spec: %s", e.message);
+    modelC->SetError(e);
     return nullptr;
   }
   return &modelC->spec;
@@ -121,100 +121,125 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
 
 
 // attach body to a frame of the parent
-mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
-                        const char* prefix, const char* suffix) {
-  if (!parent) {
-    mju_error("parent frame is null");
-    return nullptr;
-  }
-  mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
-  mjCBody* child_body = static_cast<mjCBody*>(child->element);
+static mjsElement* attachBody(mjCFrame* parent, const mjCBody* child,
+                              const char* prefix, const char* suffix) {
   try {
-    *frame_parent += std::string(prefix) + *child_body + std::string(suffix);
+    *parent += std::string(prefix) + *(mjCBody*)child + std::string(suffix);
   } catch (mjCError& e) {
-    frame_parent->model->SetError(e);
+    parent->model->SetError(e);
     return nullptr;
   }
-  mjsBody* attached_body = frame_parent->last_attached;
-  frame_parent->last_attached = nullptr;
-  return attached_body;
+  mjsBody* attached_body = parent->last_attached;
+  parent->last_attached = nullptr;
+  return attached_body->element;
 }
 
 
 
 // attach frame to a parent body
-mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
-                          const char* prefix, const char* suffix) {
-  if (!parent) {
-    mju_error("parent body is null");
-    return nullptr;
-  }
-  mjCBody* body_parent = static_cast<mjCBody*>(parent->element);
-  mjCFrame* child_frame = static_cast<mjCFrame*>(child->element);
+static mjsElement* attachFrame(mjCBody* parent, const mjCFrame* child,
+                               const char* prefix, const char* suffix) {
   try {
-    *body_parent += std::string(prefix) + *child_frame + std::string(suffix);
+    *parent += std::string(prefix) + *(mjCFrame*)child + std::string(suffix);
   } catch (mjCError& e) {
-    body_parent->model->SetError(e);
+    parent->model->SetError(e);
     return nullptr;
   }
-  mjsFrame* attached_frame = body_parent->last_attached;
-  body_parent->last_attached = nullptr;
-  return attached_frame;
+  mjsFrame* attached_frame = parent->last_attached;
+  parent->last_attached = nullptr;
+  return attached_frame->element;
 }
 
 
 
 // attach child body to a parent site
-mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
-                          const char* prefix, const char* suffix) {
-  if (!parent) {
-    mju_error("parent site is null");
-    return nullptr;
-  }
-  mjSpec* spec = mjs_getSpec(parent->element);
-  mjCSite* site = static_cast<mjCSite*>(parent->element);
-  mjCBody* body = site->Body();
-  mjCFrame* frame = body->AddFrame(site->frame);
+static mjsElement* attachToSite(mjCSite* parent, const mjCBody* child,
+                                const char* prefix, const char* suffix) {
+  mjSpec* spec = mjs_getSpec(parent->spec.element);
+  mjCBody* body = parent->Body();
+  mjCFrame* frame = body->AddFrame(parent->frame);
   frame->SetParent(body);
-  frame->spec.pos[0] = site->spec.pos[0];
-  frame->spec.pos[1] = site->spec.pos[1];
-  frame->spec.pos[2] = site->spec.pos[2];
-  frame->spec.quat[0] = site->spec.quat[0];
-  frame->spec.quat[1] = site->spec.quat[1];
-  frame->spec.quat[2] = site->spec.quat[2];
-  frame->spec.quat[3] = site->spec.quat[3];
+  frame->spec.pos[0] = parent->spec.pos[0];
+  frame->spec.pos[1] = parent->spec.pos[1];
+  frame->spec.pos[2] = parent->spec.pos[2];
+  frame->spec.quat[0] = parent->spec.quat[0];
+  frame->spec.quat[1] = parent->spec.quat[1];
+  frame->spec.quat[2] = parent->spec.quat[2];
+  frame->spec.quat[3] = parent->spec.quat[3];
   mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
-                         spec->compiler.eulerseq, &site->spec.alt);
-  return mjs_attachBody(&frame->spec, child, prefix, suffix);
+                         spec->compiler.eulerseq, &parent->spec.alt);
+  return attachBody(frame, child, prefix, suffix);
 }
 
 
 
 // attach child frame to a parent site
-mjsFrame* mjs_attachFrameToSite(mjsSite* parent, const mjsFrame* child,
-                                const char* prefix, const char* suffix) {
+static mjsElement* attachFrameToSite(mjCSite* parent, const mjCFrame* child,
+                                     const char* prefix, const char* suffix) {
+  mjSpec* spec = mjs_getSpec(parent->spec.element);
+  mjCBody* body = parent->Body();
+  mjCFrame* frame = body->AddFrame(parent->frame);
+  frame->SetParent(body);
+  frame->spec.pos[0] = parent->spec.pos[0];
+  frame->spec.pos[1] = parent->spec.pos[1];
+  frame->spec.pos[2] = parent->spec.pos[2];
+  frame->spec.quat[0] = parent->spec.quat[0];
+  frame->spec.quat[1] = parent->spec.quat[1];
+  frame->spec.quat[2] = parent->spec.quat[2];
+  frame->spec.quat[3] = parent->spec.quat[3];
+  mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
+                         spec->compiler.eulerseq, &parent->spec.alt);
+
+  mjsElement* attached_frame = attachFrame(body, child, prefix, suffix);
+  mjs_setFrame(attached_frame, &frame->spec);
+  return attached_frame;
+}
+
+
+mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
+                       const char* prefix, const char* suffix) {
   if (!parent) {
-    mju_error("parent site is null");
+    mju_error("parent element is null");
     return nullptr;
   }
-  mjSpec* spec = mjs_getSpec(parent->element);
-  mjCSite* site = static_cast<mjCSite*>(parent->element);
-  mjCBody* body = site->Body();
-  mjCFrame* frame = body->AddFrame(site->frame);
-  frame->SetParent(body);
-  frame->spec.pos[0] = site->spec.pos[0];
-  frame->spec.pos[1] = site->spec.pos[1];
-  frame->spec.pos[2] = site->spec.pos[2];
-  frame->spec.quat[0] = site->spec.quat[0];
-  frame->spec.quat[1] = site->spec.quat[1];
-  frame->spec.quat[2] = site->spec.quat[2];
-  frame->spec.quat[3] = site->spec.quat[3];
-  mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
-                         spec->compiler.eulerseq, &site->spec.alt);
-
-  mjsFrame* attached_frame = mjs_attachFrame(&body->spec, child, prefix, suffix);
-  mjs_setFrame(attached_frame->element, &frame->spec);
-  return attached_frame;
+  if (!child) {
+    mju_error("child element is null");
+    return nullptr;
+  }
+  mjCModel* model = static_cast<mjCModel*>(mjs_getSpec(parent)->element);
+  switch (parent->elemtype) {
+    case mjOBJ_FRAME:
+      if (child->elemtype == mjOBJ_BODY) {
+        return attachBody(static_cast<mjCFrame*>(parent),
+                          static_cast<const mjCBody*>(child), prefix, suffix);
+      } else {
+        model->SetError(mjCError(0, "child element is not a body"));
+        return nullptr;
+      }
+    case mjOBJ_BODY:
+      if (child->elemtype == mjOBJ_FRAME) {
+        return attachFrame(static_cast<mjCBody*>(parent),
+                           static_cast<const mjCFrame*>(child), prefix, suffix);
+      } else {
+        model->SetError(mjCError(0, "child element is not a frame"));
+        return nullptr;
+      }
+    case mjOBJ_SITE:
+      if (child->elemtype == mjOBJ_BODY) {
+        return attachToSite(static_cast<mjCSite*>(parent),
+                            static_cast<const mjCBody*>(child), prefix, suffix);
+      } else if (child->elemtype == mjOBJ_FRAME) {
+        return attachFrameToSite(static_cast<mjCSite*>(parent),
+                                 static_cast<const mjCFrame*>(child), prefix, suffix);
+      } else {
+        model->SetError(mjCError(0, "child element is not a body or frame"));
+        return nullptr;
+      }
+    default:
+      model->SetError(mjCError(0, "parent element is not a frame, body or site"));
+      return nullptr;
+  }
+  return nullptr;
 }
 
 
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 01aa9856..d01b5172 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -69,21 +69,9 @@ MJAPI int mjs_setDeepCopy(mjSpec* s, int deepcopy);
 
 //---------------------------------- Attachment ----------------------------------------------------
 
-// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
-MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
-                              const char* prefix, const char* suffix);
-
-// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
-MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
-                                const char* prefix, const char* suffix);
-
-// Attach child body to a parent site, return the attached body if success or NULL otherwise.
-MJAPI mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
-                                const char* prefix, const char* suffix);
-
-// Attach child frame to a parent site, return the attached frame if success or NULL otherwise.
-MJAPI mjsFrame* mjs_attachFrameToSite(mjsSite* parent, const mjsFrame* child,
-                                      const char* prefix, const char* suffix);
+// Attach child to a parent, return the attached element if success or NULL otherwise.
+MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
+                             const char* prefix, const char* suffix);
 
 // Detach body from mjSpec, remove all references and delete the body, return 0 on success.
 MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 7fda10cd..94c61755 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -3566,7 +3566,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
         UpdateString(suffix, count, i);
 
         // attach to parent
-        if (!mjs_attachFrame(body, pframe, /*prefix=*/"", suffix.c_str())) {
+        if (!mjs_attach(body->element, pframe->element, /*prefix=*/"", suffix.c_str())) {
           throw mjXError(elem, mjs_getError(spec));
         }
       }
@@ -3642,7 +3642,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
         if (!child) {
           throw mjXError(elem, "could not find body '%s''%s'", body_name.c_str());
         }
-        if (!mjs_attachBody(pframe, child, prefix.c_str(), "")) {
+        if (!mjs_attach(pframe->element, child->element, prefix.c_str(), "")) {
           throw mjXError(elem, mjs_getError(spec));
         }
       } else {
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index d07f0388..c9bc6bd1 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -279,20 +279,23 @@ TEST_F(PluginTest, AttachPlugin) {
   EXPECT_THAT(body_1, NotNull());
   mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
   EXPECT_THAT(attachment_frame, NotNull());
-  mjs_attachBody(attachment_frame, mjs_findBody(spec_1, "body"), "child-", "");
+  mjs_attach(attachment_frame->element, mjs_findBody(spec_1, "body")->element,
+             "child-", "");
   mjModel* model_1 = mj_compile(parent, nullptr);
   EXPECT_THAT(model_1, NotNull());
   EXPECT_THAT(model_1->nbody, 3);
 
   // attach it a second time to test namespacing and compile
   ASSERT_THAT(spec_2, NotNull()) << err.data();
-  mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "body"), "copy-", "");
+  mjs_attach(attachment_frame->element, mjs_findBody(spec_2, "body")->element,
+             "copy-", "");
   mjModel* model_2 = mj_compile(parent, nullptr);
   EXPECT_THAT(model_2, NotNull());
   EXPECT_THAT(model_2->nbody, 4);
 
   // attach a body not referencing the plugin and compile
-  mjs_attachBody(attachment_frame, mjs_findBody(spec_3, "empty"), "empty-", "");
+  mjs_attach(attachment_frame->element, mjs_findBody(spec_3, "empty")->element,
+             "empty-", "");
   mjModel* model_3 = mj_compile(parent, nullptr);
   EXPECT_THAT(model_3, NotNull());
   EXPECT_THAT(model_3->nbody, 5);
@@ -314,9 +317,9 @@ TEST_F(PluginTest, DetachPlugin) {
   ASSERT_THAT(child, NotNull()) << err.data();
 
   // attach a body referencing the plugin to the frame
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0);
-  mjsBody* body = mjs_findBody(child, "body");
-  EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), NotNull());
+  mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
+  mjsElement* body = mjs_findBody(child, "body")->element;
+  EXPECT_THAT(mjs_attach(frame, body, "child-", ""), NotNull());
 
   // detach the body and compile
   mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
@@ -372,7 +375,8 @@ TEST_F(PluginTest, AttachExplicitPlugin) {
   mjsFrame* attachment_frame = mjs_addFrame(body_parent, 0);
   EXPECT_THAT(attachment_frame, NotNull());
 
-  mjs_attachBody(attachment_frame, mjs_findBody(child, "body"), "child-", "");
+  mjs_attach(attachment_frame->element, mjs_findBody(child, "body")->element,
+             "child-", "");
   mjModel* model = mj_compile(parent, nullptr);
   EXPECT_THAT(model, NotNull());
   EXPECT_THAT(model->nplugin, 1);
@@ -937,7 +941,8 @@ TEST_F(MujocoTest, AttachSame) {
   EXPECT_THAT(body, NotNull());
 
   // attach child to parent frame
-  mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
+  mjsBody* attached =
+      mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
   EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
 
   // check that the spec was not copied
@@ -1073,7 +1078,8 @@ TEST_F(MujocoTest, AttachDifferent) {
   EXPECT_THAT(body, NotNull());
 
   // attach child to parent frame
-  mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
+  mjsBody* attached =
+      mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
   EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
 
   // check that the spec was copied
@@ -1212,7 +1218,8 @@ TEST_F(MujocoTest, AttachFrame) {
   EXPECT_THAT(frame, NotNull());
 
   // attach child frame to parent body
-  mjsFrame* attached = mjs_attachFrame(body, frame, "attached-", "-1");
+  mjsFrame* attached =
+      mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
   EXPECT_THAT(attached, mjs_findFrame(parent, "attached-pframe-1"));
 
   // check that the spec was copied
@@ -1286,7 +1293,7 @@ TEST_F(MujocoTest, AttachCompiled) {
   // attach child body to the frame
   mjsBody* to_attach = mjs_findBody(child, "base");
   EXPECT_THAT(to_attach, NotNull()) << mjs_getError(child);
-  mjs_attachBody(frame, to_attach, "", "");
+  mjs_attach(frame->element, to_attach->element, "", "");
 
   // check that attached model can be compiled
   mjModel* m_attached = mj_compile(parent, 0);
@@ -1433,7 +1440,8 @@ TEST_F(MujocoTest, AttachToSite) {
   EXPECT_THAT(site, NotNull());
   mjsBody* body = mjs_findBody(child, "sphere");
   EXPECT_THAT(body, NotNull());
-  mjsBody* attached = mjs_attachToSite(site, body, "attached-", "-1");
+  mjsBody* attached =
+      mjs_asBody(mjs_attach(site->element, body->element, "attached-", "-1"));
   EXPECT_THAT(attached, NotNull());
 
   mjModel* model = mj_compile(parent, 0);
@@ -1498,7 +1506,8 @@ TEST_F(MujocoTest, AttachFrameToSite) {
   EXPECT_THAT(site, NotNull());
   mjsFrame* frame = mjs_findFrame(child, "frame");
   EXPECT_THAT(frame, NotNull());
-  mjsFrame* attached = mjs_attachFrameToSite(site, frame, "attached-", "-1");
+  mjsFrame* attached =
+      mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
   EXPECT_THAT(attached, NotNull());
 
   mjModel* model = mj_compile(parent, 0);
@@ -1573,7 +1582,8 @@ TEST_F(MujocoTest, BodyToFrame) {
   EXPECT_THAT(frame, NotNull());
   mjsBody* body = mjs_findBody(child1, "sphere");
   EXPECT_THAT(body, NotNull());
-  mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
+  mjsBody* attached =
+      mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
   EXPECT_THAT(attached, NotNull());
   mjModel* model1 = mj_compile(parent, 0);
   EXPECT_THAT(model1, NotNull());
@@ -1581,7 +1591,8 @@ TEST_F(MujocoTest, BodyToFrame) {
   // attach the world to the same frame and convert it to a frame
   mjsBody* world = mjs_findBody(child2, "world");
   EXPECT_THAT(world, NotNull());
-  mjsBody* child_world = mjs_attachBody(frame, world, "attached-", "-2");
+  mjsBody* child_world =
+      mjs_asBody(mjs_attach(frame->element, world->element, "attached-", "-2"));
   EXPECT_THAT(child_world, NotNull());
   mjsFrame* frame_world = mjs_bodyToFrame(&child_world);
   EXPECT_THAT(frame_world, NotNull());
@@ -1662,7 +1673,8 @@ TEST_F(MujocoTest, AttachSpecToSite) {
   mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
 
   // attach the entire spec to the site
-  mjsFrame* worldframe = mjs_attachFrameToSite(site, frame, "attached-", "-1");
+  mjsFrame* worldframe =
+      mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
   EXPECT_THAT(worldframe, NotNull());
 
   // compile and compare
@@ -1739,7 +1751,8 @@ TEST_F(MujocoTest, AttachSpecToBody) {
   mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
 
   // attach the entire spec to the site
-  mjsFrame* worldframe = mjs_attachFrame(body, frame, "attached-", "-1");
+  mjsFrame* worldframe =
+      mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
   EXPECT_THAT(worldframe, NotNull());
   worldframe->pos[0] = 1;
   worldframe->pos[1] = 2;
@@ -1937,8 +1950,8 @@ TEST_F(MujocoTest, RecompileAttach) {
   mjSpec* child2 = mj_parseXMLString(xml, 0, er.data(), er.size());
   EXPECT_THAT(child2, NotNull());
 
-  mjsFrame* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
-  mjs_attachBody(frame1, mjs_findBody(child1, "body"), "child-", "-1");
+  mjsElement* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
+  mjs_attach(frame1, mjs_findBody(child1, "body")->element, "child-", "-1");
 
   mjModel* model = mj_compile(parent, 0);
   EXPECT_THAT(model, NotNull());
@@ -1950,8 +1963,8 @@ TEST_F(MujocoTest, RecompileAttach) {
     mj_step(model, data);
   }
 
-  mjsFrame* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
-  mjs_attachBody(frame2, mjs_findBody(child2, "body"), "child-", "-2");
+  mjsElement* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
+  mjs_attach(frame2, mjs_findBody(child2, "body")->element, "child-", "-2");
 
   EXPECT_EQ(mj_recompile(parent, 0, model, data), 0);
   EXPECT_THAT(model, NotNull());
@@ -2003,8 +2016,8 @@ TEST_F(MujocoTest, AttachMocap) {
   mjsBody* world = mjs_findBody(spec, "world");
   EXPECT_THAT(world, NotNull());
 
-  mjsFrame* frame = mjs_addFrame(world, NULL);
-  mjs_attachBody(frame, body, "attached-", "-1");
+  mjsElement* frame = mjs_addFrame(world, NULL)->element;
+  mjs_attach(frame, body->element, "attached-", "-1");
 
   mjsBody* attached_body = mjs_findBody(spec, "attached-mocap-1");
   EXPECT_THAT(attached_body, NotNull());
@@ -2083,7 +2096,7 @@ TEST_F(MujocoTest, AttachUnnamedAssets) {
   geom->type = mjGEOM_MESH;
 
   mjSpec* spec = mj_makeSpec();
-  mjs_attachFrame(mjs_findBody(spec, "world"), frame, "_", "");
+  mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
 
   mjModel* model = mj_compile(spec, vfs.get());
   EXPECT_THAT(model, NotNull());
@@ -2229,8 +2242,8 @@ void AttachNestedKeyframe(bool compile) {
   mjs_setDeepCopy(child, true);
 
   // attach gchild to child
-  mjs_attachBody(mjs_findFrame(child, "frame"),
-                 mjs_findBody(gchild, "body"), "gchild-", "");
+  mjs_attach(mjs_findFrame(child, "frame")->element,
+             mjs_findBody(gchild, "body")->element, "gchild-", "");
 
   // compile required before further attachment
   mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
@@ -2243,8 +2256,8 @@ void AttachNestedKeyframe(bool compile) {
   };
 
   // attach child to parent
-  mjs_attachBody(mjs_findFrame(parent, "frame"),
-                 mjs_findBody(child, "body"), "child-", "");
+  mjs_attach(mjs_findFrame(parent, "frame")->element,
+             mjs_findBody(child, "body")->element, "child-", "");
 
   EXPECT_THAT(warning, HasSubstr(compile ? "" : "model has pending keyframes"));
 
@@ -2305,11 +2318,11 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
     EXPECT_THAT(child, NotNull()) << er.data();
 
     mjsBody* body_1 = mjs_findBody(parent, "body");
-    mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
-    mjs_attachBody(attachment_frame, mjs_findBody(child, "b1"), "b1-", "");
+    mjsElement* attachment_frame = mjs_addFrame(body_1, 0)->element;
+    mjs_attach(attachment_frame, mjs_findBody(child, "b1")->element, "b1-", "");
     mjModel* model_1 = mj_compile(parent, 0);
     EXPECT_THAT(model_1, NotNull());
-    mjs_attachBody(attachment_frame, mjs_findBody(child, "b2"), "b2-", "");
+    mjs_attach(attachment_frame, mjs_findBody(child, "b2")->element, "b2-", "");
     mjModel* model_2 = mj_compile(parent, 0);
     EXPECT_THAT(model_2, NotNull());
 
@@ -2374,8 +2387,8 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
   mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
   EXPECT_THAT(child, NotNull()) << er.data();
 
-  mjs_attachBody(mjs_findFrame(parent, "frame"), mjs_findBody(child, "body"),
-                 "child-", "");
+  mjs_attach(mjs_findFrame(parent, "frame")->element,
+             mjs_findBody(child, "body")->element, "child-", "");
 
   mjModel* model = mj_compile(parent, 0);
   EXPECT_THAT(model, NotNull());
@@ -2466,12 +2479,10 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
   mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
   mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
   ASSERT_THAT(spec, NotNull()) << error.data();
-  mjs_attachBody(mjs_findFrame(child, "frame"),
-                 mjs_findBody(gchild, "gchild"),
-                 "gchild_", "");
-  mjs_attachBody(mjs_findFrame(spec, "frame"),
-                 mjs_findBody(child, "child"),
-                 "child_", "");
+  mjs_attach(mjs_findFrame(child, "frame")->element,
+             mjs_findBody(gchild, "gchild")->element, "gchild_", "");
+  mjs_attach(mjs_findFrame(spec, "frame")->element,
+             mjs_findBody(child, "child")->element, "child_", "");
 
   mjModel* model = mj_compile(spec, 0);
   EXPECT_THAT(model, NotNull());
@@ -2544,7 +2555,8 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
   EXPECT_THAT(world, NotNull());
   mjsFrame* child_frame = mjs_findFrame(child, "child");
   EXPECT_THAT(child_frame, NotNull());
-  mjsFrame* attached_frame = mjs_attachFrame(world, child_frame, "child-", "");
+  mjsElement* attached_frame =
+      mjs_attach(world->element, child_frame->element, "child-", "");
   EXPECT_THAT(attached_frame, NotNull());
 
   // wrap the child frame in the parent frame and compile
@@ -2659,8 +2671,9 @@ TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
   mjSpec* parent = mj_parseXMLString(xml_p, 0, err.data(), err.size());
   EXPECT_THAT(parent, NotNull()) << err.data();
 
-  mjsBody* attached = mjs_attachBody(mjs_findFrame(parent, "parent"),
-                                     mjs_findBody(child, "body"), "child-", "");
+  mjsElement* attached =
+      mjs_attach(mjs_findFrame(parent, "parent")->element,
+                 mjs_findBody(child, "body")->element, "child-", "");
   EXPECT_THAT(attached, NotNull());
 
   mjModel* model = mj_compile(parent, vfs.get());
@@ -2774,7 +2787,7 @@ TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
   EXPECT_THAT(body, NotNull());
   mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
   EXPECT_THAT(frame, NotNull());
-  mjs_attachBody(frame, body, "child-", "");
+  mjs_attach(frame->element, body->element, "child-", "");
   mj_deleteSpec(parent);
   mjModel* model = mj_compile(child, 0);
   EXPECT_THAT(model, IsNull());
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index 9f85669e..8b00753d 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -623,7 +623,7 @@ TEST_F(MujocoTest, Modeldir) {
   mjSpec* spec = mj_makeSpec();
   mjs_setDeepCopy(spec, true);
   mjs_setString(spec->meshdir, "asset");
-  mjs_attachFrame(mjs_findBody(spec, "world"), frame, "_", "");
+  mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
   mjModel* model = mj_compile(spec, vfs.get());
   EXPECT_THAT(model, NotNull());
 

From e5912c3ce499d28fd9e26bebbb51f6233a040163 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 1 Apr 2025 08:11:08 -0700
Subject: [PATCH 030/191] Use tolerance to compare quaternion components in
 `UserObjectsTest.Inertial`

Fixes #2515

PiperOrigin-RevId: 742704324
Change-Id: Ib26891e43128e66d2ac1840ed574285781fb12a5
---
 test/user/user_objects_test.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index efd51a99..b9f13cd4 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -2508,7 +2508,8 @@ TEST_F(UserObjectsTest, Inertial) {
   mjtNum quat[4];
   const mjtNum euler[3] = {3, 4, 5};
   mju_euler2Quat(quat, euler, "xyz");
-  EXPECT_EQ(AsVector(m->body_iquat+4, 4), AsVector(quat, 4));
+  EXPECT_THAT(AsVector(m->body_iquat+4, 4),
+              Pointwise(DoubleNear(1e-8), AsVector(quat, 4)));
 
   EXPECT_EQ(m->body_mass[2], 2);
   EXPECT_THAT(AsVector(m->body_ipos+6, 3), ElementsAre(1, 2, 3));

From b839fe79e19f797589474db04735d38d3298bbb5 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 1 Apr 2025 09:50:42 -0700
Subject: [PATCH 031/191] Allow to attach an entire mjSpec in mjs_attach.

PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
---
 doc/XMLreference.rst         |  5 ++--
 python/mujoco/specs.cc       | 33 ++------------------------
 src/user/user_api.cc         | 45 +++++++++++++++++++++++++++++++++++-
 src/xml/xml_native_reader.cc | 22 +++++++++++-------
 4 files changed, 63 insertions(+), 42 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 1f0c6b99..4e5b4393 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -3716,8 +3716,9 @@ all attachments will appear in the saved XML file.
 
 .. _body-attach-body:
 
-:at:`body`: :at-val:`string, required`
-   Name of the body in the sub-model to attach here. The body and its subtree will be attached.
+:at:`body`: :at-val:`string, optional`
+   Name of the body in the sub-model to attach here. The body and its subtree will be attached. If this attribute is not
+   specified, the contents of the world body will be attached in a new :ref:`frame<body-frame>`.
 
 .. _body-attach-prefix:
 
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 62f4efe8..a87fcf4e 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -269,16 +269,6 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
   return list;  // list of pointers, so they can be copied
 }
 
-void SetFrame(raw::MjsBody* body, mjtObj objtype, raw::MjsFrame* frame) {
-  mjsElement* el = mjs_firstChild(body, objtype, 0);
-  while (el) {
-    if (frame->element != el && mjs_getFrame(el) == nullptr) {
-      mjs_setFrame(el, frame);
-    }
-    el = mjs_nextChild(body, el, 0);
-  }
-}
-
 PYBIND11_MODULE(_specs, m) {
   auto structs_m = py::module::import("mujoco._structs");
   py::function mjmodel_from_raw_ptr =
@@ -526,18 +516,6 @@ PYBIND11_MODULE(_specs, m) {
           throw pybind11::value_error(
               "Only one of frame or site can be specified.");
         }
-        auto worldbody = mjs_findBody(child.ptr, "world");
-        if (!worldbody) {
-          throw pybind11::value_error("Child does not have a world body.");
-        }
-        auto worldframe = mjs_addFrame(worldbody, nullptr);
-        SetFrame(worldbody, mjOBJ_BODY, worldframe);
-        SetFrame(worldbody, mjOBJ_SITE, worldframe);
-        SetFrame(worldbody, mjOBJ_FRAME, worldframe);
-        SetFrame(worldbody, mjOBJ_JOINT, worldframe);
-        SetFrame(worldbody, mjOBJ_GEOM, worldframe);
-        SetFrame(worldbody, mjOBJ_LIGHT, worldframe);
-        SetFrame(worldbody, mjOBJ_CAMERA, worldframe);
         const char* p = prefix.has_value() ? prefix.value().c_str() : "";
         const char* s = suffix.has_value() ? suffix.value().c_str() : "";
         raw::MjsElement* attached_frame = nullptr;
@@ -556,18 +534,11 @@ PYBIND11_MODULE(_specs, m) {
             throw pybind11::value_error(
                 "Frame spec does not match parent spec.");
           }
-          raw::MjsBody* parent_body = mjs_getParent(frame_ptr->element);
-          if (!parent_body) {
-            throw pybind11::value_error("Frame does not have a parent body.");
-          }
           attached_frame =
-              mjs_attach(parent_body->element, worldframe->element, p, s);
+              mjs_attach(frame_ptr->element, child.ptr->element, p, s);
           if (!attached_frame) {
             throw pybind11::value_error(mjs_getError(self.ptr));
           }
-          if (mjs_setFrame(attached_frame, frame_ptr) != 0) {
-            throw pybind11::value_error(mjs_getError(self.ptr));
-          }
         }
         if (site.has_value()) {
           raw::MjsSite* site_ptr = nullptr;
@@ -585,7 +556,7 @@ PYBIND11_MODULE(_specs, m) {
                 "Site spec does not match parent spec.");
           }
           attached_frame =
-              mjs_attach(site_ptr->element, worldframe->element, p, s);
+              mjs_attach(site_ptr->element, child.ptr->element, p, s);
           if (!attached_frame) {
             throw pybind11::value_error(mjs_getError(self.ptr));
           }
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index a3d90e3a..6962493f 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -119,6 +119,18 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
 }
 
 
+// set frame for all elements of a body
+static void SetFrame(mjsBody* body, mjtObj objtype, mjsFrame* frame) {
+  mjsElement* el = mjs_firstChild(body, objtype, 0);
+  while (el) {
+    if (frame->element != el && mjs_getFrame(el) == nullptr) {
+      mjs_setFrame(el, frame);
+    }
+    el = mjs_nextChild(body, el, 0);
+  }
+}
+
+
 
 // attach body to a frame of the parent
 static mjsElement* attachBody(mjCFrame* parent, const mjCBody* child,
@@ -207,13 +219,44 @@ mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
     return nullptr;
   }
   mjCModel* model = static_cast<mjCModel*>(mjs_getSpec(parent)->element);
+  if (child->elemtype == mjOBJ_MODEL) {
+    mjCModel* child_model = static_cast<mjCModel*>((mjsElement*)child);
+    mjsBody* worldbody = mjs_findBody(&child_model->spec, "world");
+    if (!worldbody) {
+      model->SetError(mjCError(0, "Child does not have a world body."));
+      return nullptr;
+    }
+    mjsFrame* worldframe = mjs_addFrame(worldbody, nullptr);
+    SetFrame(worldbody, mjOBJ_BODY, worldframe);
+    SetFrame(worldbody, mjOBJ_SITE, worldframe);
+    SetFrame(worldbody, mjOBJ_FRAME, worldframe);
+    SetFrame(worldbody, mjOBJ_JOINT, worldframe);
+    SetFrame(worldbody, mjOBJ_GEOM, worldframe);
+    SetFrame(worldbody, mjOBJ_LIGHT, worldframe);
+    SetFrame(worldbody, mjOBJ_CAMERA, worldframe);
+    child = worldframe->element;
+  }
   switch (parent->elemtype) {
     case mjOBJ_FRAME:
       if (child->elemtype == mjOBJ_BODY) {
         return attachBody(static_cast<mjCFrame*>(parent),
                           static_cast<const mjCBody*>(child), prefix, suffix);
+      } else if (child->elemtype == mjOBJ_FRAME) {
+        mjsBody* parent_body = mjs_getParent(parent);
+        if (!parent_body) {
+          model->SetError(mjCError(0, "Frame does not have a parent body."));
+          return nullptr;
+        }
+        mjCFrame* frame = static_cast<mjCFrame*>(parent);
+        mjsElement* attached_frame =
+            attachFrame(static_cast<mjCBody*>(parent_body->element),
+                        static_cast<const mjCFrame*>(child), prefix, suffix);
+        if (mjs_setFrame(attached_frame, &frame->spec)) {
+          return nullptr;
+        }
+        return attached_frame;
       } else {
-        model->SetError(mjCError(0, "child element is not a body"));
+        model->SetError(mjCError(0, "child element is not a body or frame"));
         return nullptr;
       }
     case mjOBJ_BODY:
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 94c61755..35b1837c 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -3627,27 +3627,33 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
     else if (name == "attach") {
       string model_name, body_name, prefix;
       ReadAttrTxt(elem, "model", model_name, /*required=*/true);
-      ReadAttrTxt(elem, "body", body_name, /*required=*/true);
+      ReadAttrTxt(elem, "body", body_name, /*required=*/false);
       ReadAttrTxt(elem, "prefix", prefix, /*required=*/true);
 
-      mjsBody* child = mjs_findBody(spec, (prefix+body_name).c_str());
+      mjsBody* child_body = mjs_findBody(spec, (prefix+body_name).c_str());
       mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr);
 
-      if (!child) {
+      if (!child_body) {
         mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
         if (!asset) {
           throw mjXError(elem, "could not find model '%s'", model_name.c_str());
         }
-        child = mjs_findBody(asset, body_name.c_str());
-        if (!child) {
-          throw mjXError(elem, "could not find body '%s''%s'", body_name.c_str());
+        mjsElement* child;
+        if (body_name.empty()) {
+          child = asset->element;
+        } else {
+          child_body = mjs_findBody(asset, body_name.c_str());
+          if (!child_body) {
+            throw mjXError(elem, "could not find body '%s''%s'", body_name.c_str());
+          }
+          child = child_body->element;
         }
-        if (!mjs_attach(pframe->element, child->element, prefix.c_str(), "")) {
+        if (!mjs_attach(pframe->element, child, prefix.c_str(), "")) {
           throw mjXError(elem, mjs_getError(spec));
         }
       } else {
         // only set frame to existing body
-        if (mjs_setFrame(child->element, pframe)) {
+        if (mjs_setFrame(child_body->element, pframe)) {
           throw mjXError(elem, mjs_getError(spec));
         }
       }

From 40393f460a4a378ac26dbf0416217e90063d84b0 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 2 Apr 2025 06:33:26 -0700
Subject: [PATCH 032/191] Fix shadow flickering artefacts on platforms that do
 not support ARB_clip_control.

PiperOrigin-RevId: 743112447
Change-Id: Ibb727685605c0a257547162703f61e5232ff544c
---
 doc/changelog.rst           |  2 ++
 src/render/render_context.c | 10 +++++++---
 src/render/render_gl3.c     | 21 ++++++++++++++++++---
 3 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 4af1fae5..155dff63 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -24,6 +24,8 @@ Bug fixes
   which the Jacobian is computed, now fixed.
 - Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an
   mjSpec to a frame or a site.
+- Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support ARB_clip_control.
+  Fixed in collaboration with :github:user:`aftersomemath`.
 
 Python bindings
 ^^^^^^^^^^^^^^^
diff --git a/src/render/render_context.c b/src/render/render_context.c
index 6adb4f11..b305f2dd 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -1050,13 +1050,17 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
   }
   glBindFramebuffer(GL_FRAMEBUFFER, con->shadowFBO);
 
-  // create shadow depth texture: in TEXTURE1
+  // Create a shadow depth texture in TEXTURE1 and explicitly select an int24
+  // depth buffer. A depth stencil format is used because that appears to be
+  // more widely supported (MacOS does not support GL_DEPTH_COMPONENT24). Using
+  // a fixed format makes it easier to choose glPolygonOffset parameters that
+  // result in reasonably consistent and artifact free shadows across platforms.
   glGenTextures(1, &con->shadowTex);
   glActiveTexture(GL_TEXTURE1);
   glEnable(GL_TEXTURE_2D);
   glBindTexture(GL_TEXTURE_2D, con->shadowTex);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT,
-               con->shadowSize, con->shadowSize, 0, GL_DEPTH_COMPONENT, GL_FLOAT, NULL);
+  glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH24_STENCIL8,
+               con->shadowSize, con->shadowSize, 0, GL_DEPTH_STENCIL, GL_UNSIGNED_INT_24_8, NULL);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
index dffa48d7..9d168585 100644
--- a/src/render/render_gl3.c
+++ b/src/render/render_gl3.c
@@ -1211,9 +1211,24 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           int cull_face = glIsEnabled(GL_CULL_FACE);
           glDisable(GL_CULL_FACE);  // all faces cast shadows
           glEnable(GL_POLYGON_OFFSET_FILL);
-          float kOffsetFactor = -1.5f;
-          float kOffsetUnits = -4.0f;
-          glPolygonOffset(kOffsetFactor, kOffsetUnits);  // prevents "shadow acne"
+
+          // The limited resolution of the shadow maps means multiple fragments
+          // sample the same texel. When light and camera directions differ on
+          // surfaces that should be lit this causes "shadow acne"  because some
+          // fragments will be lit while adjacent fragments are not. To mitigate
+          // this artifact, an offset is applied to the depth values in the
+          // shadow map. The offset must be large enough to ensure consistent
+          // depth comparison occurs within the limited precision of the depth
+          // buffer. The offset is computed by glPolygonOffset using parameters
+          // that are chosen empirically. We need different values when clip
+          // control is on/off because this setting changes the depth precision.
+          float kOffsetFactor = -16.0f;
+          float kOffsetUnits = -512.0f;
+          if (mjGLAD_GL_ARB_clip_control) {
+            kOffsetFactor = -1.5f;
+            kOffsetUnits = -4.0f;
+          }
+          glPolygonOffset(kOffsetFactor, kOffsetUnits);
 
           // render all geoms to depth texture
           for (int j=0; j < ngeom; j++) {

From 54f132f3f09419ea93eace2b020fa08418cff4c8 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Wed, 2 Apr 2025 10:15:12 -0700
Subject: [PATCH 033/191] Resolve discrepancy in RK4 between MJX and MJ.

PiperOrigin-RevId: 743185866
Change-Id: I478faca1d8733999cc9a0682e931b19ee05e3843
---
 mjx/mujoco/mjx/_src/forward.py      | 13 +++++++------
 mjx/mujoco/mjx/_src/forward_test.py |  1 +
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 07f33a90..71a6e3f5 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -317,7 +317,7 @@ def euler(m: Model, d: Data) -> Data:
 @named_scope
 def rungekutta4(m: Model, d: Data) -> Data:
   """Runge-Kutta explicit order 4 integrator."""
-  d_t0 = d
+  d0 = d
   # pylint: disable=invalid-name
   A, B = _RK4_A, _RK4_B
   C = jp.tril(A).sum(axis=0)  # C(i) = sum_j A(i,j)
@@ -338,9 +338,9 @@ def rungekutta4(m: Model, d: Data) -> Data:
         lambda k: a * k, (kqvel, d.qacc, d.act_dot)
     )
     # get intermediate RK solutions
-    kqpos = scan.flat(m, integrate_fn, 'jqv', 'q', m.jnt_type, d_t0.qpos, dqvel)
-    kact = d_t0.act + dact_dot * m.opt.timestep
-    kqvel = d_t0.qvel + dqacc * m.opt.timestep
+    kqpos = scan.flat(m, integrate_fn, 'jqv', 'q', m.jnt_type, d0.qpos, dqvel)
+    kact = d0.act + dact_dot * m.opt.timestep
+    kqvel = d0.qvel + dqacc * m.opt.timestep
     d = d.replace(qpos=kqpos, qvel=kqvel, act=kact, time=t)
     d = forward(m, d)
 
@@ -352,9 +352,10 @@ def rungekutta4(m: Model, d: Data) -> Data:
 
   abt = jp.vstack([jp.diag(A), B[1:4], T]).T
   out, _ = jax.lax.scan(f, (qvel, qacc, act_dot, kqvel, d), abt, unroll=3)
-  qvel, qacc, act_dot, *_ = out
+  qvel, qacc, act_dot, _, d1 = out
 
-  d = _advance(m, d_t0, act_dot, qacc, qvel)
+  d = d1.replace(qpos=d0.qpos, qvel=d0.qvel, act=d0.act, time=d0.time)
+  d = _advance(m, d, act_dot, qacc, qvel)
   return d
 
 
diff --git a/mjx/mujoco/mjx/_src/forward_test.py b/mjx/mujoco/mjx/_src/forward_test.py
index ebe94ebe..c6466449 100644
--- a/mjx/mujoco/mjx/_src/forward_test.py
+++ b/mjx/mujoco/mjx/_src/forward_test.py
@@ -130,6 +130,7 @@ class ForwardTest(absltest.TestCase):
     _assert_attr_eq(d, dx, 'qpos')
     _assert_attr_eq(d, dx, 'act')
     _assert_attr_eq(d, dx, 'time')
+    _assert_attr_eq(d, dx, 'xpos')
 
   def test_eulerdamp(self):
     m = test_util.load_test_file('pendula.xml')

From 8941f56e86c6977425791159fce096990d817c7e Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 3 Apr 2025 06:28:05 -0700
Subject: [PATCH 034/191] Copy UIDs during mj_copySpec.

This will produce the same mjSpec signature after a deep copy.

PiperOrigin-RevId: 743538018
Change-Id: Ic0f5b06a00e8883cb92dc98159db3bea02cb7a36
---
 src/user/user_model.cc     | 2 +-
 src/user/user_objects.cc   | 6 +++---
 test/user/user_api_test.cc | 3 +++
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 402f738b..e5650c17 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -297,7 +297,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
     // copy the element from the other model to this model
     if (deepcopy_) {
       source[i]->ForgetKeyframes();
-      candidate->uid = GetUid();
+      candidate->uid = source[i]->uid;
     } else {
       candidate->AddRef();
     }
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index d46c51df..631bb2f8 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -840,7 +840,7 @@ mjCBody::mjCBody(mjCModel* _model) {
 
 mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
   model = _model;
-  uid = model->GetUid();
+  uid = other.uid;
   mjSpec* origin = model->FindSpec(other.compiler);
   compiler = origin ? &origin->compiler : &model->spec.compiler;
   *this = other;
@@ -944,7 +944,7 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   frames.back()->frame = other.frame;
   if (model->deepcopy_) {
     frames.back()->NameSpace(other_model);
-    frames.back()->uid = model->GetUid();
+    frames.back()->uid = other.uid;
   } else {
     frames.back()->AddRef();
   }
@@ -1038,7 +1038,7 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
     if (!model->deepcopy_) {
       dst.back()->AddRef();
     } else {
-      dst.back()->uid = model->GetUid();
+      dst.back()->uid = src[i]->uid;
     }
 
     // set namespace
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index c9bc6bd1..ddde4679 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -538,6 +538,9 @@ TEST_F(PluginTest, RecompileCompare) {
         // copy spec
         mjSpec* s_copy = mj_copySpec(s);
 
+        // compare signature
+        EXPECT_EQ(s->element->signature, s_copy->element->signature) << xml;
+
         // compile twice and compare
         mjModel* m_old = mj_compile(s, nullptr);
 

From f96f3e1c22ac1e231165b2a1fda8b68ddc143c6a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 3 Apr 2025 10:11:35 -0700
Subject: [PATCH 035/191] Add XML `compiler/saveinertial` flag. Fixes #2405

PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
---
 doc/XMLreference.rst                 |  4 ++++
 doc/XMLschema.rst                    |  2 +-
 doc/changelog.rst                    |  4 +++-
 doc/includes/references.h            |  1 +
 include/mujoco/mjspec.h              |  1 +
 python/mujoco/introspect/structs.py  |  5 +++++
 src/user/user_init.c                 |  1 +
 src/xml/xml_native_reader.cc         |  9 ++++++---
 src/xml/xml_native_writer.cc         |  3 ++-
 test/xml/xml_native_writer_test.cc   | 26 ++++++++++++++++++++++----
 unity/Runtime/Bindings/MjBindings.cs |  1 +
 11 files changed, 47 insertions(+), 10 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 4e5b4393..16ab04d7 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -832,6 +832,10 @@ has any effect. The settings here are global and apply to the entire model.
    necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial
    computation.
 
+.. _compiler-saveinertial:
+
+:at:`saveinertial`: :at-val:`[false, true], "false"`
+   If set to "true", the compiler will save explicit :ref:`inertial <body-inerital>` clauses for all bodies.
 
 .. _compiler-lengthrange:
 
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 6cbc0121..5af5fca5 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -54,7 +54,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`discardvisual<compiler-discardvisual>`                    | :ref:`usethread<compiler-usethread>`                            | :ref:`fusestatic<compiler-fusestatic>`                          | :ref:`inertiafromgeom<compiler-inertiafromgeom>`                | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`inertiagrouprange<compiler-inertiagrouprange>`            | :ref:`assetdir<compiler-assetdir>`                              | :ref:`alignfree<compiler-alignfree>`                            |                                                                 | |
+|                                    |    |    | :ref:`inertiagrouprange<compiler-inertiagrouprange>`            | :ref:`saveinertial<compiler-saveinertial>`                      | :ref:`assetdir<compiler-assetdir>`                              | :ref:`alignfree<compiler-alignfree>`                            | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| compiler |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 155dff63..3f727ebb 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -15,7 +15,9 @@ Upcoming version (not yet released)
 
 General
 ^^^^^^^
-- Add :ref:`orientation<body-composite-quat>` parameter to :ref:`composite<body-composite>`. Moreover, allow the
+- Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
+  bodies when saving to XML.
+- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
   composite to be the direct child of a frame.
 
 Bug fixes
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 8d1cf9c8..069b895a 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1736,6 +1736,7 @@ typedef struct mjsCompiler_ {      // compiler options
   mjtByte fusestatic;              // fuse static bodies with parent
   int inertiafromgeom;             // use geom inertias (mjtInertiaFromGeom)
   int inertiagrouprange[2];        // range of geom groups used to compute inertia
+  mjtByte saveinertial;            // save explicit inertial clause for all bodies to XML
   int alignfree;                   // align free joints with inertial frame
   mjLROpt LRopt;                   // options for lengthrange computation
 } mjsCompiler;
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 3764257b..65eb55a4 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -138,6 +138,7 @@ typedef struct mjsCompiler_ {      // compiler options
   mjtByte fusestatic;              // fuse static bodies with parent
   int inertiafromgeom;             // use geom inertias (mjtInertiaFromGeom)
   int inertiagrouprange[2];        // range of geom groups used to compute inertia
+  mjtByte saveinertial;            // save explicit inertial clause for all bodies to XML
   int alignfree;                   // align free joints with inertial frame
   mjLROpt LRopt;                   // options for lengthrange computation
 } mjsCompiler;
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 2cd2ff27..73007b79 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -9137,6 +9137,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='range of geom groups used to compute inertia',
              ),
+             StructFieldDecl(
+                 name='saveinertial',
+                 type=ValueType(name='mjtByte'),
+                 doc='save explicit inertial clause for all bodies to XML',
+             ),
              StructFieldDecl(
                  name='alignfree',
                  type=ValueType(name='int'),
diff --git a/src/user/user_init.c b/src/user/user_init.c
index 76ea52ad..183034ce 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -42,6 +42,7 @@ void mjs_defaultSpec(mjSpec* spec) {
   spec->compiler.usethread = 1;
   spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
   spec->compiler.inertiagrouprange[1] = mjNGROUP-1;
+  spec->compiler.saveinertial = 0;
   mj_defaultLROpt(&spec->compiler.LRopt);
 
   // engine data
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 35b1837c..695ceeac 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -97,10 +97,10 @@ static void UpdateString(string& psuffix, int count, int i) {
 const char* MJCF[nMJCF][mjXATTRNUM] = {
 {"mujoco", "!", "1", "model"},
 {"<"},
-    {"compiler", "*", "19", "autolimits", "boundmass", "boundinertia", "settotalmass",
+    {"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
         "balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
-        "meshdir", "texturedir", "discardvisual", "usethread",
-        "fusestatic", "inertiafromgeom", "inertiagrouprange", "assetdir", "alignfree"},
+        "meshdir", "texturedir", "discardvisual", "usethread", "fusestatic", "inertiafromgeom",
+        "inertiagrouprange", "saveinertial", "assetdir", "alignfree"},
     {"<"},
         {"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
             "accel", "maxforce", "timeconst", "timestep",
@@ -1015,6 +1015,9 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
   if (MapValue(section, "alignfree", &n, bool_map, 2)) {
     spec->compiler.alignfree = (n == 1);
   }
+  if (MapValue(section, "saveinertial", &n, bool_map, 2)) {
+    spec->compiler.saveinertial = (n == 1);
+  }
 
   // lengthrange subelement
   XMLElement* elem = FindSubElem(section, "lengthrange");
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 77a7dc6a..639ae081 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -1632,7 +1632,8 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_vi
     WriteVector(elem, "user", body->get_userdata());
 
     // write inertial
-    if (body->explicitinertial && model->compiler.inertiafromgeom != mjINERTIAFROMGEOM_TRUE) {
+    if (model->compiler.saveinertial ||
+        (body->explicitinertial && model->compiler.inertiafromgeom != mjINERTIAFROMGEOM_TRUE)) {
       XMLElement* inertial = InsertEnd(elem, "inertial");
       WriteAttr(inertial, "pos", 3, body->ipos);
       WriteAttr(inertial, "quat", 4, body->iquat, unitq);
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index 4de0a7fd..9bb31819 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -22,7 +22,7 @@
 #include <array>
 #include <clocale>
 #include <cstdio>
-#include <filesystem>
+#include <filesystem>  // NOLINT(build/c++17)
 #include <string>
 #include <vector>
 
@@ -32,7 +32,6 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtnum.h>
 #include <mujoco/mujoco.h>
-#include "src/cc/array_safety.h"
 #include "src/xml/xml_numeric_format.h"
 #include "test/fixture.h"
 
@@ -135,6 +134,23 @@ TEST_F(XMLWriterTest, SavesDisableSensor) {
   mj_deleteModel(model);
 }
 
+TEST_F(XMLWriterTest, SavesInertial) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler saveinertial="true"/>
+    <worldbody>
+      <body>
+        <geom type="box" size=".05 .05 .05"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  mjModel* model = LoadModelFromString(xml);
+  std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("mass=\"1\""));
+  mj_deleteModel(model);
+}
+
 TEST_F(XMLWriterTest, EmptyUserSensor) {
   static constexpr char xml[] = R"(
   <mujoco>
@@ -957,8 +973,10 @@ TEST_F(XMLWriterTest, WritesSkin) {
   ASSERT_THAT(model, NotNull());
   EXPECT_THAT(model->nskin, 1);
 
-  mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
-  ASSERT_THAT(mtemp, NotNull());
+  char error[1024];
+  mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model),
+                                       error, sizeof(error));
+  ASSERT_THAT(mtemp, NotNull()) << error;
   EXPECT_THAT(mtemp->nskin, 1);
 
   mj_deleteModel(model);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index d7e79806..3fb3f812 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5765,6 +5765,7 @@ public unsafe struct mjsCompiler_ {
   public byte fusestatic;
   public int inertiafromgeom;
   public fixed int inertiagrouprange[2];
+  public byte saveinertial;
   public int alignfree;
   public mjLROpt_ LRopt;
 }

From e1f5ceb65a6cae711ce7aa544e40d0ba324d8e9c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 3 Apr 2025 12:05:30 -0700
Subject: [PATCH 036/191] Add `mjModel.tendon_armature` (in preparation, not
 yet implemented)

PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
---
 doc/XMLreference.rst                 | 11 +++-
 doc/XMLschema.rst                    |  4 +-
 doc/includes/references.h            |  4 +-
 include/mujoco/mjmodel.h             |  1 +
 include/mujoco/mjspec.h              |  3 +-
 include/mujoco/mjxmacro.h            |  1 +
 mjx/mujoco/mjx/_src/types.py         |  2 +
 python/mujoco/introspect/structs.py  | 13 +++++
 src/user/user_model.cc               |  2 +
 src/user/user_objects.cc             | 12 ++++
 src/xml/xml_native_reader.cc         | 11 ++--
 src/xml/xml_native_writer.cc         |  1 +
 test/xml/xml_native_reader_test.cc   | 85 +++++++++++++++++++++++++++-
 unity/Runtime/Bindings/MjBindings.cs |  1 +
 14 files changed, 140 insertions(+), 11 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 16ab04d7..8ad6c587 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -835,7 +835,7 @@ has any effect. The settings here are global and apply to the entire model.
 .. _compiler-saveinertial:
 
 :at:`saveinertial`: :at-val:`[false, true], "false"`
-   If set to "true", the compiler will save explicit :ref:`inertial <body-inerital>` clauses for all bodies.
+   If set to "true", the compiler will save explicit :ref:`inertial <body-inertial>` clauses for all bodies.
 
 .. _compiler-lengthrange:
 
@@ -4706,6 +4706,13 @@ length X, as in the clip on the right of `this example model
    joint damping which is integrated implicitly by the Euler method, tendon damping is not integrated implicitly, thus
    joint damping should be used if possible.
 
+.. TODO(tassa): Update here once the feature is implemented.
+
+.. _tendon-spatial-armature:
+
+:at:`armature`: :at-val:`real, "0"`
+   Inertia associated with tendon. This feature is not yet implemented.
+
 .. _tendon-spatial-user:
 
 :at:`user`: :at-val:`real(nuser_tendon), "0 0 ..."`
@@ -4815,6 +4822,8 @@ as above.
 
 .. _tendon-fixed-damping:
 
+.. _tendon-fixed-armature:
+
 .. _tendon-fixed-user:
 
 .. |tendon/fixed attrib list| replace::
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 5af5fca5..56119cd7 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -627,7 +627,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`material<tendon-spatial-material>`                        | :ref:`margin<tendon-spatial-margin>`                            | :ref:`stiffness<tendon-spatial-stiffness>`                      | :ref:`damping<tendon-spatial-damping>`                          | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`rgba<tendon-spatial-rgba>`                                | :ref:`user<tendon-spatial-user>`                                |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`armature<tendon-spatial-armature>`                        | :ref:`rgba<tendon-spatial-rgba>`                                | :ref:`user<tendon-spatial-user>`                                |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -661,7 +661,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`solimpfriction<tendon-fixed-solimpfriction>`              | :ref:`frictionloss<tendon-fixed-frictionloss>`                  | :ref:`springlength<tendon-fixed-springlength>`                  | :ref:`margin<tendon-fixed-margin>`                              | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`stiffness<tendon-fixed-stiffness>`                        | :ref:`damping<tendon-fixed-damping>`                            | :ref:`user<tendon-fixed-user>`                                  |                                                                 | |
+|                                    |    |    | :ref:`stiffness<tendon-fixed-stiffness>`                        | :ref:`damping<tendon-fixed-damping>`                            | :ref:`armature<tendon-fixed-armature>`                          | :ref:`user<tendon-fixed-user>`                                  | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| fixed |br| |_2| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 069b895a..846f0c75 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1339,6 +1339,7 @@ struct mjModel_ {
   mjtNum*   tendon_margin;        // min distance for limit detection         (ntendon x 1)
   mjtNum*   tendon_stiffness;     // stiffness coefficient                    (ntendon x 1)
   mjtNum*   tendon_damping;       // damping coefficient                      (ntendon x 1)
+  mjtNum*   tendon_armature;      // inertia associated with tendon velocity  (ntendon x 1)
   mjtNum*   tendon_frictionloss;  // loss due to friction                     (ntendon x 1)
   mjtNum*   tendon_lengthspring;  // spring resting length range              (ntendon x 2)
   mjtNum*   tendon_length0;       // tendon length in qpos0                   (ntendon x 1)
@@ -2174,13 +2175,14 @@ typedef struct mjsTendon_ {        // tendon specification
   mjsElement* element;             // element type
   mjString* name;                  // name
 
-  // stiffness, damping, friction
+  // stiffness, damping, friction, armature
   double stiffness;                // stiffness coefficient
   double springlength[2];          // spring resting length; {-1, -1}: use qpos_spring
   double damping;                  // damping coefficient
   double frictionloss;             // friction loss
   mjtNum solref_friction[mjNREF];  // solver reference: tendon friction
   mjtNum solimp_friction[mjNIMP];  // solver impedance: tendon friction
+  double armature;                 // inertia associated with tendon velocity
 
   // length range
   int limited;                     // does tendon have limits (mjtLimited)
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 632f6ddd..1699ca0c 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -1040,6 +1040,7 @@ struct mjModel_ {
   mjtNum*   tendon_margin;        // min distance for limit detection         (ntendon x 1)
   mjtNum*   tendon_stiffness;     // stiffness coefficient                    (ntendon x 1)
   mjtNum*   tendon_damping;       // damping coefficient                      (ntendon x 1)
+  mjtNum*   tendon_armature;      // inertia associated with tendon velocity  (ntendon x 1)
   mjtNum*   tendon_frictionloss;  // loss due to friction                     (ntendon x 1)
   mjtNum*   tendon_lengthspring;  // spring resting length range              (ntendon x 2)
   mjtNum*   tendon_length0;       // tendon length in qpos0                   (ntendon x 1)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 65eb55a4..42b8c03f 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -617,13 +617,14 @@ typedef struct mjsTendon_ {        // tendon specification
   mjsElement* element;             // element type
   mjString* name;                  // name
 
-  // stiffness, damping, friction
+  // stiffness, damping, friction, armature
   double stiffness;                // stiffness coefficient
   double springlength[2];          // spring resting length; {-1, -1}: use qpos_spring
   double damping;                  // damping coefficient
   double frictionloss;             // friction loss
   mjtNum solref_friction[mjNREF];  // solver reference: tendon friction
   mjtNum solimp_friction[mjNIMP];  // solver impedance: tendon friction
+  double armature;                 // inertia associated with tendon velocity
 
   // length range
   int limited;                     // does tendon have limits (mjtLimited)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 34a6dee4..0aaf1af6 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -484,6 +484,7 @@
     X   ( mjtNum,  tendon_margin,         ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_stiffness,      ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_damping,        ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_armature,       ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_frictionloss,   ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_lengthspring,   ntendon,       2                    ) \
     X   ( mjtNum,  tendon_length0,        ntendon,       1                    ) \
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 515d15f4..9052043c 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -771,6 +771,7 @@ class Model(PyTreeNode):
     tendon_margin: min distance for limit detection           (ntendon,)
     tendon_stiffness: stiffness coefficient                   (ntendon,)
     tendon_damping: damping coefficient                       (ntendon,)
+    tendon_armature: inertia associated with tendon velocity  (ntendon,)
     tendon_frictionloss: loss due to friction                 (ntendon,)
     tendon_lengthspring: spring resting length range          (ntendon, 2)
     tendon_length0: tendon length in qpos0                    (ntendon,)
@@ -1113,6 +1114,7 @@ class Model(PyTreeNode):
   tendon_margin: jax.Array
   tendon_stiffness: jax.Array
   tendon_damping: jax.Array
+  tendon_armature: jax.Array
   tendon_frictionloss: jax.Array
   tendon_lengthspring: jax.Array
   tendon_length0: jax.Array
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 73007b79..59b21fb8 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -3687,6 +3687,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='damping coefficient',
                  array_extent=('ntendon',),
              ),
+             StructFieldDecl(
+                 name='tendon_armature',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='inertia associated with tendon velocity',
+                 array_extent=('ntendon',),
+             ),
              StructFieldDecl(
                  name='tendon_frictionloss',
                  type=PointerType(
@@ -11324,6 +11332,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='solver impedance: tendon friction',
              ),
+             StructFieldDecl(
+                 name='armature',
+                 type=ValueType(name='double'),
+                 doc='inertia associated with tendon velocity',
+             ),
              StructFieldDecl(
                  name='limited',
                  type=ValueType(name='int'),
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index e5650c17..e49c6112 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3390,6 +3390,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->tendon_margin[i] = (mjtNum)pte->margin;
     m->tendon_stiffness[i] = (mjtNum)pte->stiffness;
     m->tendon_damping[i] = (mjtNum)pte->damping;
+    m->tendon_armature[i] = (mjtNum)pte->armature;
     m->tendon_frictionloss[i] = (mjtNum)pte->frictionloss;
     m->tendon_lengthspring[2*i] = (mjtNum)pte->springlength[0];
     m->tendon_lengthspring[2*i+1] = (mjtNum)pte->springlength[1];
@@ -4931,6 +4932,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
     tendons_[i]->margin = (double)m->tendon_margin[i];
     tendons_[i]->stiffness = (double)m->tendon_stiffness[i];
     tendons_[i]->damping = (double)m->tendon_damping[i];
+    tendons_[i]->armature = (double)m->tendon_armature[i];
     tendons_[i]->frictionloss = (double)m->tendon_frictionloss[i];
 
     if (nuser_tendon) {
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 631bb2f8..f52f8cf6 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -5616,6 +5616,12 @@ void mjCTendon::Compile(void) {
 
     // spatial path
     else {
+      if (armature < 0) {
+        throw mjCError(this,
+                       "tendon '%s' (id = %d): tendon armature cannot be negative",
+                        name.c_str(), id);
+      }
+
       switch (path[i]->type) {
         case mjWRAP_PULLEY:
           // pulley should not follow other pulley
@@ -5657,6 +5663,12 @@ void mjCTendon::Compile(void) {
                            name.c_str(), id, i);
           }
 
+          if (armature > 0) {
+            throw mjCError(this,
+                           "tendon '%s' (id = %d): geom wrapping not supported by tendon armature",
+                           name.c_str(), id);
+          }
+
           // mark geoms as non visual
           model->Geoms()[path[i]->obj->id]->SetNotVisual();
           break;
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 695ceeac..f3afd4a2 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -363,18 +363,18 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
 
     {"tendon", "*", "0"},
     {"<"},
-        {"spatial", "*", "18", "name", "class", "group", "limited", "range",
+        {"spatial", "*", "19", "name", "class", "group", "limited", "range",
             "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
             "frictionloss", "springlength", "width", "material",
-            "margin", "stiffness", "damping", "rgba", "user"},
+            "margin", "stiffness", "damping", "armature", "rgba", "user"},
         {"<"},
             {"site", "*", "1", "site"},
             {"geom", "*", "2", "geom", "sidesite"},
             {"pulley", "*", "1", "divisor"},
         {">"},
-        {"fixed", "*", "15", "name", "class", "group", "limited", "range",
+        {"fixed", "*", "16", "name", "class", "group", "limited", "range",
             "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
-            "frictionloss", "springlength", "margin", "stiffness", "damping", "user"},
+            "frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
         {"<"},
             {"joint", "*", "2", "joint", "coef"},
         {">"},
@@ -2061,6 +2061,7 @@ void mjXReader::OneTendon(XMLElement* elem, mjsTendon* tendon) {
   ReadAttr(elem, "margin", 1, &tendon->margin, text);
   ReadAttr(elem, "stiffness", 1, &tendon->stiffness, text);
   ReadAttr(elem, "damping", 1, &tendon->damping, text);
+  ReadAttr(elem, "armature", 1, &tendon->armature, text);
   ReadAttr(elem, "frictionloss", 1, &tendon->frictionloss, text);
   // read springlength, either one or two values; if one, copy to second value
   if (ReadAttr(elem, "springlength", 2, tendon->springlength, text, false, false) == 1) {
@@ -3800,7 +3801,7 @@ void mjXReader::Tendon(XMLElement* section) {
       def = mjs_getSpecDefault(spec);
     }
 
-    // create equality constraint and parse
+    // create tendon and parse
     mjsTendon* tendon = mjs_addTendon(spec, def);
     OneTendon(elem, tendon);
 
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 639ae081..5f2d44cf 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -729,6 +729,7 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def
   WriteAttr(elem, "margin", 1, &tendon->margin, &def->Tendon().margin);
   WriteAttr(elem, "stiffness", 1, &tendon->stiffness, &def->Tendon().stiffness);
   WriteAttr(elem, "damping", 1, &tendon->damping, &def->Tendon().damping);
+  WriteAttr(elem, "armature", 1, &tendon->armature, &def->Tendon().armature);
   WriteAttr(elem, "frictionloss", 1, &tendon->frictionloss, &def->Tendon().frictionloss);
   if (tendon->springlength[0] != tendon->springlength[1] ||
       def->Tendon().springlength[0] != def->Tendon().springlength[1]) {
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index 7b74af4c..05a6c61c 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -15,6 +15,7 @@
 // Tests for xml/xml_native_reader.cc.
 
 #include <array>
+#include <cmath>
 #include <limits>
 #include <memory>
 #include <string>
@@ -1148,6 +1149,88 @@ TEST_F(XMLReaderTest, ParsePolycoef) {
   mj_deleteModel(m);
 }
 
+TEST_F(XMLReaderTest, TendonArmature) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <site name="a"/>
+      <body pos="1 0 0">
+        <joint name="slide" type="slide"/>
+        <geom size=".1"/>
+        <site name="b"/>
+      </body>
+    </worldbody>
+
+    <tendon>
+      <spatial armature="1.5">
+        <site site="a"/>
+        <site site="b"/>
+      </spatial>
+      <fixed armature="2.5">
+        <joint joint="slide" coef="1"/>
+      </fixed>
+      <fixed>
+        <joint joint="slide" coef="2"/>
+      </fixed>
+    </tendon>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(m, NotNull()) << error.data();
+  EXPECT_EQ(m->ntendon, 3);
+  EXPECT_FLOAT_EQ(m->tendon_armature[0], 1.5);
+  EXPECT_FLOAT_EQ(m->tendon_armature[1], 2.5);
+  EXPECT_FLOAT_EQ(m->tendon_armature[2], 0);
+  mj_deleteModel(m);
+}
+
+TEST_F(XMLReaderTest, TendonArmatureNegative) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <site name="a"/>
+      <site name="b" pos="1 0 0"/>
+    </worldbody>
+
+    <tendon>
+      <spatial armature="-1.5">
+        <site site="a"/>
+        <site site="b"/>
+      </spatial>
+    </tendon>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(m, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("tendon armature cannot be negative"));
+}
+
+TEST_F(XMLReaderTest, TendonArmatureGeomWrap) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <site name="a"/>
+      <geom name="g" type="sphere" size=".1"/>
+      <site name="b" pos="1 0 0"/>
+    </worldbody>
+
+    <tendon>
+      <spatial armature="1.5">
+        <site site="a"/>
+        <geom geom="g"/>
+        <site site="b"/>
+      </spatial>
+    </tendon>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(m, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("geom wrapping not supported"));
+}
+
 // ------------------------ test frame parsing ---------------------------------
 TEST_F(XMLReaderTest, ParseFrame) {
   static constexpr char xml[] = R"(
@@ -1862,7 +1945,7 @@ TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
   EXPECT_THAT(error.data(), HasSubstr("line 6"));
 }
 
-TEST_F(XMLReaderTest, CameraPricipalRequiresSensorsize) {
+TEST_F(XMLReaderTest, CameraPrincipalRequiresSensorsize) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 3fb3f812..f7d6ac29 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5578,6 +5578,7 @@ public unsafe struct mjModel_ {
   public double* tendon_margin;
   public double* tendon_stiffness;
   public double* tendon_damping;
+  public double* tendon_armature;
   public double* tendon_frictionloss;
   public double* tendon_lengthspring;
   public double* tendon_length0;

From d05251af2a7fb677f31f5896fbe689d9073e25d2 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 4 Apr 2025 07:42:40 -0700
Subject: [PATCH 037/191] Add tendon armature

PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
---
 doc/XMLreference.rst                          |  22 ++-
 doc/changelog.rst                             |   1 +
 doc/images/XMLreference/tendon_armature.gif   | Bin 0 -> 125761 bytes
 .../XMLreference/tendon_armature_dark.gif     | Bin 0 -> 135942 bytes
 src/engine/engine_core_smooth.c               | 124 +++++++++++-
 src/engine/engine_core_smooth.h               |   9 +
 src/engine/engine_forward.c                   |  15 +-
 src/engine/engine_inverse.c                   |   5 +-
 src/engine/engine_setconst.c                  |   3 +-
 src/user/user_model.cc                        |  76 +++++---
 src/user/user_model.h                         |   1 +
 test/engine/engine_core_smooth_test.cc        | 178 ++++++++++++++++++
 .../testdata/core_smooth/ten_armature_0.xml   |  28 +++
 .../core_smooth/ten_armature_0_compare.xml    |  17 ++
 .../core_smooth/ten_armature_0_equiv.xml      |  20 ++
 .../testdata/core_smooth/ten_armature_1.xml   |  28 +++
 .../core_smooth/ten_armature_1_compare.xml    |  26 +++
 .../core_smooth/ten_armature_1_equiv.xml      |  34 ++++
 .../testdata/core_smooth/ten_armature_2.xml   |  29 +++
 .../testdata/core_smooth/ten_armature_3.xml   |  39 ++++
 .../testdata/core_smooth/ten_armature_4.xml   |  47 +++++
 .../core_smooth/ten_armature_offtree.xml      |  77 ++++++++
 22 files changed, 735 insertions(+), 44 deletions(-)
 create mode 100644 doc/images/XMLreference/tendon_armature.gif
 create mode 100644 doc/images/XMLreference/tendon_armature_dark.gif
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_0.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_0_compare.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_0_equiv.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_1.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_1_compare.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_1_equiv.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_2.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_3.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_4.xml
 create mode 100644 test/engine/testdata/core_smooth/ten_armature_offtree.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 8ad6c587..6166691b 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -4706,12 +4706,30 @@ length X, as in the clip on the right of `this example model
    joint damping which is integrated implicitly by the Euler method, tendon damping is not integrated implicitly, thus
    joint damping should be used if possible.
 
-.. TODO(tassa): Update here once the feature is implemented.
+.. image:: images/XMLreference/tendon_armature.gif
+   :width: 30%
+   :align: right
+   :class: only-light
+   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
+.. image:: images/XMLreference/tendon_armature_dark.gif
+   :width: 30%
+   :align: right
+   :class: only-dark
+   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
 
 .. _tendon-spatial-armature:
 
 :at:`armature`: :at-val:`real, "0"`
-   Inertia associated with tendon. This feature is not yet implemented.
+   Inertia associated with changes in tendon length. Setting this attribute to a positive value :math:`m` adds a kinetic
+   energy term :math:`\frac{1}{2}mv^2`, where :math:`v` is the tendon velocity. Tendon inertia is most valuable
+   when modeling the :ref:`armature<body-joint-armature>` inertia in a linear actuator which contains a spinning element
+   or the inertial motion of a fluid in a linear hydraulic actuator. In the illustration, we compare (*left*) a 3-dof
+   system with a "tendon" implemented with a rotational joint and a slider joint with
+   :ref:`armature<body-joint-armature>`, attached to the world with a :ref:`connect<equality-connect>` constraint and
+   (*right*) an equivalent 1-dof model with an armature-bearing tendon. Like joint :ref:`armature<body-joint-armature>`,
+   this added inertia is only associated with changes in tendon length, and would not affect the dynamics of a moving
+   fixed-length tendon. Because the tendon Jacobian :math:`J` is position-dependent, tendon armature leads to an
+   additional bias-force term :math:`c = m J \dot{J}^T \dot{q}`.
 
 .. _tendon-spatial-user:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 3f727ebb..b5d51bc0 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -15,6 +15,7 @@ Upcoming version (not yet released)
 
 General
 ^^^^^^^
+- Added :ref:`tendon armature<tendon-spatial-armature>`: inertia associated with changes in tendon length.
 - Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
   bodies when saving to XML.
 - Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
diff --git a/doc/images/XMLreference/tendon_armature.gif b/doc/images/XMLreference/tendon_armature.gif
new file mode 100644
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diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 22870d7b..0bb97dc7 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -865,15 +865,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
 void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
   int nv = m->nv;
 
-  // allocate stack arrays
-  mjtNum *jac1, *jac2, *jacdif, *tmp;
-  mj_markStack(d);
-  jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-  tmp = mjSTACKALLOC(d, nv, mjtNum);
-
-  // return if tendon id is invalid
+  // tendon id is invalid: return
   if (id < 0 || id >= m->ntendon) {
     return;
   }
@@ -887,6 +879,13 @@ void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot) {
     return;
   }
 
+  // allocate stack arrays
+  mj_markStack(d);
+  mjtNum* jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
+  mjtNum* jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
+  mjtNum* jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
+  mjtNum* tmp = mjSTACKALLOC(d, nv, mjtNum);
+
   // process spatial tendon
   mjtNum divisor = 1;
   int wraptype, j = 0;
@@ -1470,6 +1469,63 @@ void mj_transmission(const mjModel* m, mjData* d) {
 
 //-------------------------- inertia ---------------------------------------------------------------
 
+// add tendon armature to qM
+void mj_tendonArmature(const mjModel* m, mjData* d) {
+  TM_START;
+  int nv = m->nv, ntendon = m->ntendon, issparse = mj_isSparse(m);
+
+  for (int k=0; k < ntendon; k++) {
+    mjtNum armature = m->tendon_armature[k];
+
+    if (!armature) {
+      continue;
+    }
+
+    // dense
+    if (!issparse) {
+      mjtNum* ten_J = d->ten_J + nv*k;
+      for (int i=0; i < m->nv; i++) {
+        int Madr = m->dof_Madr[i];
+        for (int j = i; j >= 0; j = m->dof_parentid[j]) {
+          d->qM[Madr++] += armature * ten_J[j] * ten_J[i];
+        }
+      }
+    }
+
+    // sparse
+    else {
+      // get sparse info for tendon k
+      int rowadr = d->ten_J_rowadr[k];
+      int rownnz = d->ten_J_rownnz[k];
+      const int* colind = d->ten_J_colind + rowadr;
+      mjtNum* ten_J = d->ten_J + rowadr;
+
+      // iterate forward on nonzero rows i
+      for (int adr_i=0; adr_i < rownnz; adr_i++) {
+        int i = colind[adr_i];
+        int Madr = m->dof_Madr[i];
+        int adr_j = rownnz - 1;
+
+        // iterate backward on ancestors of i, find matching column j
+        for (int j = i; j >= 0; j = m->dof_parentid[j]) {
+          // reduce adr_j until column index is no bigger than j
+          while (colind[adr_j] > j && adr_j >= 0) {
+            adr_j--;
+          }
+
+          // found match, update qM
+          if (colind[adr_j] == j) {
+            d->qM[Madr++] += armature * ten_J[adr_j] * ten_J[adr_i];
+          }
+        }
+      }
+    }
+  }
+  TM_END(mjTIMER_POS_INERTIA);
+}
+
+
+
 // composite rigid body inertia algorithm
 void mj_crb(const mjModel* m, mjData* d) {
   TM_START;
@@ -2321,3 +2377,53 @@ void mj_rnePostConstraint(const mjModel* m, mjData* d) {
     mju_addTo(d->cfrc_int+6*m->body_parentid[j], d->cfrc_int+6*j, 6);
   }
 }
+
+
+
+// add bias force due to tendon armature
+void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) {
+  int ntendon = m->ntendon, nv = m->nv, issparse = mj_isSparse(m);
+  mjtNum* ten_Jdot = NULL;
+  mj_markStack(d);
+
+  // add bias term due to tendon armature
+  for (int i=0; i < ntendon; i++) {
+    mjtNum armature = m->tendon_armature[i];
+
+    // no armature: skip
+    if (!armature) {
+      continue;
+    }
+
+    // allocate if required
+    if (!ten_Jdot) {
+      ten_Jdot = mjSTACKALLOC(d, nv, mjtNum);
+    }
+
+    // get dense d/dt(tendon Jacobian) for tendon i
+    mj_tendonDot(m, d, i, ten_Jdot);
+
+    // add bias term:  qfrc += ten_J * armature * dot(ten_Jdot, qvel)
+    mjtNum coef = armature * mju_dot(ten_Jdot, d->qvel, nv);
+
+    if (coef) {
+      // dense
+      if (!issparse) {
+        mju_addToScl(qfrc, d->ten_J + nv*i, coef, nv);
+      }
+
+      // sparse
+      else {
+        int nnz = d->ten_J_rownnz[i];
+        int adr = d->ten_J_rowadr[i];
+        const int* colind = d->ten_J_colind + adr;
+        const mjtNum* ten_J = d->ten_J + adr;
+        for (int j=0; j < nnz; j++) {
+          qfrc[colind[j]] += coef * ten_J[j];
+        }
+      }
+    }
+  }
+
+  mj_freeStack(d);
+}
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index 41d06775..4bc124b0 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -51,6 +51,9 @@ MJAPI void mj_transmission(const mjModel* m, mjData* d);
 // composite rigid body inertia algorithm
 MJAPI void mj_crb(const mjModel* m, mjData* d);
 
+// add tendon armature to qM
+MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
+
 // sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd  (legacy implementation)
 MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
                              mjtNum* qLD, mjtNum* qLDiagInv);
@@ -99,6 +102,12 @@ MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
 // RNE with complete data: compute cacc, cfrc_ext, cfrc_int
 MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
 
+
+//-------------------------- tendon bias -----------------------------------------------------------
+
+// add bias force due to tendon armature
+MJAPI void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index a61d48a0..d55f857b 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -114,8 +114,9 @@ typedef struct mjFwdPositionArgs_ mjFwdPositionArgs;
 // wrapper for mj_crb and mj_factorM
 void* mj_inertialThreaded(void* args) {
   mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args;
-  mj_crb(forward_args->m, forward_args->d);       // timed internally (POS_INERTIA)
-  mj_factorM(forward_args->m, forward_args->d);   // timed internally (POS_INERTIA)
+  mj_crb(forward_args->m, forward_args->d);             // timed internally (POS_INERTIA)
+  mj_tendonArmature(forward_args->m, forward_args->d);  // timed internally (POS_INERTIA)
+  mj_factorM(forward_args->m, forward_args->d);         // timed internally (POS_INERTIA)
   return NULL;
 }
 
@@ -142,9 +143,10 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
 
   // no threadpool: inertia and collision on main thread
   if (!d->threadpool) {
-    mj_crb(m, d);        // timed internally (POS_INERTIA)
-    mj_factorM(m, d);    // timed internally (POS_INERTIA)
-    mj_collision(m, d);  // timed internally (POS_COLLISION)
+    mj_crb(m, d);             // timed internally (POS_INERTIA)
+    mj_tendonArmature(m, d);  // timed internally (POS_INERTIA)
+    mj_factorM(m, d);         // timed internally (POS_INERTIA)
+    mj_collision(m, d);       // timed internally (POS_COLLISION)
   }
 
   // have threadpool: inertia and collision on separate threads
@@ -222,6 +224,9 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
   // compute qfrc_bias with abbreviated RNE (without acceleration)
   mj_rne(m, d, 0, d->qfrc_bias);
 
+  // add bias force due to tendon armature
+  mj_tendonBias(m, d, d->qfrc_bias);
+
   TM_END(mjTIMER_VELOCITY);
 }
 
diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
index f372947a..c4042401 100644
--- a/src/engine/engine_inverse.c
+++ b/src/engine/engine_inverse.c
@@ -45,8 +45,9 @@ void mj_invPosition(const mjModel* m, mjData* d) {
   mj_tendon(m, d);
   TM_END(mjTIMER_POS_KINEMATICS);
 
-  mj_crb(m, d);        // timed internally (POS_INERTIA)
-  mj_factorM(m, d);    // timed internally (POS_INERTIA)
+  mj_crb(m, d);             // timed internally (POS_INERTIA)
+  mj_tendonArmature(m, d);  // timed internally (POS_INERTIA)
+  mj_factorM(m, d);         // timed internally (POS_INERTIA)
 
   mj_collision(m, d);  // timed internally (POS_COLLISION)
 
diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c
index 73f8919e..eece506c 100644
--- a/src/engine/engine_setconst.c
+++ b/src/engine/engine_setconst.c
@@ -102,10 +102,11 @@ static void set0(mjModel* m, mjData* d) {
   memset(m->flex_rigid, 0, m->nflex);
 
   // run remaining computations
+  mj_tendon(m, d);
   mj_crb(m, d);
+  mj_tendonArmature(m, d);
   mj_factorM(m, d);
   mj_flex(m, d);
-  mj_tendon(m, d);
   mj_transmission(m, d);
 
   // restore flex rigidity
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index e49c6112..2b5dc102 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2769,31 +2769,6 @@ void mjCModel::CopyTree(mjModel* m) {
     }
   }
   m->nB = nB;
-
-  // set dof_simplenum
-  int count = 0;
-  for (int i=nv-1; i >= 0; i--) {
-    if (m->body_simple[m->dof_bodyid[i]]) {
-      count++;    // increment counter
-    } else {
-      count = 0;  // reset
-    }
-    m->dof_simplenum[i] = count;
-  }
-
-  // compute nC
-  int nOD = 0;  // number of off-diagonal (non-simple) parent dofs
-  for (int i=0; i < nv; i++) {
-    // count ancestor (off-diagonal) dofs
-    if (!m->dof_simplenum[i]) {
-      int j = i;
-      while (j >= 0) {
-        if (j != i) nOD++;
-        j = m->dof_parentid[j];
-      }
-    }
-  }
-  m->nC = nC = nOD + nv;
 }
 
 // copy plugin data
@@ -3564,6 +3539,54 @@ void mjCModel::CopyObjects(mjModel* m) {
 
 
 
+// finalize simple bodies/dofs including tendon information
+void mjCModel::FinalizeSimple(mjModel* m) {
+  // demote bodies affected by inertia-bearing tendon to non-simple
+  for (int i=0; i < ntendon; i++) {
+    if (m->tendon_armature[i] == 0) {
+      continue;
+    }
+    int adr = m->tendon_adr[i];
+    int num = m->tendon_num[i];
+    for (int j=adr; j < adr+num; j++) {
+      int objid = m->wrap_objid[j];
+      if (m->wrap_type[j] == mjWRAP_SITE) {
+        m->body_simple[m->site_bodyid[objid]] = 0;
+      }
+      if (m->wrap_type[j] == mjWRAP_CYLINDER || m->wrap_type[j] == mjWRAP_SPHERE) {
+        m->body_simple[m->geom_bodyid[objid]] = 0;
+      }
+    }
+  }
+
+  // set dof_simplenum
+  int count = 0;
+  for (int i=nv-1; i >= 0; i--) {
+    if (m->body_simple[m->dof_bodyid[i]]) {
+      count++;    // increment counter
+    } else {
+      count = 0;  // reset
+    }
+    m->dof_simplenum[i] = count;
+  }
+
+  // compute nC
+  int nOD = 0;  // number of off-diagonal (non-simple) parent dofs
+  for (int i=0; i < nv; i++) {
+    // count ancestor (off-diagonal) dofs
+    if (!m->dof_simplenum[i]) {
+      int j = i;
+      while (j >= 0) {
+        if (j != i) nOD++;
+        j = m->dof_parentid[j];
+      }
+    }
+  }
+  m->nC = nC = nOD + nv;
+}
+
+
+
 // save the current state
 template <class T>
 void mjCModel::SaveState(const std::string& state_name, const T* qpos, const T* qvel, const T* act,
@@ -4509,6 +4532,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // copy objects outsite kinematic tree (including keyframes)
   CopyObjects(m);
 
+  // finalize simple bodies/dofs including tendon information
+  FinalizeSimple(m);
+
   // compute non-zeros in actuator_moment
   m->nJmom = nJmom = CountNJmom(m);
 
diff --git a/src/user/user_model.h b/src/user/user_model.h
index c55384bf..e8e3cc8c 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -349,6 +349,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   void CopyPaths(mjModel*);             // copy paths, compute path addresses
   void CopyObjects(mjModel*);           // copy objects outside kinematic tree
   void CopyTree(mjModel*);              // copy objects inside kinematic tree
+  void FinalizeSimple(mjModel* m);      // finalize simple bodies/dofs including tendon information
   void CopyPlugins(mjModel*);           // copy plugin data
   int CountNJmom(const mjModel* m);     // compute number of non-zeros in actuator_moment matrix
 
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 8f24a99a..1d383922 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -17,6 +17,7 @@
 #include "src/engine/engine_core_smooth.h"
 #include "src/engine/engine_util_sparse.h"
 
+#include <algorithm>
 #include <string>
 #include <string_view>
 #include <vector>
@@ -213,6 +214,183 @@ TEST_F(CoreSmoothTest, TendonJdot) {
   }
 }
 
+static const char* const kTen_offtree =
+    "engine/testdata/core_smooth/ten_armature_offtree.xml";
+
+TEST_F(CoreSmoothTest, TendonArmature) {
+  const std::string xml_path = GetTestDataFilePath(kTen_offtree);
+  char error[1024];
+  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
+  int nv = m->nv;
+  mjData* d = mj_makeData(m);
+
+  for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
+    m->opt.jacobian = sparsity;
+
+    mj_forward(m, d);
+
+    // get full M, includes both CRB and tendon inertia
+    vector<mjtNum> M(nv*nv);
+    mj_fullM(m, M.data(), d->qM);
+
+    // put only CRB inertia in M2
+    mj_crb(m, d);
+    vector<mjtNum> M2(nv*nv);
+    mj_fullM(m, M2.data(), d->qM);
+
+    vector<mjtNum> ten_J(nv);     // tendon Jacobian
+    vector<mjtNum> ten_M(nv*nv);  // tendon inertia
+
+    // add tendon inertias to M2 using outer product
+    for (int j=0; j < m->ntendon; j++) {
+      // get tendon Jacobian
+      if (mj_isSparse(m)) {
+        int rowadr = d->ten_J_rowadr[j];
+        int* rownnz = d->ten_J_rownnz + j;
+        int zero = 0;
+        mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv,
+                         rownnz, &zero, d->ten_J_colind + rowadr);
+      } else {
+        mju_copy(ten_J.data(), d->ten_J + j*nv, nv);
+      }
+
+      // get tendon inertia only, using outer product
+      mju_mulMatMat(ten_M.data(), ten_J.data(), ten_J.data(), nv, 1, nv);
+      mju_scl(ten_M.data(), ten_M.data(), m->tendon_armature[j], nv * nv);
+
+      // manually add values, at nonzeros only
+      for (int i=0; i < nv*nv; i++) {
+        if (M[i]) M2[i] += ten_M[i];
+      }
+    }
+
+    // expect matrices to match
+    EXPECT_THAT(M2, Pointwise(DoubleNear(1e-9), M));
+  }
+
+  mj_deleteData(d);
+  mj_deleteModel(m);
+}
+
+static const char* const kTen_i0 =
+    "engine/testdata/core_smooth/ten_armature_0.xml";
+static const char* const kTen_i1 =
+    "engine/testdata/core_smooth/ten_armature_1.xml";
+static const char* const kTen_i2 =
+    "engine/testdata/core_smooth/ten_armature_2.xml";
+static const char* const kTen_i3 =
+    "engine/testdata/core_smooth/ten_armature_3.xml";
+static const char* const kTen_i4 =
+    "engine/testdata/core_smooth/ten_armature_4.xml";
+
+TEST_F(CoreSmoothTest, TendonArmatureConservesEnergy) {
+  for (const char* local_path : {kTen_i0, kTen_i1, kTen_i2, kTen_i3, kTen_i4}) {
+    const std::string xml_path = GetTestDataFilePath(local_path);
+    char error[1024];
+    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
+    mjData* d = mj_makeData(m);
+
+    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
+      m->opt.jacobian = sparsity;
+
+      mj_resetDataKeyframe(m, d, 0);
+      mj_forward(m, d);
+
+      double energy_0 = d->energy[0] + d->energy[1];
+
+      double eps = std::max(energy_0, 1.0) * 1e-5;
+      while (d->time < 1) {
+        mj_step(m, d);
+        double energy_t = d->energy[0] + d->energy[1];
+        EXPECT_THAT(energy_t, DoubleNear(energy_0, eps));
+      }
+    }
+    mj_deleteData(d);
+    mj_deleteModel(m);
+  }
+}
+
+TEST_F(CoreSmoothTest, TendonArmatureConservesMomentum) {
+  const std::string xml_path = GetTestDataFilePath(kTen_i4);
+  char error[1024];
+  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
+  mjData* d = mj_makeData(m);
+
+  for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
+    m->opt.jacobian = sparsity;
+
+    mj_resetData(m, d);
+    mj_forward(m, d);
+
+    // this model contains subtreelinvel and subtreeangmom sensors
+    vector<mjtNum> sdata_0 = AsVector(d->sensordata, m->nsensordata);
+    EXPECT_THAT(sdata_0, Each(Eq(0)));
+
+    double eps = 1e-5;
+    while (d->time < 1) {
+      mj_step(m, d);
+      vector<mjtNum> sdata_t = AsVector(d->sensordata, m->nsensordata);
+      EXPECT_THAT(sdata_t, Pointwise(DoubleNear(eps), sdata_0));
+    }
+
+    // momentum is conserved nontrivially (velocities are non-zero)
+    EXPECT_GT(d->energy[1], 0);
+  }
+
+  mj_deleteData(d);
+  mj_deleteModel(m);
+}
+
+static const char* const kTen_i0_equiv =
+    "engine/testdata/core_smooth/ten_armature_0_equiv.xml";
+static const char* const kTen_i1_equiv =
+    "engine/testdata/core_smooth/ten_armature_1_equiv.xml";
+
+TEST_F(CoreSmoothTest, TendonInertiaEquivalent) {
+  for (const char* lpath : {kTen_i0, kTen_i1}) {
+    // load tendon model
+    const std::string path = GetTestDataFilePath(lpath);
+    char error[1024];
+    mjModel* m = mj_loadXML(path.c_str(), nullptr, error, sizeof(error));
+    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
+    int gid = mj_name2id(m, mjOBJ_GEOM, "query");
+    mjData* d = mj_makeData(m);
+
+    if (m->nkey) mj_resetDataKeyframe(m, d, 0);
+
+    // load equivalent model
+    const char* lpath_e = lpath == kTen_i0 ? kTen_i0_equiv : kTen_i1_equiv;
+    const std::string path_e = GetTestDataFilePath(lpath_e);
+    mjModel* m_e = mj_loadXML(path_e.c_str(), nullptr, error, sizeof(error));
+    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
+    int gid_e = mj_name2id(m_e, mjOBJ_GEOM, "query");
+    mjData* d_e = mj_makeData(m_e);
+
+    if (m_e->nkey) mj_resetDataKeyframe(m_e, d_e, 0);
+
+    // the equality constraint in kTen_i1_equiv reduces precision
+    double eps = lpath == kTen_i0 ? 1e-6 : 1e-3;
+
+    while (d->time < 1) {
+      mj_step(m, d);
+      vector<mjtNum> xpos = AsVector(d->geom_xpos + 3*gid, 3);
+
+      mj_step(m_e, d_e);
+      vector<mjtNum> xpos_e = AsVector(d_e->geom_xpos + 3*gid_e, 3);
+
+      EXPECT_THAT(xpos, Pointwise(DoubleNear(eps), xpos_e));
+    }
+    mj_deleteData(d);
+    mj_deleteModel(m);
+    mj_deleteData(d_e);
+    mj_deleteModel(m_e);
+  }
+}
+
+
 // --------------------------- connect constraint ------------------------------
 
 // test that bodies hanging on connects lead to expected force sensor readings
diff --git a/test/engine/testdata/core_smooth/ten_armature_0.xml b/test/engine/testdata/core_smooth/ten_armature_0.xml
new file mode 100644
index 00000000..b27e2438
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_0.xml
@@ -0,0 +1,28 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag energy="enable"/>
+  </option>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+    <site rgba="0.4 0.8 .6 .5"/>
+  </default>
+
+  <worldbody>
+    <site name="decoration" type="cylinder" zaxis="0 -1 0" size="1 .02" pos="0 .1 0"/>
+    <site name="world"/>
+    <body pos="1 0 0">
+      <joint name="x" type="slide" axis="1 0 0"/>
+      <joint name="z" type="slide" axis="0 0 1"/>
+      <geom name="query" type="sphere" size=".1" mass="1"/>
+      <site name="body"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial width=".01" rgba=".2 .2 1 1" springlength=".5" stiffness="100" armature="5">
+      <site site="world"/>
+      <site site="body"/>
+    </spatial>
+  </tendon>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_0_compare.xml b/test/engine/testdata/core_smooth/ten_armature_0_compare.xml
new file mode 100644
index 00000000..d2875a6e
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_0_compare.xml
@@ -0,0 +1,17 @@
+<mujoco>
+  <asset>
+    <model name="tendon_model" file="ten_armature_0.xml"/>
+    <model name="equivalent_model" file="ten_armature_0_equiv.xml"/>
+  </asset>
+
+  <option integrator="RK4">
+    <flag energy="enable"/>
+  </option>
+
+  <worldbody>
+    <attach model="tendon_model" prefix="t_"/>
+    <frame pos="2.2 0 0">
+      <attach model="equivalent_model" prefix="e_"/>
+    </frame>
+  </worldbody>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml b/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml
new file mode 100644
index 00000000..0da57dfb
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml
@@ -0,0 +1,20 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag energy="enable"/>
+  </option>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+    <site rgba="0.4 0.8 .6 .5"/>
+  </default>
+
+  <worldbody>
+    <site name="decoration" type="cylinder" zaxis="0 -1 0" size="1 .02" pos="0 .1 0"/>
+    <body>
+      <inertial pos="1 0 0" mass="1" diaginertia="1e-8 1e-8 1e-8"/>
+      <joint name="hinge" axis="0 -1 0"/>
+      <joint name="slide" type="slide" axis="1 0 0" springref="-.5" stiffness="100" armature="5"/>
+      <geom name="query" type="sphere" size=".1" pos="1 0 0"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_1.xml b/test/engine/testdata/core_smooth/ten_armature_1.xml
new file mode 100644
index 00000000..35b48b38
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_1.xml
@@ -0,0 +1,28 @@
+<mujoco>
+  <option integrator="RK4" timestep="0.0001">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+    <site rgba="0.4 0.8 .6 .5"/>
+  </default>
+
+  <worldbody>
+    <site name="tendon" type="box" size=".03 .03 .03" pos=".5 0 -.5"/>
+    <body name="link1" pos="0 0 0">
+      <joint name="link1" axis="0 -1 0" stiffness="100" springref="90"/>
+      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
+      <geom name="query" type="sphere" size=".08" pos="0 0 -1"/>
+      <site name="link1" type="box" size=".03 .03 .03" pos="0 0 -.5"/>
+      <site name="acc1" pos="0 0 -1"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial width=".01" rgba=".2 .2 1 1" armature="9">
+      <site site="link1"/>
+      <site site="tendon"/>
+    </spatial>
+  </tendon>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_1_compare.xml b/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
new file mode 100644
index 00000000..31f2a02f
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
@@ -0,0 +1,26 @@
+<mujoco>
+  <visual>
+    <global elevation="-20"/>
+    <headlight ambient=".3 .3 .3" diffuse=".8 .8 .8"/>
+  </visual>
+
+  <asset>
+    <model name="tendon_model" file="ten_armature_1.xml"/>
+    <model name="equivalent_model" file="ten_armature_1_equiv.xml"/>
+  </asset>
+
+  <visual>
+    <global elevation="0"/>
+  </visual>
+
+  <option integrator="RK4" timestep="0.0001">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <worldbody>
+    <attach model="tendon_model" prefix="t_"/>
+    <frame pos="-1.2 0 0">
+      <attach model="equivalent_model" prefix="e_"/>
+    </frame>
+  </worldbody>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml b/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml
new file mode 100644
index 00000000..dcf62b56
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml
@@ -0,0 +1,34 @@
+<mujoco>
+  <option integrator="RK4" timestep="0.0001">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+    <site rgba="0.4 0.8 .6 .5"/>
+  </default>
+
+  <worldbody>
+    <site name="connect" type="box" size=".03 .03 .03" pos=".5 0 -.5"/>
+    <body name="link2" pos="0 0 0">
+      <joint name="link2" axis="0 -1 0" stiffness="100" springref="90"/>
+      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
+      <geom name="query" type="sphere" size=".08" pos="0 0 -1"/>
+      <body name="link3" pos="0 0 -.5" euler="0 90 0">
+        <joint name="link3" axis="0 -1 0"/>
+        <geom name="link3" type="box" size=".02 .02 .02" mass="1e-3"/>
+        <geom type="capsule" size=".015" fromto="0 0 0 0 0 .2" mass="0"/>
+        <body name="link4">
+          <joint name="link4" type="slide" axis="0 0 1" armature="9"/>
+          <geom type="capsule" size=".015" fromto="0 0 .3 0 0 .5" mass="0"/>
+          <geom type="sphere" size=".001" pos="0 0 .5" mass=".1"/>
+          <site name="link4" type="box" size=".03 .03 .03" pos="0 0 .5"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <equality>
+    <connect site1="connect" site2="link4" solimp=".99 .99 .001" solref="0.0001 1"/>
+  </equality>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_2.xml b/test/engine/testdata/core_smooth/ten_armature_2.xml
new file mode 100644
index 00000000..9313d875
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_2.xml
@@ -0,0 +1,29 @@
+<mujoco>
+  <option integrator="RK4" timestep="1e-4">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <worldbody>
+    <site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 0"/>
+    <body name="link1" pos="-1 0 0">
+      <joint name="link1" axis="0 -1 0" damping="0" stiffness="50"/>
+      <geom name="link1" type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
+      <body name="link2" pos="0 0 -1">
+        <joint name="link2" axis="0 -1 0" damping="0" stiffness="1" springref="-180"/>
+        <geom name="link2" type="capsule" size=".03" fromto="0 0 0 .6 0 0"/>
+        <site name="link2" type="box" size=".03 .03 .03" pos=".5 0 0"/>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial width=".01" rgba=".2 .2 1 1" armature="9">
+      <site site="link2"/>
+      <site site="tendon"/>
+    </spatial>
+  </tendon>
+
+  <keyframe>
+    <key qpos="-1 0" qvel="1 1"/>
+  </keyframe>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_3.xml b/test/engine/testdata/core_smooth/ten_armature_3.xml
new file mode 100644
index 00000000..afaec4e9
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_3.xml
@@ -0,0 +1,39 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <worldbody>
+    <body name="distractor">
+      <freejoint/>
+      <geom size=".1"/>
+    </body>
+
+    <body name="thigh" pos="-1 0 0">
+      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
+      <joint axis="1 0 0" stiffness="50"/>
+      <joint axis="0 1 0" stiffness="50"/>
+      <joint axis="0 0 1" stiffness="50"/>
+      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
+      <geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
+      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
+      <body name="calf" pos="0 0 -1">
+        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
+        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
+        <body name="foot" pos="-.6 0 0">
+          <joint type="ball" stiffness="20" armature=".2"/>
+          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
+          <geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial name="ten" width=".01" rgba=".2 .2 1 1" armature="9">
+      <site site="0"/>
+      <site site="1"/>
+      <site site="2"/>
+    </spatial>
+  </tendon>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_4.xml b/test/engine/testdata/core_smooth/ten_armature_4.xml
new file mode 100644
index 00000000..232c4094
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_4.xml
@@ -0,0 +1,47 @@
+<mujoco>
+  <option integrator="RK4">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+    <site rgba="0.4 0.8 .6 .5"/>
+  </default>
+
+  <worldbody>
+    <body name="distractor">
+      <freejoint/>
+      <geom size=".1"/>
+    </body>
+
+    <body name="thigh" pos="-1 0 0">
+      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
+      <freejoint/>
+      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
+      <geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
+      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
+      <body name="calf" pos="0 0 -1">
+        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
+        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
+        <body name="foot" pos="-.6 0 0">
+          <joint type="ball" stiffness="20" armature=".2"/>
+          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
+          <geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial name="ten" width=".01" rgba=".2 .2 1 1" armature="100" stiffness="10">
+      <site site="0"/>
+      <site site="1"/>
+      <site site="2"/>
+    </spatial>
+  </tendon>
+
+  <sensor>
+    <subtreelinvel body="thigh"/>
+    <subtreeangmom body="thigh"/>
+  </sensor>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_offtree.xml b/test/engine/testdata/core_smooth/ten_armature_offtree.xml
new file mode 100644
index 00000000..46865eac
--- /dev/null
+++ b/test/engine/testdata/core_smooth/ten_armature_offtree.xml
@@ -0,0 +1,77 @@
+<mujoco>
+  <!-- this is an example of a "bad" model where the tendon spans multiple branches of the tree -->
+  <option integrator="RK4">
+    <flag contact="disable" gravity="disable" energy="enable"/>
+  </option>
+
+  <default>
+    <geom rgba="0.8 0.6 .4 1"/>
+    <site rgba="0.4 0.8 .6 .5"/>
+  </default>
+
+  <worldbody>
+    <body name="distractor1">
+      <freejoint/>
+      <geom size=".1"/>
+      <site name="a"/>
+    </body>
+
+    <body>
+      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
+      <joint type="hinge" axis="0 -1 0"/>
+      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
+      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
+      <body pos="0 0 -1">
+        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
+        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
+        <body pos="-.6 0 0">
+          <joint type="ball" stiffness="20" armature=".6"/>
+          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
+          <geom type="box" size=".03 .1 .15" pos="0 0 -.05"/>
+        </body>
+      </body>
+    </body>
+
+    <body name="distractor2" pos="0 0 1">
+      <freejoint/>
+      <geom size=".1"/>
+      <site name="b"/>
+    </body>
+
+    <body pos="1 0 0">
+      <site name="3" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
+      <joint type="hinge" axis="0 -1 0"/>
+      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
+      <site name="4" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
+      <body pos="0 0 -1">
+        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
+        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
+        <body pos="-.6 0 0">
+          <joint type="ball" stiffness="20" armature=".2"/>
+          <site name="5" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
+          <geom type="box" size=".03 .1 .15" pos="0 0 -.05"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial armature="4">
+      <site site="b"/>
+      <site site="a"/>
+    </spatial>
+    <spatial width=".01" rgba=".2 .2 1 1" armature="10" stiffness="10">
+      <site site="2"/>
+      <site site="1"/>
+      <site site="0"/>
+      <site site="3"/>
+      <site site="4"/>
+      <site site="5"/>
+    </spatial>
+    <spatial width=".01" rgba=".2 .2 1 1" armature="10" stiffness="10">
+      <site site="0"/>
+      <site site="2"/>
+      <site site="1"/>
+    </spatial>
+  </tendon>
+</mujoco>

From 26c14c500e10189a9f40ff3d74d4901a0c62e27d Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 7 Apr 2025 03:00:34 -0700
Subject: [PATCH 038/191] Fix bug in testspeed.cc for models that do not invoke
 the constraint solver.

PiperOrigin-RevId: 744650422
Change-Id: I0d49b7a3f3069f0c066e8758627e95f973b3a728
---
 sample/compile.cc   | 16 +++++++---------
 sample/testspeed.cc | 13 ++++++-------
 2 files changed, 13 insertions(+), 16 deletions(-)

diff --git a/sample/compile.cc b/sample/compile.cc
index a5a572d8..14382393 100644
--- a/sample/compile.cc
+++ b/sample/compile.cc
@@ -18,7 +18,6 @@
 #include <cstdio>
 #include <cstring>
 #include <iostream>
-#include <ratio>
 
 #include <mujoco/mujoco.h>
 
@@ -30,13 +29,12 @@ static constexpr char helpstring[] =
   "   if infile is mjcf, compilation will be timed twice to measure the impact of caching\n\n"
   " Example: compile model.xml [model.mjb]\n";
 
-// timer
+// timer (seconds)
 mjtNum gettm(void) {
-  using std::chrono::steady_clock;
-  using Microseconds = std::chrono::duration<double, std::micro>;
-  static steady_clock::time_point tm_start = steady_clock::now();
-  auto elapsed = Microseconds(steady_clock::now() - tm_start);
-  return elapsed.count();
+  using Clock = std::chrono::steady_clock;
+  using Seconds = std::chrono::duration<mjtNum>;
+  static const Clock::time_point tm_start = Clock::now();
+  return Seconds(Clock::now() - tm_start).count();
 }
 
 // deallocate and print message
@@ -140,12 +138,12 @@ int main(int argc, char** argv) {
   if (type1==typeXML) {
     double starttime = gettm();
     m = mj_loadXML(argv[1], 0, error, 1000);
-    first = 1e-6 * (gettm() - starttime);
+    first = gettm() - starttime;
     if (m) {
       mj_deleteModel(m);
       starttime = gettm();
       m = mj_loadXML(argv[1], 0, error, 1000);
-      second = 1e-6 * (gettm() - starttime);
+      second = gettm() - starttime;
     }
   } else {
     m = mj_loadModel(argv[1], 0);
diff --git a/sample/testspeed.cc b/sample/testspeed.cc
index 3791bf5b..84eb78bd 100644
--- a/sample/testspeed.cc
+++ b/sample/testspeed.cc
@@ -36,13 +36,12 @@ int constraints[maxthread];
 mjtNum iterations[maxthread];
 mjtNum simtime[maxthread];
 
-// timer
+// timer (microseconds)
 mjtNum gettm(void) {
-  using std::chrono::steady_clock;
-  using Microseconds = std::chrono::duration<double, std::micro>;
-  static steady_clock::time_point tm_start = steady_clock::now();
-  auto elapsed = Microseconds(steady_clock::now() - tm_start);
-  return elapsed.count();
+  using Clock = std::chrono::steady_clock;
+  using Microseconds = std::chrono::duration<mjtNum, std::micro>;
+  static const Clock::time_point tm_start = Clock::now();
+  return Microseconds(Clock::now() - tm_start).count();
 }
 
 // deallocate and print message
@@ -99,7 +98,7 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
     contacts[id] += d[id]->ncon;
     constraints[id] += d[id]->nefc;
     int nisland = d[id]->solver_nisland;
-    if (nisland == 1) {
+    if (nisland == 1 || nisland == 0) {
       iterations[id] += d[id]->solver_niter[0];
     } else {
       mjtNum niter = 0;

From 93251f07d921d0505a98993fce124ffccb022a7e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 7 Apr 2025 03:53:42 -0700
Subject: [PATCH 039/191] Install timers by default in Python bindings

PiperOrigin-RevId: 744663306
Change-Id: Ia322ace94d1f269ff9b0275567b2e453acc94843
---
 python/mujoco/bindings_test.py | 14 ++++++++++++++
 python/mujoco/structs.cc       | 19 +++++++++++++++++++
 2 files changed, 33 insertions(+)

diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index fb2ed004..3896b8ce 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -1083,6 +1083,20 @@ Euler integrator, semi-implicit in velocity.
     ):
       mujoco.mj_forward(self.model, self.data)
 
+  def test_timer_installed_by_default(self):
+    timer_step = mujoco.mjtTimer.mjTIMER_STEP
+    self.assertEqual(self.data.timer[timer_step].number, 0)
+    self.assertEqual(self.data.timer[timer_step].duration, 0.0)
+
+    mujoco.mj_step(self.model, self.data)
+    self.assertEqual(self.data.timer[timer_step].number, 1)
+    duration_1 = self.data.timer[timer_step].duration
+    self.assertGreater(duration_1, 0.0)
+
+    mujoco.mj_step(self.model, self.data, 5)
+    self.assertEqual(self.data.timer[timer_step].number, 6)
+    self.assertGreater(self.data.timer[timer_step].duration, duration_1)
+
   def test_mjcb_time(self):
 
     class CallCounter:
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 6925b980..77200386 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -18,6 +18,7 @@
 
 #include <algorithm>
 #include <array>
+#include <chrono>  // NOLINT(build/c++11)
 #include <cctype>
 #include <cstddef>
 #include <cstdint>
@@ -553,6 +554,16 @@ MjDataWrapper* MjDataWrapper::FromRawPointer(raw::MjData* m) noexcept {
   }
 }
 
+namespace {
+// default timer callback (seconds)
+mjtNum GetTime() {
+  using Clock = std::chrono::steady_clock;
+  using Seconds = std::chrono::duration<mjtNum>;
+  static const Clock::time_point tm_start = Clock::now();
+  return Seconds(Clock::now() - tm_start).count();
+}
+}  // namespace
+
 MjDataWrapper::MjWrapper(MjModelWrapper* model)
     : WrapperBase(InterceptMjErrors(mj_makeData)(model->get()),
                   &MjDataCapsuleDestructor),
@@ -582,6 +593,14 @@ MjDataWrapper::MjWrapper(MjModelWrapper* model)
     throw UnexpectedError(
         "MjDataRawPointerMap already contains this raw mjData*");
   }
+
+  // install default timer if not already installed
+  {
+    py::gil_scoped_acquire gil;
+    if (!mjcb_time) {
+      mjcb_time = GetTime;
+    }
+  }
 }
 
 MjDataWrapper::MjWrapper(const MjDataWrapper& other)

From cc2f57d8208b8ab8e97fdaaff7a465ec135208dc Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 7 Apr 2025 04:20:17 -0700
Subject: [PATCH 040/191] Change mjSpec and mjModel signature mechanism.

The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.

Fixes an issue of changing signature when compiling a copy of an mjSpec.

PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
---
 mjx/mujoco/mjx/_src/support_test.py |  2 +-
 src/user/user_flexcomp.cc           |  2 -
 src/user/user_model.cc              | 96 +++++++++++++++++++++++------
 src/user/user_model.h               |  7 +--
 src/user/user_objects.cc            | 13 +---
 src/user/user_objects.h             |  1 -
 test/user/user_api_test.cc          |  4 ++
 7 files changed, 85 insertions(+), 40 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 1fd1971b..373b6a90 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -349,7 +349,7 @@ class SupportTest(parameterized.TestCase):
     self.assertEqual(
         str(e.exception),
         'mjSpec signature does not match mjx.Model signature:'
-        ' 5495345807332648606 != 270010677651259353',
+        ' 4300287342280373816 != 9887180086914550999',
     )
 
   _CONTACTS = """
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 80ee69d4..50c12d68 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -403,14 +403,12 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
   mjCFlex* flex = model->AddFlex();
   mjsFlex* pf = &flex->spec;
   int id = flex->id;
-  int uid = flex->uid;
 
   *flex = def.Flex();
   flex->PointToLocal();
 
   flex->model = model;
   flex->id = id;
-  flex->uid = uid;
   mjs_setString(pf->name, name.c_str());
   mjs_setInt(pf->elem, element.data(), element.size());
   mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 2b5dc102..c6b181d0 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -201,7 +201,6 @@ mjCModel::mjCModel() {
   world->mass = 0;
   mjuu_zerovec(world->inertia, 3);
   world->id = 0;
-  world->uid = GetUid();
   world->parent = nullptr;
   world->weldid = 0;
   world->name = "world";
@@ -297,7 +296,6 @@ void mjCModel::CopyList(std::vector<T*>& dest,
     // copy the element from the other model to this model
     if (deepcopy_) {
       source[i]->ForgetKeyframes();
-      candidate->uid = source[i]->uid;
     } else {
       candidate->AddRef();
     }
@@ -1038,7 +1036,6 @@ template <class T>
 T* mjCModel::AddObject(vector<T*>& list, string type) {
   T* obj = new T(this);
   obj->id = (int)list.size();
-  obj->uid = GetUid();
   list.push_back(obj);
   spec.element->signature = Signature();
   return obj;
@@ -1051,7 +1048,6 @@ T* mjCModel::AddObjectDefault(vector<T*>& list, string type, mjCDef* def) {
   T* obj = new T(this, def ? def : defaults_[0]);
   obj->id = (int)list.size();
   obj->classname = def ? def->name : "main";
-  obj->uid = GetUid();
   list.push_back(obj);
   spec.element->signature = Signature();
   return obj;
@@ -3615,7 +3611,7 @@ void mjCModel::SaveState(const std::string& state_name, const T* qpos, const T*
   }
 
   for (auto body : bodies_) {
-    if (!body->spec.mocap) {
+    if (!body->spec.mocap || body->mocapid == -1) {
       continue;
     }
     if (mpos) {
@@ -4388,6 +4384,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     bodies_[i]->subtreedofs = 0;
   }
 
+  // initialize spec signature (needed if the user changed sensor or joint types)
+  spec.element->signature = Signature();
+
   // fill missing names and check that they are all filled
   for (const auto& asset : meshes_) asset->CopyFromSpec();
   for (const auto& asset : skins_) asset->CopyFromSpec();
@@ -4651,7 +4650,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
   // special cases that are not caused by user edits
   if (compiler.fusestatic || compiler.discardvisual ||
-      !spec.element->signature || !pairs_.empty() || !excludes_.empty()) {
+      !pairs_.empty() || !excludes_.empty()) {
     spec.element->signature = m->signature;
   }
 
@@ -4663,21 +4662,78 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
 
 
-uint64_t mjCModel::Signature() {
-  std::string uid_str;
-  for (int i = 0; i < mjNOBJECT; ++i) {
-    if (i == mjOBJ_XBODY || i == mjOBJ_UNKNOWN || i == mjOBJ_DOF) {
-      continue;
-    }
-    if (object_lists_[i] == nullptr) {
-      throw mjCError(0, "object list %s is null", std::to_string(i).c_str());
-    }
-    uid_str += '|';
-    for (mjCBase* object : *object_lists_[i]) {
-      uid_str += std::to_string(object->uid) + " ";
-    }
+std::string mjCModel::PrintTree(const mjCBody* body, std::string indent) {
+  std::string tree;
+  tree += indent + "<body>\n";
+  indent += "  ";
+  for (const auto& joint : body->joints) {
+    tree += indent + "<joint>" + std::to_string(joint->nq()) + "</joint>\n";
   }
-  return mj_hashString(uid_str.c_str(), UINT64_MAX);
+  for (uint64_t i = 0; i < body->geoms.size(); ++i) {
+    tree += indent + "<geom/>\n";
+  }
+  for (uint64_t i = 0; i < body->sites.size(); ++i) {
+    tree += indent + "<site/>\n";
+  }
+  for (uint64_t i = 0; i < body->cameras.size(); ++i) {
+    tree += indent + "<camera/>\n";
+  }
+  for (uint64_t i = 0; i < body->lights.size(); ++i) {
+    tree += indent + "<light/>\n";
+  }
+  for (uint64_t i = 0; i < body->bodies.size(); ++i) {
+    tree += PrintTree(body->bodies[i], indent);
+  }
+  indent.pop_back();
+  indent.pop_back();
+  tree += indent + "</body>\n";
+  return tree;
+}
+
+
+
+uint64_t mjCModel::Signature() {
+  std::string tree = "\n" + PrintTree(bodies_[0]);
+  for (unsigned int i = 0; i < flexes_.size(); ++i) {
+    tree += "<flex/>\n";
+  }
+  for (unsigned int i = 0; i < meshes_.size(); ++i) {
+    tree += "<mesh/>\n";
+  }
+  for (unsigned int i = 0; i < skins_.size(); ++i) {
+    tree += "<skin/>\n";
+  }
+  for (unsigned int i = 0; i < hfields_.size(); ++i) {
+    tree += "<heightfield/>\n";
+  }
+  for (unsigned int i = 0; i < textures_.size(); ++i) {
+    tree += "<texture/>\n";
+  }
+  for (unsigned int i = 0; i < materials_.size(); ++i) {
+    tree += "<material/>\n";
+  }
+  for (unsigned int i = 0; i < pairs_.size(); ++i) {
+    tree += "<pair/>\n";
+  }
+  for (unsigned int i = 0; i < excludes_.size(); ++i) {
+    tree += "<exclude/>\n";
+  }
+  for (unsigned int i = 1; i < equalities_.size(); ++i) {
+    tree += "<equality/>\n";
+  }
+  for (unsigned int i = 0; i < tendons_.size(); ++i) {
+    tree += "<tendon/>\n";
+  }
+  for (unsigned int i = 0; i < actuators_.size(); ++i) {
+    tree += "<actuator/>\n";
+  }
+  for (unsigned int i = 0; i < sensors_.size(); ++i) {
+    tree += "<sensor>" + std::to_string(sensors_[i]->spec.type) + "<sensor/>\n";
+  }
+  for (unsigned int i = 0; i < keys_.size(); ++i) {
+    tree += "<key/>\n";
+  }
+  return mj_hashString(tree.c_str(), UINT64_MAX);
 }
 
 
diff --git a/src/user/user_model.h b/src/user/user_model.h
index e8e3cc8c..cfd8082e 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -324,9 +324,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // set attached flag
   void SetAttached(bool deepcopy) { attached_ |= !deepcopy; }
 
-  // get new uid
-  int GetUid() { return uid_count_++; }
-
  private:
   // settings for each defaults class
   std::vector<mjCDef*> defaults_;
@@ -441,6 +438,9 @@ class mjCModel : public mjCModel_, private mjSpec {
   void MarkPluginInstance(std::unordered_map<std::string, bool>& instances,
                           const std::vector<T*>& list);
 
+  // print the tree of a body
+  std::string PrintTree(const mjCBody* body, std::string indent = "");
+
   // generate a signature for the model
   uint64_t Signature();
 
@@ -449,7 +449,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   std::vector<mjKeyInfo> key_pending_;  // attached keyframes
   bool deepcopy_;     // copy objects when attaching
   bool attached_ = false;  // true if model is attached to a parent model
-  int uid_count_ = 0;  // unique id count for all objects
   std::unordered_map<const mjsCompiler*, mjSpec*> compiler2spec_;  // map from compiler to spec
 };
 #endif  // MUJOCO_SRC_USER_USER_MODEL_H_
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index f52f8cf6..b3208662 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -818,6 +818,7 @@ mjCBody::mjCBody(mjCModel* _model) {
   mjuu_zerovec(xpos0, 3);
   mjuu_setvec(xquat0, 1, 0, 0, 0);
   last_attached = nullptr;
+  mocapid = -1;
 
   // clear object lists
   bodies.clear();
@@ -840,7 +841,6 @@ mjCBody::mjCBody(mjCModel* _model) {
 
 mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
   model = _model;
-  uid = other.uid;
   mjSpec* origin = model->FindSpec(other.compiler);
   compiler = origin ? &origin->compiler : &model->spec.compiler;
   *this = other;
@@ -944,7 +944,6 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   frames.back()->frame = other.frame;
   if (model->deepcopy_) {
     frames.back()->NameSpace(other_model);
-    frames.back()->uid = other.uid;
   } else {
     frames.back()->AddRef();
   }
@@ -1037,8 +1036,6 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
     // increment refcount if shallow copy is made
     if (!model->deepcopy_) {
       dst.back()->AddRef();
-    } else {
-      dst.back()->uid = src[i]->uid;
     }
 
     // set namespace
@@ -1256,7 +1253,6 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
   obj->parent = this;
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1271,7 +1267,6 @@ mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
   model->MakeTreeLists();
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1295,7 +1290,6 @@ mjCJoint* mjCBody::AddFreeJoint() {
 
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1318,7 +1312,6 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
 
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1341,7 +1334,6 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
 
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1364,7 +1356,6 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
 
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1387,7 +1378,6 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
 
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
@@ -1410,7 +1400,6 @@ mjCLight* mjCBody::AddLight(mjCDef* _def) {
 
 
   // update signature
-  obj->uid = model->GetUid();
   model->spec.element->signature = model->Signature();
   return obj;
 }
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index f04bf850..ce890610 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -219,7 +219,6 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
 class mjCBase_ : public mjsElement {
  public:
   int id;                 // object id
-  int uid;                // unique identifier
   std::string name;       // object name
   std::string classname;  // defaults class name
   std::string info;       // error message info set by the user
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index ddde4679..993be5cd 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -550,6 +550,10 @@ TEST_F(PluginTest, RecompileCompare) {
         mjModel* m_new = mj_compile(s, nullptr);
         mjModel* m_copy = mj_compile(s_copy, nullptr);
 
+        // compare signature
+        EXPECT_EQ(m_old->signature, m_new->signature) << xml;
+        EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
+
         ASSERT_THAT(m_new, NotNull())
             << "Failed to recompile " << xml << ": " << mjs_getError(s);
         ASSERT_THAT(m_copy, NotNull())

From 58234b2217eee793143f395ab2dbd83b84d5bf60 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Mon, 7 Apr 2025 05:58:00 -0700
Subject: [PATCH 041/191] Replace mjMAXVAL with numerical max limit where
 necessary in nativeccd.

PiperOrigin-RevId: 744693156
Change-Id: I72c3122701be281d468291dfc2ad1e4bb1da5a1c
---
 src/engine/engine_collision_gjk.c        | 27 ++++++++++++------------
 src/engine/engine_collision_gjk.h        |  8 +++++++
 test/engine/engine_collision_gjk_test.cc |  4 ++--
 3 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 92d49a6a..807942d2 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -14,7 +14,6 @@
 
 #include "engine/engine_collision_gjk.h"
 
-#include <float.h>
 #include <stddef.h>
 #include <stdint.h>
 #include <stdlib.h>
@@ -206,16 +205,16 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
         status->gjk_iterations = k;
         status->nsimplex = 0;
         status->nx = 0;
-        status->dist = mjMAXVAL;
+        status->dist = mjMAX_LIMIT;
         return;
       }
-    } else if (status->dist_cutoff < mjMAXVAL) {
+    } else if (status->dist_cutoff < mjMAX_LIMIT) {
       mjtNum vs = dot3(x_k, s_k), vv = dot3(x_k, x_k);
       if (dot3(x_k, s_k) > 0 && (vs*vs / vv) >= cutoff2) {
         status->gjk_iterations = k;
         status->nsimplex = 0;
         status->nx = 0;
-        status->dist = mjMAXVAL;
+        status->dist = mjMAX_LIMIT;
         return;
       }
     }
@@ -227,7 +226,7 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
       int ret = gjkIntersect(status, obj1, obj2);
       if (ret != -1) {
         status->nx = 0;
-        status->dist = ret > 0 ? 0 : mjMAXVAL;
+        status->dist = ret > 0 ? 0 : mjMAX_LIMIT;
         return;
       }
       k = status->gjk_iterations;
@@ -251,7 +250,7 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
       status->gjk_iterations = k;
       status->nsimplex = 0;
       status->nx = 0;
-      status->dist = mjMAXVAL;
+      status->dist = mjMAX_LIMIT;
       return;
     }
 
@@ -399,7 +398,7 @@ static inline mjtNum signedDistance(mjtNum normal[3], const Vertex* v1, const Ve
     scl3(normal, normal, norm);
     return dot3(normal, v1->vert);
   }
-  return mjMAXVAL;  // cannot recover normal (ignore face)
+  return mjMAX_LIMIT;  // cannot recover normal (ignore face)
 }
 
 
@@ -607,7 +606,7 @@ static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3], const
   }
 
   // find the smallest distance, and use the corresponding barycentric coordinates
-  mjtNum dmin = mjMAXVAL;
+  mjtNum dmin = mjMAX_LIMIT;
 
   if (!comp1) {
     mjtNum lambda_2d[3], x[3];
@@ -758,7 +757,7 @@ static void S2D(mjtNum lambda[3], const mjtNum s1[3], const mjtNum s2[3], const
   }
 
   // find the smallest distance, and use the corresponding barycentric coordinates
-  mjtNum dmin = mjMAXVAL;
+  mjtNum dmin = mjMAX_LIMIT;
 
   if (!comp1) {
     mjtNum lambda_1d[2], x[3];
@@ -931,7 +930,7 @@ static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
   sub3(diff, v2, v1);
 
   // find component with smallest magnitude (so cross product is largest)
-  mjtNum value = mjMAXVAL;
+  mjtNum value = mjMAX_LIMIT;
   int index = 0;
   for (int i = 0; i < 3; i++) {
     if (mju_abs(diff[i]) < value) {
@@ -1351,7 +1350,7 @@ static void epaWitness(const Polytope* pt, const Face* face, mjtNum x1[3], mjtNu
 // return a face of the expanded polytope that best approximates the pentration depth
 // witness points are in status->{x1, x2}
 static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2) {
-  mjtNum tolerance = status->tolerance, lower, upper = FLT_MAX;
+  mjtNum tolerance = status->tolerance, lower, upper = mjMAX_LIMIT;
   int k, kmax = status->max_iterations;
   Face* face = NULL, *pface = NULL;  // face closest to origin
 
@@ -1359,7 +1358,7 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
     pface = face;
 
     // find the face closest to the origin (lower bound for penetration depth)
-    lower = FLT_MAX;
+    lower = mjMAX_LIMIT;
     for (int i = 0; i < pt->nmap; i++) {
       if (pt->map[i]->dist < lower) {
         face = pt->map[i];
@@ -1577,7 +1576,7 @@ static mjtNum planeIntersect(mjtNum res[3], const mjtNum pn[3], mjtNum pd,
   mjtNum ab[3];
   sub3(ab, b, a);
   mjtNum temp = dot3(pn, ab);
-  if (temp == 0.0) return mjMAXVAL;  // parallel; no intersection
+  if (temp == 0.0) return mjMAX_LIMIT;  // parallel; no intersection
   mjtNum t = (pd - dot3(pn, a)) / temp;
   if (t >= 0.0 && t <= 1.0) {
     res[0] = a[0] + t*ab[0];
@@ -2292,7 +2291,7 @@ mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, m
     if (status->dist > status->tolerance) {
       inflate(status, full_margin1, full_margin2);
       if (status->dist > status->dist_cutoff) {
-        status->dist = mjMAXVAL;
+        status->dist = mjMAX_LIMIT;
       }
       return status->dist;
     }
diff --git a/src/engine/engine_collision_gjk.h b/src/engine/engine_collision_gjk.h
index a8f2224b..55ee5f8b 100644
--- a/src/engine/engine_collision_gjk.h
+++ b/src/engine/engine_collision_gjk.h
@@ -15,6 +15,7 @@
 #ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
 #define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
 
+#include <float.h>
 #include <stddef.h>
 
 #include <mujoco/mjexport.h>
@@ -27,6 +28,13 @@
 extern "C" {
 #endif
 
+// numerical max limit
+#ifndef mjUSESINGLE
+  #define mjMAX_LIMIT DBL_MAX
+#else
+  #define mjMAX_LIMIT FLT_MAX
+#endif
+
 // max number of EPA iterations
 #define mjMAX_EPA_ITERATIONS 170
 
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 325f6fd7..f4fcb141 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -71,7 +71,7 @@ void CCDFree(void* data, void* buffer) {
 }
 
 mjtNum GeomDist(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
-                mjtNum x2[3], mjtNum cutoff = mjMAXVAL) {
+                mjtNum x2[3], mjtNum cutoff = mjMAX_LIMIT) {
   mjCCDConfig config;
   mjCCDStatus status;
 
@@ -211,7 +211,7 @@ TEST_F(MjGjkTest, SphereSphereDistCutoff) {
   int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
   mjtNum dist = GeomDist(model, data, geom1, geom2, nullptr, nullptr, .999999);
 
-  EXPECT_EQ(dist, mjMAXVAL);
+  EXPECT_EQ(dist, mjMAX_LIMIT);
   mj_deleteData(data);
   mj_deleteModel(model);
 }

From d7027fb1c053e5b14be32e4d3da561f8b7e4e87c Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 7 Apr 2025 06:51:21 -0700
Subject: [PATCH 042/191] Do not skip mjSpec's with repeated model names when
 attaching a new mjSpec.

PiperOrigin-RevId: 744705838
Change-Id: Ie47a3c029f443910629619b7f9ff43ab07646725
---
 src/user/user_api.cc       |  2 +-
 src/user/user_objects.cc   |  4 ++--
 test/user/user_api_test.cc | 45 +++++++++++++++++++++++++-------------
 3 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 6962493f..e21181dd 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -73,7 +73,7 @@ mjSpec* mj_copySpec(const mjSpec* s) {
   try {
     modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
   } catch (mjCError& e) {
-    modelC->SetError(e);
+    static_cast<mjCModel*>(s->element)->SetError(e);
     return nullptr;
   }
   return &modelC->spec;
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index b3208662..827b5e48 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -916,7 +916,7 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
 // attach frame to body
 mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   // append a copy of the attached spec
-  if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
+  if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
     model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
@@ -2029,7 +2029,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
 // attach body to frame
 mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
   // append a copy of the attached spec
-  if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
+  if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
     model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 993be5cd..4db9f25b 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -2552,31 +2552,46 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
   // load specs and compile child
   mjSpec* parent = mj_parseXMLString(xml_parent, 0, nullptr, 0);
   EXPECT_THAT(parent, NotNull());
-  mjSpec* child = mj_parseXMLString(xml_child, 0, nullptr, 0);
-  EXPECT_THAT(child, NotNull());
-  mjModel* m_child = mj_compile(child, 0);
-  EXPECT_THAT(m_child, NotNull());
+  mjSpec* child1 = mj_parseXMLString(xml_child, 0, nullptr, 0);
+  EXPECT_THAT(child1, NotNull());
+  mjModel* m_child1 = mj_compile(child1, 0);
+  EXPECT_THAT(m_child1, NotNull());
+  mjSpec* child2 = mj_parseXMLString(xml_child, 0, nullptr, 0);
+  EXPECT_THAT(child2, NotNull());
+  mjModel* m_child2 = mj_compile(child1, 0);
+  EXPECT_THAT(m_child2, NotNull());
 
   // attach child frame to parent worldbody
   mjsBody* world = mjs_findBody(parent, "world");
   EXPECT_THAT(world, NotNull());
-  mjsFrame* child_frame = mjs_findFrame(child, "child");
-  EXPECT_THAT(child_frame, NotNull());
-  mjsElement* attached_frame =
-      mjs_attach(world->element, child_frame->element, "child-", "");
-  EXPECT_THAT(attached_frame, NotNull());
+  mjsFrame* child1_frame = mjs_findFrame(child1, "child");
+  EXPECT_THAT(child1_frame, NotNull());
+  mjsFrame* child2_frame = mjs_findFrame(child2, "child");
+  EXPECT_THAT(child2_frame, NotNull());
+  mjsElement* attached_frame1 =
+      mjs_attach(world->element, child1_frame->element, "child-", "-1");
+  EXPECT_THAT(attached_frame1, NotNull());
+  mjsElement* attached_frame2 =
+      mjs_attach(world->element, child2_frame->element, "child-", "-2");
+  EXPECT_THAT(attached_frame2, NotNull());
 
   // wrap the child frame in the parent frame and compile
   mjModel* m_attached = mj_compile(parent, 0);
   EXPECT_THAT(m_attached, NotNull());
-  EXPECT_NEAR(m_attached->site_quat[0], m_child->site_quat[0], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[1], m_child->site_quat[1], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[2], m_child->site_quat[2], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[3], m_child->site_quat[3], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[0], m_child1->site_quat[0], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[1], m_child1->site_quat[1], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[2], m_child1->site_quat[2], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[3], m_child1->site_quat[3], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[4], m_child2->site_quat[0], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[5], m_child2->site_quat[1], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[6], m_child2->site_quat[2], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[7], m_child2->site_quat[3], 1e-6);
 
   mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(m_child);
+  mj_deleteSpec(child1);
+  mj_deleteModel(m_child1);
+  mj_deleteSpec(child2);
+  mj_deleteModel(m_child2);
   mj_deleteModel(m_attached);
 }
 

From 606f00f8024a96874ac9221f07e1114ed81e1f3c Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Mon, 7 Apr 2025 08:32:58 -0700
Subject: [PATCH 043/191] Remove contact pruning with box-box collisions in
 nativeccd and add benchmarks.

PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
---
 src/engine/engine_collision_convex.c | 30 ++++++++++++++++------------
 src/engine/engine_collision_convex.h | 12 +++++------
 src/engine/engine_collision_gjk.c    | 22 ++++++++++----------
 test/benchmark/CMakeLists.txt        |  2 +-
 test/benchmark/ccd_benchmark_test.cc | 13 +++++++++++-
 5 files changed, 48 insertions(+), 31 deletions(-)

diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index b724d280..16b3b05c 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -908,24 +908,31 @@ static void mju_rotateFrame(const mjtNum origin[3], const mjtNum rot[9],
 
 
 
-// return true if multiccd can run in a single pass
-static int singlePass(const mjCCDObj* obj1, const mjCCDObj* obj2) {
+// return number of contacts supported by a single pass of narrowphase
+static int maxContacts(const mjCCDObj* obj1, const mjCCDObj* obj2) {
   const mjModel* m = obj1->model;
 
   // single pass not supported for margins
   if (obj1->margin > 0 || obj2->margin > 0) {
-    return 0;
+    return 1;
   }
 
-  // supported geoms for single pass
+  // can return 8 contacts for box-box collision in one pass
   int type1 = m->geom_type[obj1->geom];
   int type2 = m->geom_type[obj2->geom];
+  if (type1 == mjGEOM_BOX && type2 == mjGEOM_BOX) {
+    return 8;
+  }
+
+  // reduce mesh collisions to 4 contacts max
   if (type1 == mjGEOM_BOX || type1 == mjGEOM_MESH) {
     if (type2 == mjGEOM_BOX || type2 == mjGEOM_MESH) {
-      return 1;
+      return mjENABLED(mjENBL_MULTICCD) ? 4 : 1;
     }
   }
-  return 0;
+
+  // not supported for other geom types
+  return 1;
 }
 
 
@@ -937,17 +944,14 @@ int mjc_Convex(const mjModel* m, const mjData* d,
   mjCCDObj obj1, obj2;
   mjc_initCCDObj(&obj1, m, d, g1, margin);
   mjc_initCCDObj(&obj2, m, d, g2, margin);
-  int max_contacts = 1;
-
-  if (mjENABLED(mjENBL_MULTICCD) && singlePass(&obj1, &obj2)) {
-    max_contacts = 4;
-  }
+  int max_contacts = maxContacts(&obj1, &obj2);
 
   // find initial contact
   int ncon = mjc_CCDIteration(m, d, &obj1, &obj2, con, max_contacts, margin);
 
-  // nativeccd supports multi Box-Box collision directly
-  if (!mjDISABLED(mjDSBL_NATIVECCD) && singlePass(&obj1, &obj2)) {
+
+  // no additional contacts needed
+  if (!mjDISABLED(mjDSBL_NATIVECCD) && max_contacts > 1) {
     return ncon;
   }
 
diff --git a/src/engine/engine_collision_convex.h b/src/engine/engine_collision_convex.h
index c3a4b220..76df2a28 100644
--- a/src/engine/engine_collision_convex.h
+++ b/src/engine/engine_collision_convex.h
@@ -81,12 +81,12 @@ void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
 void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
 
 // pairwise geom collision functions using ccd
-int mjc_PlaneConvex   (const mjModel* m, const mjData* d,
-                       mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_ConvexHField  (const mjModel* m, const mjData* d,
-                       mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_Convex        (const mjModel* m, const mjData* d,
-                       mjContact* con, int g1, int g2, mjtNum margin);
+int mjc_PlaneConvex(const mjModel* m, const mjData* d,
+                    mjContact* con, int g1, int g2, mjtNum margin);
+int mjc_ConvexHField(const mjModel* m, const mjData* d,
+                     mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_Convex(const mjModel* m, const mjData* d,
+                     mjContact* con, int g1, int g2, mjtNum margin);
 
 // geom-elem or elem-elem or vert-elem collision function using ccd
 int mjc_ConvexElem    (const mjModel* m, const mjData* d, mjContact* con,
diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 807942d2..e1ac8739 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -1863,36 +1863,38 @@ static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
   const mjtNum* mat = obj->data->geom_xmat + 3*g;
 
   if (dim == 3) {
+    int c = 0;
     int x = ((v1 & 1) && (v2 & 1) && (v3 & 1)) - (!(v1 & 1) && !(v2 & 1) && !(v3 & 1));
     int y = ((v1 & 2) && (v2 & 2) && (v3 & 2)) - (!(v1 & 2) && !(v2 & 2) && !(v3 & 2));
     int z = ((v1 & 4) && (v2 & 4) && (v3 & 4)) - (!(v1 & 4) && !(v2 & 4) && !(v3 & 4));
     globalcoord(res, mat, NULL, x, y, z);
     int sgn = x + y + z;
-    if (x) resind[0] = 0;
-    if (y) resind[0] = 2;
-    if (z) resind[0] = 4;
+    if (x) resind[c++] = 0;
+    if (y) resind[c++] = 2;
+    if (z) resind[c++] = 4;
     if (sgn == -1) resind[0]++;
-    return 1;
+    return c == 1 ? 1 : 0;  // return 1 only if vertices make a valid face
   }
 
   if (dim == 2) {
+    int c = 0;
     int x = ((v1 & 1) && (v2 & 1)) - (!(v1 & 1) && !(v2 & 1));
     int y = ((v1 & 2) && (v2 & 2)) - (!(v1 & 2) && !(v2 & 2));
     int z = ((v1 & 4) && (v2 & 4)) - (!(v1 & 4) && !(v2 & 4));
     if (x) {
       globalcoord(res, mat, NULL, x, 0, 0);
-      resind[0] = (x > 0) ? 0 : 1;
+      resind[c++] = (x > 0) ? 0 : 1;
     }
     if (y) {
-      int i = (x ? 1 : 0);
-      globalcoord(res + 3*i, mat, NULL, 0, y, 0);
-      resind[i] = (y > 0) ? 2 : 3;
+      globalcoord(res + 3*c, mat, NULL, 0, y, 0);
+      resind[c++] = (y > 0) ? 2 : 3;
     }
     if (z) {
       globalcoord(res + 3, mat, NULL, 0, 0, z);
-      resind[1] = (z > 0) ? 4 : 5;
+      resind[c++] = (z > 0) ? 4 : 5;
     }
-    return 2;
+    // TODO(kylebayes): Should be able to recover multiple contacts here.
+    return c == 2 ? 2 : 0;
   }
 
   if (dim == 1) {
diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
index 0a23fafe..48a5a369 100644
--- a/test/benchmark/CMakeLists.txt
+++ b/test/benchmark/CMakeLists.txt
@@ -16,7 +16,7 @@
 mujoco_test(
   ccd_benchmark_test
   MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers ccd
 )
 
 mujoco_test(
diff --git a/test/benchmark/ccd_benchmark_test.cc b/test/benchmark/ccd_benchmark_test.cc
index 1ea8ce37..a7768dce 100644
--- a/test/benchmark/ccd_benchmark_test.cc
+++ b/test/benchmark/ccd_benchmark_test.cc
@@ -24,6 +24,9 @@
 #include <mujoco/mujoco.h>
 #include "test/fixture.h"
 
+#include "src/engine/engine_collision_convex.h"
+#include "src/engine/engine_collision_primitive.h"
+
 namespace mujoco {
 namespace {
 
@@ -116,11 +119,19 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL
 BENCHMARK(BM_BoxMesh_LibCCD);
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBox(benchmark::State& state) {
-  static TestHarness harness(kBoxBoxPath, "box.xml (BoxBox)");
+  static TestHarness harness(kBoxBoxPath, "box.xml (BoxBox)", mjDSBL_NATIVECCD);
   harness.RunBenchmark(state);
 }
 BENCHMARK(BM_BoxBox);
 
+void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBox_NativeCCD(benchmark::State& state) {
+  mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_Convex;
+  static TestHarness harness(kBoxBoxPath, "box.xml (NativeCCD)");
+  harness.RunBenchmark(state);
+  mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_BoxBox;
+}
+BENCHMARK(BM_BoxBox_NativeCCD);
+
 void ABSL_ATTRIBUTE_NO_TAIL_CALL
     BM_Ellipsoid_NativeCCD(benchmark::State& state) {
   static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (nativeccd)");

From 4e0a4f4d39eb16adaec47c5642942780521779ea Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Mon, 7 Apr 2025 15:42:51 -0700
Subject: [PATCH 044/191] Defer device puts to the end of make_data. Fixes
 #2461.

PiperOrigin-RevId: 744875869
Change-Id: I8d88d4f73407b44f761d01309e2cc28b43aa305f
---
 mjx/mujoco/mjx/_src/io.py | 290 +++++++++++++++++++-------------------
 1 file changed, 146 insertions(+), 144 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 1e8c2b5e..aac18731 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -237,153 +237,154 @@ def make_data(
   ne, nf, nl, nc = constraint.counts(efc_type)
   ncon, nefc = dim.size, ne + nf + nl + nc
 
-  with jax.default_device(device):
-    contact = types.Contact(
-        dist=jp.zeros((ncon,), dtype=float),
-        pos=jp.zeros((ncon, 3), dtype=float),
-        frame=jp.zeros((ncon, 3, 3), dtype=float),
-        includemargin=jp.zeros((ncon,), dtype=float),
-        friction=jp.zeros((ncon, 5), dtype=float),
-        solref=jp.zeros((ncon, mujoco.mjNREF), dtype=float),
-        solreffriction=jp.zeros((ncon, mujoco.mjNREF), dtype=float),
-        solimp=jp.zeros((ncon, mujoco.mjNIMP), dtype=float),
-        dim=dim,
-        # let jax pick contact.geom int precision, for interop with
-        # jax_enable_x64
-        geom1=jp.full((ncon,), -1, dtype=int),
-        geom2=jp.full((ncon,), -1, dtype=int),
-        geom=jp.full((ncon, 2), -1, dtype=int),
-        efc_address=efc_address,
+  float_ = jp.zeros(1, float).dtype
+  int_ = jp.zeros(1, int).dtype
+  contact = types.Contact(
+      dist=np.zeros((ncon,), dtype=float_),
+      pos=np.zeros((ncon, 3), dtype=float_),
+      frame=np.zeros((ncon, 3, 3), dtype=float_),
+      includemargin=np.zeros((ncon,), dtype=float_),
+      friction=np.zeros((ncon, 5), dtype=float_),
+      solref=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
+      solreffriction=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
+      solimp=np.zeros((ncon, mujoco.mjNIMP), dtype=float_),
+      dim=dim,
+      # let jax pick contact.geom int precision, for interop with
+      # jax_enable_x64
+      geom1=np.full((ncon,), -1, dtype=int_),
+      geom2=np.full((ncon,), -1, dtype=int_),
+      geom=np.full((ncon, 2), -1, dtype=int_),
+      efc_address=efc_address,
+  )
+
+  if m.opt.cone == types.ConeType.ELLIPTIC and np.any(contact.dim == 1):
+    raise NotImplementedError(
+        'condim=1 with ConeType.ELLIPTIC not implemented.'
     )
 
-    if m.opt.cone == types.ConeType.ELLIPTIC and np.any(contact.dim == 1):
-      raise NotImplementedError(
-          'condim=1 with ConeType.ELLIPTIC not implemented.'
-      )
+  zero_fields = {
+      'solver_niter': (int_,),
+      'time': (float_,),
+      'qvel': (m.nv, float_),
+      'act': (m.na, float_),
+      'qacc_warmstart': (m.nv, float_),
+      'ctrl': (m.nu, float_),
+      'qfrc_applied': (m.nv, float_),
+      'xfrc_applied': (m.nbody, 6, float_),
+      'mocap_pos': (m.nmocap, 3, float_),
+      'mocap_quat': (m.nmocap, 4, float_),
+      'qacc': (m.nv, float_),
+      'act_dot': (m.na, float_),
+      'userdata': (m.nuserdata, float_),
+      'sensordata': (m.nsensordata, float_),
+      'xpos': (m.nbody, 3, float_),
+      'xquat': (m.nbody, 4, float_),
+      'xmat': (m.nbody, 3, 3, float_),
+      'xipos': (m.nbody, 3, float_),
+      'ximat': (m.nbody, 3, 3, float_),
+      'xanchor': (m.njnt, 3, float_),
+      'xaxis': (m.njnt, 3, float_),
+      'geom_xpos': (m.ngeom, 3, float_),
+      'geom_xmat': (m.ngeom, 3, 3, float_),
+      'site_xpos': (m.nsite, 3, float_),
+      'site_xmat': (m.nsite, 3, 3, float_),
+      'cam_xpos': (m.ncam, 3, float_),
+      'cam_xmat': (m.ncam, 3, 3, float_),
+      'light_xpos': (m.nlight, 3, float_),
+      'light_xdir': (m.nlight, 3, float_),
+      'subtree_com': (m.nbody, 3, float_),
+      'cdof': (m.nv, 6, float_),
+      'cinert': (m.nbody, 10, float_),
+      'flexvert_xpos': (m.nflexvert, 3, float_),
+      'flexelem_aabb': (m.nflexelem, 6, float_),
+      'flexedge_J_rownnz': (m.nflexedge, np.int32),
+      'flexedge_J_rowadr': (m.nflexedge, np.int32),
+      'flexedge_J_colind': (m.nflexedge, m.nv, np.int32),
+      'flexedge_J': (m.nflexedge, m.nv, float_),
+      'flexedge_length': (m.nflexedge, float_),
+      'ten_wrapadr': (m.ntendon, np.int32),
+      'ten_wrapnum': (m.ntendon, np.int32),
+      'ten_J_rownnz': (m.ntendon, np.int32),
+      'ten_J_rowadr': (m.ntendon, np.int32),
+      'ten_J_colind': (m.ntendon, m.nv, np.int32),
+      'ten_J': (m.ntendon, m.nv, float_),
+      'ten_length': (m.ntendon, float_),
+      'wrap_obj': (m.nwrap, 2, np.int32),
+      'wrap_xpos': (m.nwrap, 6, float_),
+      'actuator_length': (m.nu, float_),
+      'moment_rownnz': (m.nu, np.int32),
+      'moment_rowadr': (m.nu, np.int32),
+      'moment_colind': (m.nJmom, np.int32),
+      'actuator_moment': (m.nu, m.nv, float_),
+      'crb': (m.nbody, 10, float_),
+      'qM': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'qLD': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
+      'bvh_aabb_dyn': (m.nbvhdynamic, 6, float_),
+      'bvh_active': (m.nbvh, np.uint8),
+      'flexedge_velocity': (m.nflexedge, float_),
+      'ten_velocity': (m.ntendon, float_),
+      'actuator_velocity': (m.nu, float_),
+      'cvel': (m.nbody, 6, float_),
+      'cdof_dot': (m.nv, 6, float_),
+      'qfrc_bias': (m.nv, float_),
+      'qfrc_spring': (m.nv, float_),
+      'qfrc_damper': (m.nv, float_),
+      'qfrc_gravcomp': (m.nv, float_),
+      'qfrc_fluid': (m.nv, float_),
+      'qfrc_passive': (m.nv, float_),
+      'subtree_linvel': (m.nbody, 3, float_),
+      'subtree_angmom': (m.nbody, 3, float_),
+      'qH': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'qHDiagInv': (m.nv, float_),
+      'B_rownnz': (m.nbody, np.int32),
+      'B_rowadr': (m.nbody, np.int32),
+      'B_colind': (m.nB, np.int32),
+      'M_rownnz': (m.nv, np.int32),
+      'M_rowadr': (m.nv, np.int32),
+      'M_colind': (m.nM, np.int32),
+      'mapM2M': (m.nM, np.int32),
+      'C_rownnz': (m.nv, np.int32),
+      'C_rowadr': (m.nv, np.int32),
+      'C_colind': (m.nC, np.int32),
+      'mapM2C': (m.nC, np.int32),
+      'D_rownnz': (m.nv, np.int32),
+      'D_rowadr': (m.nv, np.int32),
+      'D_diag': (m.nv, np.int32),
+      'D_colind': (m.nD, np.int32),
+      'mapM2D': (m.nD, np.int32),
+      'mapD2M': (m.nM, np.int32),
+      'qDeriv': (m.nD, float_),
+      'qLU': (m.nD, float_),
+      'actuator_force': (m.nu, float_),
+      'qfrc_actuator': (m.nv, float_),
+      'qfrc_smooth': (m.nv, float_),
+      'qacc_smooth': (m.nv, float_),
+      'qfrc_constraint': (m.nv, float_),
+      'qfrc_inverse': (m.nv, float_),
+      'cacc': (m.nbody, 6, float_),
+      'cfrc_int': (m.nbody, 6, float_),
+      'cfrc_ext': (m.nbody, 6, float_),
+      'efc_J': (nefc, m.nv, float_),
+      'efc_pos': (nefc, float_),
+      'efc_margin': (nefc, float_),
+      'efc_frictionloss': (nefc, float_),
+      'efc_D': (nefc, float_),
+      'efc_aref': (nefc, float_),
+      'efc_force': (nefc, float_),
+      '_qM_sparse': (m.nM, float_),
+      '_qLD_sparse': (m.nM, float_),
+      '_qLDiagInv_sparse': (m.nv, float_),
+  }
 
-    zero_fields = {
-        'solver_niter': (int,),
-        'time': (float,),
-        'qvel': (m.nv, float),
-        'act': (m.na, float),
-        'qacc_warmstart': (m.nv, float),
-        'ctrl': (m.nu, float),
-        'qfrc_applied': (m.nv, float),
-        'xfrc_applied': (m.nbody, 6, float),
-        'mocap_pos': (m.nmocap, 3, float),
-        'mocap_quat': (m.nmocap, 4, float),
-        'qacc': (m.nv, float),
-        'act_dot': (m.na, float),
-        'userdata': (m.nuserdata, float),
-        'sensordata': (m.nsensordata, float),
-        'xpos': (m.nbody, 3, float),
-        'xquat': (m.nbody, 4, float),
-        'xmat': (m.nbody, 3, 3, float),
-        'xipos': (m.nbody, 3, float),
-        'ximat': (m.nbody, 3, 3, float),
-        'xanchor': (m.njnt, 3, float),
-        'xaxis': (m.njnt, 3, float),
-        'geom_xpos': (m.ngeom, 3, float),
-        'geom_xmat': (m.ngeom, 3, 3, float),
-        'site_xpos': (m.nsite, 3, float),
-        'site_xmat': (m.nsite, 3, 3, float),
-        'cam_xpos': (m.ncam, 3, float),
-        'cam_xmat': (m.ncam, 3, 3, float),
-        'light_xpos': (m.nlight, 3, float),
-        'light_xdir': (m.nlight, 3, float),
-        'subtree_com': (m.nbody, 3, float),
-        'cdof': (m.nv, 6, float),
-        'cinert': (m.nbody, 10, float),
-        'flexvert_xpos': (m.nflexvert, 3, float),
-        'flexelem_aabb': (m.nflexelem, 6, float),
-        'flexedge_J_rownnz': (m.nflexedge, jp.int32),
-        'flexedge_J_rowadr': (m.nflexedge, jp.int32),
-        'flexedge_J_colind': (m.nflexedge, m.nv, jp.int32),
-        'flexedge_J': (m.nflexedge, m.nv, float),
-        'flexedge_length': (m.nflexedge, float),
-        'ten_wrapadr': (m.ntendon, jp.int32),
-        'ten_wrapnum': (m.ntendon, jp.int32),
-        'ten_J_rownnz': (m.ntendon, jp.int32),
-        'ten_J_rowadr': (m.ntendon, jp.int32),
-        'ten_J_colind': (m.ntendon, m.nv, jp.int32),
-        'ten_J': (m.ntendon, m.nv, float),
-        'ten_length': (m.ntendon, float),
-        'wrap_obj': (m.nwrap, 2, jp.int32),
-        'wrap_xpos': (m.nwrap, 6, float),
-        'actuator_length': (m.nu, float),
-        'moment_rownnz': (m.nu, jp.int32),
-        'moment_rowadr': (m.nu, jp.int32),
-        'moment_colind': (m.nJmom, jp.int32),
-        'actuator_moment': (m.nu, m.nv, float),
-        'crb': (m.nbody, 10, float),
-        'qM': (m.nM, float) if support.is_sparse(m) else (m.nv, m.nv, float),
-        'qLD': (m.nM, float) if support.is_sparse(m) else (m.nv, m.nv, float),
-        'qLDiagInv': (m.nv, float) if support.is_sparse(m) else (0, float),
-        'bvh_aabb_dyn': (m.nbvhdynamic, 6, float),
-        'bvh_active': (m.nbvh, jp.uint8),
-        'flexedge_velocity': (m.nflexedge, float),
-        'ten_velocity': (m.ntendon, float),
-        'actuator_velocity': (m.nu, float),
-        'cvel': (m.nbody, 6, float),
-        'cdof_dot': (m.nv, 6, float),
-        'qfrc_bias': (m.nv, float),
-        'qfrc_spring': (m.nv, float),
-        'qfrc_damper': (m.nv, float),
-        'qfrc_gravcomp': (m.nv, float),
-        'qfrc_fluid': (m.nv, float),
-        'qfrc_passive': (m.nv, float),
-        'subtree_linvel': (m.nbody, 3, float),
-        'subtree_angmom': (m.nbody, 3, float),
-        'qH': (m.nM, float) if support.is_sparse(m) else (m.nv, m.nv, float),
-        'qHDiagInv': (m.nv, float),
-        'B_rownnz': (m.nbody, jp.int32),
-        'B_rowadr': (m.nbody, jp.int32),
-        'B_colind': (m.nB, jp.int32),
-        'M_rownnz': (m.nv, jp.int32),
-        'M_rowadr': (m.nv, jp.int32),
-        'M_colind': (m.nM, jp.int32),
-        'mapM2M': (m.nM, jp.int32),
-        'C_rownnz': (m.nv, jp.int32),
-        'C_rowadr': (m.nv, jp.int32),
-        'C_colind': (m.nC, jp.int32),
-        'mapM2C': (m.nC, jp.int32),
-        'D_rownnz': (m.nv, jp.int32),
-        'D_rowadr': (m.nv, jp.int32),
-        'D_diag': (m.nv, jp.int32),
-        'D_colind': (m.nD, jp.int32),
-        'mapM2D': (m.nD, jp.int32),
-        'mapD2M': (m.nM, jp.int32),
-        'qDeriv': (m.nD, float),
-        'qLU': (m.nD, float),
-        'actuator_force': (m.nu, float),
-        'qfrc_actuator': (m.nv, float),
-        'qfrc_smooth': (m.nv, float),
-        'qacc_smooth': (m.nv, float),
-        'qfrc_constraint': (m.nv, float),
-        'qfrc_inverse': (m.nv, float),
-        'cacc': (m.nbody, 6, float),
-        'cfrc_int': (m.nbody, 6, float),
-        'cfrc_ext': (m.nbody, 6, float),
-        'efc_J': (nefc, m.nv, float),
-        'efc_pos': (nefc, float),
-        'efc_margin': (nefc, float),
-        'efc_frictionloss': (nefc, float),
-        'efc_D': (nefc, float),
-        'efc_aref': (nefc, float),
-        'efc_force': (nefc, float),
-        '_qM_sparse': (m.nM, float),
-        '_qLD_sparse': (m.nM, float),
-        '_qLDiagInv_sparse': (m.nv, float),
-    }
+  if not _full_compat:
+    for f in types.Data.fields():
+      if f.metadata.get('restricted_to') in ('mujoco', 'mjx'):
+        zero_fields[f.name] = (0, zero_fields[f.name][-1])
 
-    if not _full_compat:
-      for f in types.Data.fields():
-        if f.metadata.get('restricted_to') in ('mujoco', 'mjx'):
-          zero_fields[f.name] = (0, zero_fields[f.name][-1])
-
-    zero_fields = {
-        k: jp.zeros(v[:-1], dtype=v[-1]) for k, v in zero_fields.items()
-    }
+  zero_fields = {
+      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_fields.items()
+  }
 
   d = types.Data(
       ne=ne,
@@ -391,12 +392,13 @@ def make_data(
       nl=nl,
       nefc=nefc,
       ncon=ncon,
-      qpos=jp.array(m.qpos0),
+      qpos=jp.array(m.qpos0, dtype=float_),
       contact=contact,
       efc_type=efc_type,
       eq_active=m.eq_active0,
       **zero_fields,
   )
+  d = jax.device_put(d, device=device)
 
   return d
 

From 16e49f2761355dc1278dce5861536c228a3bee9c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 8 Apr 2025 03:24:24 -0700
Subject: [PATCH 045/191] Advertise the Model Editing tutorial

https://youtu.be/LbANnKMDOHg?si=GiN7UPPhTh89c8aN

PiperOrigin-RevId: 745065758
Change-Id: Ic3d3e0603b6f6360580effb52b6cf3438efe2a53
---
 README.md         |  2 ++
 doc/changelog.rst | 10 ++++++++++
 2 files changed, 12 insertions(+)

diff --git a/README.md b/README.md
index 935c80b7..62d57c19 100644
--- a/README.md
+++ b/README.md
@@ -53,6 +53,8 @@ running on Google Colab:
 
  - The **introductory** tutorial teaches MuJoCo basics:
    [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)
+ - The **Model Editing** tutorial shows how to create and edit models procedurally:
+   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb)
  - The **rollout** tutorial shows how to use the multithreaded `rollout` module:
    [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb)
  - The **LQR** tutorial synthesizes a linear-quadratic controller, balancing a
diff --git a/doc/changelog.rst b/doc/changelog.rst
index b5d51bc0..2c5cbe8b 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -32,9 +32,19 @@ Bug fixes
 
 Python bindings
 ^^^^^^^^^^^^^^^
+
+.. youtube:: LbANnKMDOHg
+   :aspect: 16:7
+   :align: right
+   :width: 240px
+
+- Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab|
 - Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section<PyMJCF>`
   in the documentation.
 
+.. |mjspec_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
+                  :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb
+
 Version 3.3.0 (Feb 26, 2025)
 ----------------------------
 

From 96dda6ea75f63bb484df15a6a1633d0c7ed56997 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 8 Apr 2025 05:15:27 -0700
Subject: [PATCH 046/191] Add tendon actuator force limits and tendon actuator
 force sensor.

PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
---
 doc/XMLreference.rst                          | 51 ++++++++++++++++
 doc/XMLschema.rst                             | 27 +++++---
 doc/changelog.rst                             |  2 +
 doc/includes/references.h                     |  7 +++
 doc/modeling.rst                              |  5 +-
 include/mujoco/mjmodel.h                      |  3 +
 include/mujoco/mjspec.h                       |  2 +
 include/mujoco/mjvisualize.h                  |  2 +
 include/mujoco/mjxmacro.h                     |  2 +
 mjx/mujoco/mjx/_src/support_test.py           |  2 +-
 mjx/mujoco/mjx/_src/types.py                  |  4 ++
 python/mujoco/introspect/enums.py             | 57 ++++++++---------
 python/mujoco/introspect/structs.py           | 43 +++++++++++++
 src/engine/engine_forward.c                   | 42 ++++++++++++-
 src/engine/engine_io.c                        |  1 +
 src/engine/engine_sensor.c                    | 14 ++++-
 src/user/user_model.cc                        |  4 ++
 src/user/user_objects.cc                      | 31 +++++++++-
 src/user/user_objects.h                       |  1 +
 src/xml/xml_native_reader.cc                  | 15 +++--
 src/xml/xml_native_reader.h                   |  2 +-
 src/xml/xml_native_writer.cc                  |  6 ++
 test/engine/engine_forward_test.cc            | 54 ++++++++++++++++
 .../testdata/actuation/tendon_force_clamp.xml | 55 +++++++++++++++++
 test/user/user_objects_test.cc                | 45 ++++++++++++++
 unity/Runtime/Bindings/MjBindings.cs          | 61 ++++++++++---------
 26 files changed, 464 insertions(+), 74 deletions(-)
 create mode 100644 test/engine/testdata/actuation/tendon_force_clamp.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 6166691b..647a731b 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -4630,12 +4630,28 @@ length X, as in the clip on the right of `this example model
    solver. If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, length limits
    will be enabled if range is defined.
 
+.. _tendon-spatial-actuatorfrclimited:
+
+:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
+   This attribute specifies whether actuator forces acting on the tendon should be clamped. See :ref:`CForceRange` for
+   details. This attribute interacts with the :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>` attribute. If
+   this attribute is "false", actuator force clamping is disabled. If it is "true", actuator force clamping is enabled.
+   If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will
+   be enabled if :at:`actuatorfrcrange` is defined.
+
 .. _tendon-spatial-range:
 
 :at:`range`: :at-val:`real(2), "0 0"`
    Range of allowed tendon lengths. Setting this attribute without specifying :at:`limited` is an error, unless
    :at:`autolimits` is set in :ref:`compiler <compiler>`.
 
+.. _tendon-spatial-actuatorfrcrange:
+
+:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
+   Range for clamping total actuator forces acting on this tendon. See :ref:`CForceRange` for details. The compiler
+   expects the lower bound to be nonpositive and the upper bound to be nonnegative. |br| Setting this attribute without
+   specifying :at:`actuatorfrclimited` is an error if :at:`compiler-autolimits` is "false".
+
 .. _tendon-spatial-solreflimit:
 
 .. _tendon-spatial-solimplimit:
@@ -4820,8 +4836,12 @@ as above.
 
 .. _tendon-fixed-limited:
 
+.. _tendon-fixed-actuatorfrclimited:
+
 .. _tendon-fixed-range:
 
+.. _tendon-fixed-actuatorfrcrange:
+
 .. _tendon-fixed-solreflimit:
 
 .. _tendon-fixed-solimplimit:
@@ -6385,6 +6405,33 @@ joint or when a single actuator acts on multiple joints. See :ref:`CForceRange`
    The joint where actuator forces will be sensed. The sensor output is copied from ``mjData.qfrc_actuator``.
 
 
+.. _sensor-tendonactuatorfrc:
+
+:el-prefix:`sensor/` |-| **tendonactuatorfrc** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This element creates an actuator force sensor, measured at a tendon. The quantity being sensed is the total force
+contributed by all actuators to a single tendon. This type of sensor is important when multiple actuators act on a
+single tendon. See :ref:`CForceRange` for details.
+
+
+.. _sensor-tendonactuatorfrc-name:
+
+.. _sensor-tendonactuatorfrc-noise:
+
+.. _sensor-tendonactuatorfrc-cutoff:
+
+.. _sensor-tendonactuatorfrc-user:
+
+:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
+   See :ref:`CSensor`.
+
+.. _sensor-tendonactuatorfrc-tendon:
+
+:at:`tendon`: :at-val:`string, required`
+   The tendon where actuator forces will be sensed.
+
+
 .. _sensor-ballquat:
 
 :el-prefix:`sensor/` |-| **ballquat** (*)
@@ -8277,8 +8324,12 @@ if omitted.
 
 .. _default-tendon-limited:
 
+.. _default-tendon-actuatorfrclimited:
+
 .. _default-tendon-range:
 
+.. _default-tendon-actuatorfrcrange:
+
 .. _default-tendon-solreflimit:
 
 .. _default-tendon-solimplimit:
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 56119cd7..9036d1c0 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -621,13 +621,15 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`name<tendon-spatial-name>`                                | :ref:`class<tendon-spatial-class>`                              | :ref:`group<tendon-spatial-group>`                              | :ref:`limited<tendon-spatial-limited>`                          | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`range<tendon-spatial-range>`                              | :ref:`solreflimit<tendon-spatial-solreflimit>`                  | :ref:`solimplimit<tendon-spatial-solimplimit>`                  | :ref:`solreffriction<tendon-spatial-solreffriction>`            | |
+|                                    |    |    | :ref:`actuatorfrclimited<tendon-spatial-actuatorfrclimited>`    | :ref:`range<tendon-spatial-range>`                              | :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>`        | :ref:`solreflimit<tendon-spatial-solreflimit>`                  | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimpfriction<tendon-spatial-solimpfriction>`            | :ref:`frictionloss<tendon-spatial-frictionloss>`                | :ref:`springlength<tendon-spatial-springlength>`                | :ref:`width<tendon-spatial-width>`                              | |
+|                                    |    |    | :ref:`solimplimit<tendon-spatial-solimplimit>`                  | :ref:`solreffriction<tendon-spatial-solreffriction>`            | :ref:`solimpfriction<tendon-spatial-solimpfriction>`            | :ref:`frictionloss<tendon-spatial-frictionloss>`                | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`material<tendon-spatial-material>`                        | :ref:`margin<tendon-spatial-margin>`                            | :ref:`stiffness<tendon-spatial-stiffness>`                      | :ref:`damping<tendon-spatial-damping>`                          | |
+|                                    |    |    | :ref:`springlength<tendon-spatial-springlength>`                | :ref:`width<tendon-spatial-width>`                              | :ref:`material<tendon-spatial-material>`                        | :ref:`margin<tendon-spatial-margin>`                            | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`armature<tendon-spatial-armature>`                        | :ref:`rgba<tendon-spatial-rgba>`                                | :ref:`user<tendon-spatial-user>`                                |                                                                 | |
+|                                    |    |    | :ref:`stiffness<tendon-spatial-stiffness>`                      | :ref:`damping<tendon-spatial-damping>`                          | :ref:`armature<tendon-spatial-armature>`                        | :ref:`rgba<tendon-spatial-rgba>`                                | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<tendon-spatial-user>`                                |                                                                 |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| spatial |br| |_2| |L|         |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -657,11 +659,13 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`name<tendon-fixed-name>`                                  | :ref:`class<tendon-fixed-class>`                                | :ref:`group<tendon-fixed-group>`                                | :ref:`limited<tendon-fixed-limited>`                            | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`range<tendon-fixed-range>`                                | :ref:`solreflimit<tendon-fixed-solreflimit>`                    | :ref:`solimplimit<tendon-fixed-solimplimit>`                    | :ref:`solreffriction<tendon-fixed-solreffriction>`              | |
+|                                    |    |    | :ref:`actuatorfrclimited<tendon-fixed-actuatorfrclimited>`      | :ref:`range<tendon-fixed-range>`                                | :ref:`actuatorfrcrange<tendon-fixed-actuatorfrcrange>`          | :ref:`solreflimit<tendon-fixed-solreflimit>`                    | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`solimpfriction<tendon-fixed-solimpfriction>`              | :ref:`frictionloss<tendon-fixed-frictionloss>`                  | :ref:`springlength<tendon-fixed-springlength>`                  | :ref:`margin<tendon-fixed-margin>`                              | |
+|                                    |    |    | :ref:`solimplimit<tendon-fixed-solimplimit>`                    | :ref:`solreffriction<tendon-fixed-solreffriction>`              | :ref:`solimpfriction<tendon-fixed-solimpfriction>`              | :ref:`frictionloss<tendon-fixed-frictionloss>`                  | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`stiffness<tendon-fixed-stiffness>`                        | :ref:`damping<tendon-fixed-damping>`                            | :ref:`armature<tendon-fixed-armature>`                          | :ref:`user<tendon-fixed-user>`                                  | |
+|                                    |    |    | :ref:`springlength<tendon-fixed-springlength>`                  | :ref:`margin<tendon-fixed-margin>`                              | :ref:`stiffness<tendon-fixed-stiffness>`                        | :ref:`damping<tendon-fixed-damping>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`armature<tendon-fixed-armature>`                          | :ref:`user<tendon-fixed-user>`                                  |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| fixed |br| |_2| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -1004,6 +1008,15 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`tendonactuatorfrc            | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <sensor-tendonactuatorfrc>`        |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<sensor-tendonactuatorfrc-name>`                      | :ref:`tendon<sensor-tendonactuatorfrc-tendon>`                  | :ref:`cutoff<sensor-tendonactuatorfrc-cutoff>`                  | :ref:`noise<sensor-tendonactuatorfrc-noise>`                    | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`user<sensor-tendonactuatorfrc-user>`                      |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| sensor |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`ballquat                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <sensor-ballquat>`                 |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 2c5cbe8b..deaba59e 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -20,6 +20,8 @@ General
   bodies when saving to XML.
 - Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
   composite to be the direct child of a frame.
+- Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
+  :ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
 
 Bug fixes
 ^^^^^^^^^
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 846f0c75..b97f2b93 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -649,6 +649,7 @@ typedef enum mjtSensor_ {         // type of sensor
   mjSENS_ACTUATORVEL,             // scalar actuator velocity
   mjSENS_ACTUATORFRC,             // scalar actuator force
   mjSENS_JOINTACTFRC,             // scalar actuator force, measured at the joint
+  mjSENS_TENDONACTFRC,            // scalar actuator force, measured at the tendon
 
   // sensors related to ball joints
   mjSENS_BALLQUAT,                // 4D ball joint quaternion
@@ -1330,12 +1331,14 @@ struct mjModel_ {
   int*      tendon_matid;         // material id for rendering                (ntendon x 1)
   int*      tendon_group;         // group for visibility                     (ntendon x 1)
   mjtByte*  tendon_limited;       // does tendon have length limits           (ntendon x 1)
+  mjtByte*  tendon_actfrclimited; // does tendon have actuator force limits   (ntendon x 1)
   mjtNum*   tendon_width;         // width for rendering                      (ntendon x 1)
   mjtNum*   tendon_solref_lim;    // constraint solver reference: limit       (ntendon x mjNREF)
   mjtNum*   tendon_solimp_lim;    // constraint solver impedance: limit       (ntendon x mjNIMP)
   mjtNum*   tendon_solref_fri;    // constraint solver reference: friction    (ntendon x mjNREF)
   mjtNum*   tendon_solimp_fri;    // constraint solver impedance: friction    (ntendon x mjNIMP)
   mjtNum*   tendon_range;         // tendon length limits                     (ntendon x 2)
+  mjtNum*   tendon_actfrcrange;   // range of total actuator force            (ntendon x 2)
   mjtNum*   tendon_margin;        // min distance for limit detection         (ntendon x 1)
   mjtNum*   tendon_stiffness;     // stiffness coefficient                    (ntendon x 1)
   mjtNum*   tendon_damping;       // damping coefficient                      (ntendon x 1)
@@ -2186,7 +2189,9 @@ typedef struct mjsTendon_ {        // tendon specification
 
   // length range
   int limited;                     // does tendon have limits (mjtLimited)
+  int actfrclimited;               // does tendon have actuator force limits
   double range[2];                 // length limits
+  double actfrcrange[2];           // actuator force limits
   double margin;                   // margin value for tendon limit detection
   mjtNum solref_limit[mjNREF];     // solver reference: tendon limits
   mjtNum solimp_limit[mjNIMP];     // solver impedance: tendon limits
@@ -3086,8 +3091,10 @@ struct mjvSceneState_ {
     int* tendon_matid;
     int* tendon_group;
     mjtByte* tendon_limited;
+    mjtByte* tendon_actfrclimited;
     mjtNum* tendon_width;
     mjtNum* tendon_range;
+    mjtNum* tendon_actfrcrange;
     mjtNum* tendon_stiffness;
     mjtNum* tendon_damping;
     mjtNum* tendon_frictionloss;
diff --git a/doc/modeling.rst b/doc/modeling.rst
index 4ef331a4..61d79c13 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -724,7 +724,10 @@ Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actua
   :ref:`jointactuatorfrc<sensor-jointactuatorfrc>` sensor to report the total actuator force acting on a joint.
   The standard :ref:`actuatorfrc<sensor-actuatorfrc>` sensor will continue to report the pre-clamped actuator force.
 
-The three clamping options above are non-exclusive and can be combined as required.
+Force clamping at tendon input with :ref:`tendon/actuatorfrcrange<tendon-spatial-actuatorfrcrange>`:
+  This tendon attribute clamps input forces from all actuators acting on the tendon.
+
+The clamping options above are non-exclusive and can be combined as required.
 
 .. _CLengthRange:
 
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 1699ca0c..b6bdbfc6 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -317,6 +317,7 @@ typedef enum mjtSensor_ {         // type of sensor
   mjSENS_ACTUATORVEL,             // scalar actuator velocity
   mjSENS_ACTUATORFRC,             // scalar actuator force
   mjSENS_JOINTACTFRC,             // scalar actuator force, measured at the joint
+  mjSENS_TENDONACTFRC,            // scalar actuator force, measured at the tendon
 
   // sensors related to ball joints
   mjSENS_BALLQUAT,                // 4D ball joint quaternion
@@ -1031,12 +1032,14 @@ struct mjModel_ {
   int*      tendon_matid;         // material id for rendering                (ntendon x 1)
   int*      tendon_group;         // group for visibility                     (ntendon x 1)
   mjtByte*  tendon_limited;       // does tendon have length limits           (ntendon x 1)
+  mjtByte*  tendon_actfrclimited; // does tendon have actuator force limits   (ntendon x 1)
   mjtNum*   tendon_width;         // width for rendering                      (ntendon x 1)
   mjtNum*   tendon_solref_lim;    // constraint solver reference: limit       (ntendon x mjNREF)
   mjtNum*   tendon_solimp_lim;    // constraint solver impedance: limit       (ntendon x mjNIMP)
   mjtNum*   tendon_solref_fri;    // constraint solver reference: friction    (ntendon x mjNREF)
   mjtNum*   tendon_solimp_fri;    // constraint solver impedance: friction    (ntendon x mjNIMP)
   mjtNum*   tendon_range;         // tendon length limits                     (ntendon x 2)
+  mjtNum*   tendon_actfrcrange;   // range of total actuator force            (ntendon x 2)
   mjtNum*   tendon_margin;        // min distance for limit detection         (ntendon x 1)
   mjtNum*   tendon_stiffness;     // stiffness coefficient                    (ntendon x 1)
   mjtNum*   tendon_damping;       // damping coefficient                      (ntendon x 1)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 42b8c03f..3202d9dc 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -628,7 +628,9 @@ typedef struct mjsTendon_ {        // tendon specification
 
   // length range
   int limited;                     // does tendon have limits (mjtLimited)
+  int actfrclimited;               // does tendon have actuator force limits
   double range[2];                 // length limits
+  double actfrcrange[2];           // actuator force limits
   double margin;                   // margin value for tendon limit detection
   mjtNum solref_limit[mjNREF];     // solver reference: tendon limits
   mjtNum solimp_limit[mjNIMP];     // solver impedance: tendon limits
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 19dad80c..0a757cf1 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -593,8 +593,10 @@ struct mjvSceneState_ {
     int* tendon_matid;
     int* tendon_group;
     mjtByte* tendon_limited;
+    mjtByte* tendon_actfrclimited;
     mjtNum* tendon_width;
     mjtNum* tendon_range;
+    mjtNum* tendon_actfrcrange;
     mjtNum* tendon_stiffness;
     mjtNum* tendon_damping;
     mjtNum* tendon_frictionloss;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 0aaf1af6..704ba353 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -475,12 +475,14 @@
     XMJV( int,     tendon_matid,          ntendon,       1                    ) \
     XMJV( int,     tendon_group,          ntendon,       1                    ) \
     XMJV( mjtByte, tendon_limited,        ntendon,       1                    ) \
+    XMJV( mjtByte, tendon_actfrclimited,  ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_width,          ntendon,       1                    ) \
     X   ( mjtNum,  tendon_solref_lim,     ntendon,       mjNREF               ) \
     X   ( mjtNum,  tendon_solimp_lim,     ntendon,       mjNIMP               ) \
     X   ( mjtNum,  tendon_solref_fri,     ntendon,       mjNREF               ) \
     X   ( mjtNum,  tendon_solimp_fri,     ntendon,       mjNIMP               ) \
     XMJV( mjtNum,  tendon_range,          ntendon,       2                    ) \
+    XMJV( mjtNum,  tendon_actfrcrange,    ntendon,       2                    ) \
     X   ( mjtNum,  tendon_margin,         ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_stiffness,      ntendon,       1                    ) \
     XMJV( mjtNum,  tendon_damping,        ntendon,       1                    ) \
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 373b6a90..1a0c904c 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -349,7 +349,7 @@ class SupportTest(parameterized.TestCase):
     self.assertEqual(
         str(e.exception),
         'mjSpec signature does not match mjx.Model signature:'
-        ' 4300287342280373816 != 9887180086914550999',
+        ' 17856615236057737915 != 12517827274439268436',
     )
 
   _CONTACTS = """
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 9052043c..3ee10499 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -763,11 +763,13 @@ class Model(PyTreeNode):
     tendon_adr: address of first object in tendon's path      (ntendon,)
     tendon_num: number of objects in tendon's path            (ntendon,)
     tendon_limited: does tendon have length limits            (ntendon,)
+    tendon_actfrclimited: tendon has actuator force limits    (ntendon,)
     tendon_solref_lim: constraint solver reference: limit     (ntendon, mjNREF)
     tendon_solimp_lim: constraint solver impedance: limit     (ntendon, mjNIMP)
     tendon_solref_fri: constraint solver reference: friction  (ntendon, mjNREF)
     tendon_solimp_fri: constraint solver impedance: friction  (ntendon, mjNIMP)
     tendon_range: tendon length limits                        (ntendon, 2)
+    tendon_actfrcrange: tendon actuator force limits          (ntendon, 2)
     tendon_margin: min distance for limit detection           (ntendon,)
     tendon_stiffness: stiffness coefficient                   (ntendon,)
     tendon_damping: damping coefficient                       (ntendon,)
@@ -1106,11 +1108,13 @@ class Model(PyTreeNode):
   tendon_adr: np.ndarray
   tendon_num: np.ndarray
   tendon_limited: np.ndarray
+  tendon_actfrclimited: np.ndarray
   tendon_solref_lim: jax.Array
   tendon_solimp_lim: jax.Array
   tendon_solref_fri: jax.Array
   tendon_solimp_fri: jax.Array
   tendon_range: jax.Array
+  tendon_actfrcrange: jax.Array
   tendon_margin: jax.Array
   tendon_stiffness: jax.Array
   tendon_damping: jax.Array
diff --git a/python/mujoco/introspect/enums.py b/python/mujoco/introspect/enums.py
index 9443566f..dd1a1fad 100644
--- a/python/mujoco/introspect/enums.py
+++ b/python/mujoco/introspect/enums.py
@@ -340,34 +340,35 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjSENS_ACTUATORVEL', 14),
              ('mjSENS_ACTUATORFRC', 15),
              ('mjSENS_JOINTACTFRC', 16),
-             ('mjSENS_BALLQUAT', 17),
-             ('mjSENS_BALLANGVEL', 18),
-             ('mjSENS_JOINTLIMITPOS', 19),
-             ('mjSENS_JOINTLIMITVEL', 20),
-             ('mjSENS_JOINTLIMITFRC', 21),
-             ('mjSENS_TENDONLIMITPOS', 22),
-             ('mjSENS_TENDONLIMITVEL', 23),
-             ('mjSENS_TENDONLIMITFRC', 24),
-             ('mjSENS_FRAMEPOS', 25),
-             ('mjSENS_FRAMEQUAT', 26),
-             ('mjSENS_FRAMEXAXIS', 27),
-             ('mjSENS_FRAMEYAXIS', 28),
-             ('mjSENS_FRAMEZAXIS', 29),
-             ('mjSENS_FRAMELINVEL', 30),
-             ('mjSENS_FRAMEANGVEL', 31),
-             ('mjSENS_FRAMELINACC', 32),
-             ('mjSENS_FRAMEANGACC', 33),
-             ('mjSENS_SUBTREECOM', 34),
-             ('mjSENS_SUBTREELINVEL', 35),
-             ('mjSENS_SUBTREEANGMOM', 36),
-             ('mjSENS_GEOMDIST', 37),
-             ('mjSENS_GEOMNORMAL', 38),
-             ('mjSENS_GEOMFROMTO', 39),
-             ('mjSENS_E_POTENTIAL', 40),
-             ('mjSENS_E_KINETIC', 41),
-             ('mjSENS_CLOCK', 42),
-             ('mjSENS_PLUGIN', 43),
-             ('mjSENS_USER', 44),
+             ('mjSENS_TENDONACTFRC', 17),
+             ('mjSENS_BALLQUAT', 18),
+             ('mjSENS_BALLANGVEL', 19),
+             ('mjSENS_JOINTLIMITPOS', 20),
+             ('mjSENS_JOINTLIMITVEL', 21),
+             ('mjSENS_JOINTLIMITFRC', 22),
+             ('mjSENS_TENDONLIMITPOS', 23),
+             ('mjSENS_TENDONLIMITVEL', 24),
+             ('mjSENS_TENDONLIMITFRC', 25),
+             ('mjSENS_FRAMEPOS', 26),
+             ('mjSENS_FRAMEQUAT', 27),
+             ('mjSENS_FRAMEXAXIS', 28),
+             ('mjSENS_FRAMEYAXIS', 29),
+             ('mjSENS_FRAMEZAXIS', 30),
+             ('mjSENS_FRAMELINVEL', 31),
+             ('mjSENS_FRAMEANGVEL', 32),
+             ('mjSENS_FRAMELINACC', 33),
+             ('mjSENS_FRAMEANGACC', 34),
+             ('mjSENS_SUBTREECOM', 35),
+             ('mjSENS_SUBTREELINVEL', 36),
+             ('mjSENS_SUBTREEANGMOM', 37),
+             ('mjSENS_GEOMDIST', 38),
+             ('mjSENS_GEOMNORMAL', 39),
+             ('mjSENS_GEOMFROMTO', 40),
+             ('mjSENS_E_POTENTIAL', 41),
+             ('mjSENS_E_KINETIC', 42),
+             ('mjSENS_CLOCK', 43),
+             ('mjSENS_PLUGIN', 44),
+             ('mjSENS_USER', 45),
          ]),
      )),
     ('mjtStage',
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 59b21fb8..51799032 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -3615,6 +3615,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='does tendon have length limits',
                  array_extent=('ntendon',),
              ),
+             StructFieldDecl(
+                 name='tendon_actfrclimited',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtByte'),
+                 ),
+                 doc='does tendon have actuator force limits',
+                 array_extent=('ntendon',),
+             ),
              StructFieldDecl(
                  name='tendon_width',
                  type=PointerType(
@@ -3663,6 +3671,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='tendon length limits',
                  array_extent=('ntendon', 2),
              ),
+             StructFieldDecl(
+                 name='tendon_actfrcrange',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='range of total actuator force',
+                 array_extent=('ntendon', 2),
+             ),
              StructFieldDecl(
                  name='tendon_margin',
                  type=PointerType(
@@ -8135,6 +8151,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='tendon_actfrclimited',
+                             type=PointerType(
+                                 inner_type=ValueType(name='mjtByte'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='tendon_width',
                              type=PointerType(
@@ -8149,6 +8172,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='tendon_actfrcrange',
+                             type=PointerType(
+                                 inner_type=ValueType(name='mjtNum'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='tendon_stiffness',
                              type=PointerType(
@@ -11342,6 +11372,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='does tendon have limits (mjtLimited)',
              ),
+             StructFieldDecl(
+                 name='actfrclimited',
+                 type=ValueType(name='int'),
+                 doc='does tendon have actuator force limits',
+             ),
              StructFieldDecl(
                  name='range',
                  type=ArrayType(
@@ -11350,6 +11385,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='length limits',
              ),
+             StructFieldDecl(
+                 name='actfrcrange',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(2,),
+                 ),
+                 doc='actuator force limits',
+             ),
              StructFieldDecl(
                  name='margin',
                  type=ValueType(name='double'),
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index d55f857b..5771db32 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -276,7 +276,7 @@ static void clampVec(mjtNum* vec, const mjtNum* range, const mjtByte* limited, i
 // (qpos, qvel, ctrl, act) => (qfrc_actuator, actuator_force, act_dot)
 void mj_fwdActuation(const mjModel* m, mjData* d) {
   TM_START;
-  int nv = m->nv, nu = m->nu;
+  int nv = m->nv, nu = m->nu, ntendon = m->ntendon;
   mjtNum gain, bias, tau;
   mjtNum *prm, *force = d->actuator_force;
 
@@ -289,6 +289,9 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
     return;
   }
 
+  // any tendon transmission targets with force limits
+  int tendon_frclimited = 0;
+
   // local, clamped copy of ctrl
   mj_markStack(d);
   mjtNum *ctrl = mjSTACKALLOC(d, nu, mjtNum);
@@ -384,6 +387,11 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
       continue;
     }
 
+    // check for tendon transmission with force limits
+    if (ntendon && !tendon_frclimited && m->actuator_trntype[i] == mjTRN_TENDON) {
+      tendon_frclimited = m->tendon_actfrclimited[m->actuator_trnid[2*i]];
+    }
+
     // extract gain info
     prm = m->actuator_gainprm + mjNGAIN*i;
 
@@ -479,6 +487,38 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
     }
   }
 
+  // clamp tendon total actuator force
+  if (tendon_frclimited) {
+    // compute total force for each tendon
+    mjtNum* tendon_total_force = mjSTACKALLOC(d, ntendon, mjtNum);
+    mju_zero(tendon_total_force, ntendon);
+    for (int i=0; i < nu; i++) {
+      if (m->actuator_trntype[i] == mjTRN_TENDON) {
+        int tendon_id = m->actuator_trnid[2*i];
+        if (m->tendon_actfrclimited[tendon_id]) {
+          tendon_total_force[tendon_id] += force[i];
+        }
+      }
+    }
+
+    // scale tendon actuator forces if limited and outside range
+    for (int i=0; i < nu; i++) {
+      if (m->actuator_trntype[i] != mjTRN_TENDON) {
+        continue;
+      }
+      int tendon_id = m->actuator_trnid[2*i];
+      mjtNum tendon_force = tendon_total_force[tendon_id];
+      if (m->tendon_actfrclimited[tendon_id] && tendon_force) {
+        const mjtNum* range = m->tendon_actfrcrange + 2 * tendon_id;
+        if (tendon_force < range[0]) {
+          force[i] *= range[0] / tendon_force;
+        } else if (tendon_force > range[1]) {
+          force[i] *= range[1] / tendon_force;
+        }
+      }
+    }
+  }
+
   // clamp actuator_force
   clampVec(force, m->actuator_forcerange, m->actuator_forcelimited, nu, NULL);
 
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index f982941f..0f6878e1 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -2079,6 +2079,7 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
   case mjSENS_ACTUATORVEL:
   case mjSENS_ACTUATORFRC:
   case mjSENS_JOINTACTFRC:
+  case mjSENS_TENDONACTFRC:
   case mjSENS_JOINTLIMITPOS:
   case mjSENS_JOINTLIMITVEL:
   case mjSENS_JOINTLIMITFRC:
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index baad81c4..936dc085 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -698,8 +698,8 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
 // acceleration/force-dependent sensors
 void mj_sensorAcc(const mjModel* m, mjData* d) {
   int rootid, bodyid, objtype, objid, adr, nusersensor = 0;
-  int ne = d->ne, nf = d->nf, nefc = d->nefc;
-  mjtNum tmp[6], conforce[6], conray[3];
+  int ne = d->ne, nf = d->nf, nefc = d->nefc, nu = m->nu;
+  mjtNum tmp[6], conforce[6], conray[3], frc;
   mjContact* con;
 
   // disabled sensors: return
@@ -825,6 +825,16 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
         d->sensordata[adr] = d->qfrc_actuator[m->jnt_dofadr[objid]];
         break;
 
+      case mjSENS_TENDONACTFRC:  // tendonactfrc
+        frc = 0.0;
+        for (int j=0; j < nu; j++) {
+          if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == objid) {
+            frc += d->actuator_force[j];
+          }
+        }
+        d->sensordata[adr] = frc;
+        break;
+
       case mjSENS_JOINTLIMITFRC:                          // jointlimitfrc
         d->sensordata[adr] = 0;
         for (int j=ne+nf; j < nefc; j++) {
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index c6b181d0..ff78e190 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3351,6 +3351,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->tendon_matid[i] = pte->matid;
     m->tendon_group[i] = pte->group;
     m->tendon_limited[i] = (mjtByte)pte->is_limited();
+    m->tendon_actfrclimited[i] = (mjtByte)pte->is_actfrclimited();
     m->tendon_width[i] = (mjtNum)pte->width;
     mjuu_copyvec(m->tendon_solref_lim+mjNREF*i, pte->solref_limit, mjNREF);
     mjuu_copyvec(m->tendon_solimp_lim+mjNIMP*i, pte->solimp_limit, mjNIMP);
@@ -3358,6 +3359,8 @@ void mjCModel::CopyObjects(mjModel* m) {
     mjuu_copyvec(m->tendon_solimp_fri+mjNIMP*i, pte->solimp_friction, mjNIMP);
     m->tendon_range[2*i] = (mjtNum)pte->range[0];
     m->tendon_range[2*i+1] = (mjtNum)pte->range[1];
+    m->tendon_actfrcrange[2*i] = (mjtNum)pte->actfrcrange[0];
+    m->tendon_actfrcrange[2*i+1] = (mjtNum)pte->actfrcrange[1];
     m->tendon_margin[i] = (mjtNum)pte->margin;
     m->tendon_stiffness[i] = (mjtNum)pte->stiffness;
     m->tendon_damping[i] = (mjtNum)pte->damping;
@@ -5005,6 +5008,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
   // tendons
   for (int i=0; i < ntendon; i++) {
     mjuu_copyvec(tendons_[i]->range, m->tendon_range+2*i, 2);
+    mjuu_copyvec(tendons_[i]->actfrcrange, m->tendon_actfrcrange+2*i, 2);
     mjuu_copyvec(tendons_[i]->solref_limit, m->tendon_solref_lim+mjNREF*i, mjNREF);
     mjuu_copyvec(tendons_[i]->solimp_limit, m->tendon_solimp_lim+mjNIMP*i, mjNIMP);
     mjuu_copyvec(tendons_[i]->solref_friction, m->tendon_solref_fri+mjNREF*i, mjNREF);
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 827b5e48..d609621c 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -5388,7 +5388,9 @@ mjCTendon& mjCTendon::operator=(const mjCTendon& other) {
 bool mjCTendon::is_limited() const {
   return islimited(limited, range);
 }
-
+bool mjCTendon::is_actfrclimited() const {
+  return islimited(actfrclimited, actfrcrange);
+}
 
 void mjCTendon::PointToLocal() {
   spec.element = static_cast<mjsElement*>(this);
@@ -5686,6 +5688,21 @@ void mjCTendon::Compile(void) {
     throw mjCError(this, "invalid limits in tendon");
   }
 
+  // if limited is auto, set to 1 if range is specified, otherwise unlimited
+  if (actfrclimited == mjLIMITED_AUTO) {
+    bool hasactfrcrange = !(actfrcrange[0] == 0 && actfrcrange[1] == 0);
+    checklimited(this, compiler->autolimits, "tendon", "", actfrclimited,
+                 hasactfrcrange);
+  }
+
+  // check actfrclimits
+  if (actfrcrange[0] >= actfrcrange[1] && is_actfrclimited()) {
+    throw mjCError(this, "invalid actuatorfrcrange in tendon");
+  }
+  if ((actfrcrange[0] > 0 || actfrcrange[1] < 0) && is_actfrclimited()) {
+    throw mjCError(this, "invalid actuatorfrcrange in tendon");
+  }
+
   // check springlength
   if (springlength[0] > springlength[1]) {
     throw mjCError(this, "invalid springlength in tendon");
@@ -6479,6 +6496,18 @@ void mjCSensor::Compile(void) {
       }
       break;
 
+  case mjSENS_TENDONACTFRC:
+    // must be attached to tendon
+    if (objtype != mjOBJ_TENDON) {
+      throw mjCError(this, "sensor must be attached to tendon");
+    }
+
+    // set
+    dim = 1;
+    datatype = mjDATATYPE_REAL;
+    needstage = mjSTAGE_ACC;
+    break;
+
     case mjSENS_TENDONPOS:
     case mjSENS_TENDONVEL:
       // must be attached to tendon
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index ce890610..16aa57af 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1523,6 +1523,7 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
   void SetModel(mjCModel* _model);
 
   bool is_limited() const;
+  bool is_actfrclimited() const;
 
  private:
   void Compile(void);                         // compiler
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index f3afd4a2..a5bf6824 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -363,8 +363,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
 
     {"tendon", "*", "0"},
     {"<"},
-        {"spatial", "*", "19", "name", "class", "group", "limited", "range",
-            "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
+        {"spatial", "*", "21", "name", "class", "group", "limited", "actuatorfrclimited", "range",
+            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
             "frictionloss", "springlength", "width", "material",
             "margin", "stiffness", "damping", "armature", "rgba", "user"},
         {"<"},
@@ -372,8 +372,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
             {"geom", "*", "2", "geom", "sidesite"},
             {"pulley", "*", "1", "divisor"},
         {">"},
-        {"fixed", "*", "16", "name", "class", "group", "limited", "range",
-            "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
+        {"fixed", "*", "18", "name", "class", "group", "limited", "actuatorfrclimited", "range",
+            "actuatorfrcrange","solreflimit", "solimplimit", "solreffriction", "solimpfriction",
             "frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
         {"<"},
             {"joint", "*", "2", "joint", "coef"},
@@ -455,6 +455,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"actuatorvel", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
         {"actuatorfrc", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
         {"jointactuatorfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"},
+        {"tendonactuatorfrc", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
         {"ballquat", "*", "5", "name", "joint", "cutoff", "noise", "user"},
         {"ballangvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
         {"jointlimitpos", "*", "5", "name", "joint", "cutoff", "noise", "user"},
@@ -2052,12 +2053,14 @@ void mjXReader::OneTendon(XMLElement* elem, mjsTendon* tendon) {
     mjs_setString(tendon->material, material.c_str());
   }
   MapValue(elem, "limited", &tendon->limited, TFAuto_map, 3);
+  MapValue(elem, "actuatorfrclimited", &tendon->actfrclimited, TFAuto_map, 3);
   ReadAttr(elem, "width", 1, &tendon->width, text);
   ReadAttr(elem, "solreflimit", mjNREF, tendon->solref_limit, text, false, false);
   ReadAttr(elem, "solimplimit", mjNIMP, tendon->solimp_limit, text, false, false);
   ReadAttr(elem, "solreffriction", mjNREF, tendon->solref_friction, text, false, false);
   ReadAttr(elem, "solimpfriction", mjNIMP, tendon->solimp_friction, text, false, false);
   ReadAttr(elem, "range", 2, tendon->range, text);
+  ReadAttr(elem, "actuatorfrcrange", 2, tendon->actfrcrange, text);
   ReadAttr(elem, "margin", 1, &tendon->margin, text);
   ReadAttr(elem, "stiffness", 1, &tendon->stiffness, text);
   ReadAttr(elem, "damping", 1, &tendon->damping, text);
@@ -3973,6 +3976,10 @@ void mjXReader::Sensor(XMLElement* section) {
       sensor->type = mjSENS_JOINTACTFRC;
       sensor->objtype = mjOBJ_JOINT;
       ReadAttrTxt(elem, "joint", objname, true);
+    } else if (type=="tendonactuatorfrc") {
+      sensor->type = mjSENS_TENDONACTFRC;
+      sensor->objtype = mjOBJ_TENDON;
+      ReadAttrTxt(elem, "tendon", objname, true);
     }
 
     // sensors related to ball joints
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
index 0e568f99..010ea2d5 100644
--- a/src/xml/xml_native_reader.h
+++ b/src/xml/xml_native_reader.h
@@ -102,7 +102,7 @@ class mjXReader : public mjXBase {
 };
 
 // MJCF schema
-#define nMJCF 237
+#define nMJCF 238
 extern const char* MJCF[nMJCF][mjXATTRNUM];
 
 #endif  // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 5f2d44cf..001ecf18 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -725,7 +725,9 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def
   WriteAttr(elem, "solimpfriction", mjNIMP, tendon->solimp_friction, def->Tendon().solimp_friction,
             true);
   WriteAttrKey(elem, "limited", TFAuto_map, 3, tendon->limited, def->Tendon().limited);
+  WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, tendon->actfrclimited, def->Tendon().actfrclimited);
   WriteAttr(elem, "range", 2, tendon->range, def->Tendon().range);
+  WriteAttr(elem, "actuatorfrcrange", 2, tendon->actfrcrange, def->Tendon().actfrcrange);
   WriteAttr(elem, "margin", 1, &tendon->margin, &def->Tendon().margin);
   WriteAttr(elem, "stiffness", 1, &tendon->stiffness, &def->Tendon().stiffness);
   WriteAttr(elem, "damping", 1, &tendon->damping, &def->Tendon().damping);
@@ -2033,6 +2035,10 @@ void mjXWriter::Sensor(XMLElement* root) {
         elem = InsertEnd(section, "jointactuatorfrc");
         WriteAttrTxt(elem, "joint", sensor->get_objname());
         break;
+      case mjSENS_TENDONACTFRC:
+        elem = InsertEnd(section, "tendonactuatorfrc");
+        WriteAttrTxt(elem, "tendon", sensor->get_objname());
+        break;
 
       // sensors related to ball joints
       case mjSENS_BALLQUAT:
diff --git a/test/engine/engine_forward_test.cc b/test/engine/engine_forward_test.cc
index 16a52f43..d345b065 100644
--- a/test/engine/engine_forward_test.cc
+++ b/test/engine/engine_forward_test.cc
@@ -46,6 +46,8 @@ static const char* const kDampedActuatorsPath =
     "engine/testdata/derivative/damped_actuators.xml";
 static const char* const kJointForceClamp =
     "engine/testdata/actuation/joint_force_clamp.xml";
+static const char* const kTendonForceClamp =
+    "engine/testdata/actuation/tendon_force_clamp.xml";
 
 using ::testing::Pointwise;
 using ::testing::DoubleNear;
@@ -1393,5 +1395,57 @@ TEST_F(ActuatorTest, DisableActuatorOutOfRange) {
   mj_deleteModel(model);
 }
 
+TEST_F(ActuatorTest, TendonActuatorForceRange) {
+  const std::string xml_path = GetTestDataFilePath(kTendonForceClamp);
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
+  mjData* data = mj_makeData(model);
+
+  EXPECT_EQ(model->tendon_actfrclimited[0], 0);
+  EXPECT_EQ(model->tendon_actfrcrange[0], 0);
+  EXPECT_EQ(model->tendon_actfrcrange[1], 0);
+
+  EXPECT_EQ(model->tendon_actfrclimited[1], 1);
+  EXPECT_EQ(model->tendon_actfrcrange[2], -1);
+  EXPECT_EQ(model->tendon_actfrcrange[3], 1);
+
+  EXPECT_EQ(model->tendon_actfrclimited[2], 1);
+  EXPECT_EQ(model->tendon_actfrcrange[4], -10);
+  EXPECT_EQ(model->tendon_actfrcrange[5], 10);
+
+  EXPECT_EQ(model->tendon_actfrclimited[3], 1);
+  EXPECT_EQ(model->tendon_actfrcrange[6], 0);
+  EXPECT_EQ(model->tendon_actfrcrange[7], 1);
+
+  data->ctrl[0] = 1;
+  data->ctrl[1] = 1;
+  data->ctrl[2] = 1;
+
+  data->ctrl[3] = -1;
+  data->ctrl[4] = 1;
+
+  data->ctrl[5] = -20;
+  data->ctrl[6] = 5;
+  data->ctrl[7] = -5;
+
+  mj_forward(model, data);
+
+  EXPECT_NEAR(data->actuator_force[0], 1, 1e-6);
+  EXPECT_NEAR(data->actuator_force[1], 1, 1e-6);
+  EXPECT_NEAR(data->actuator_force[2], 1, 1e-6);
+  EXPECT_NEAR(data->actuator_force[3], -1, 1e-6);
+  EXPECT_NEAR(data->actuator_force[4], 1, 1e-6);
+  EXPECT_NEAR(data->actuator_force[5], -10, 1e-6);
+  EXPECT_NEAR(data->actuator_force[6], 5, 1e-6);
+  EXPECT_NEAR(data->actuator_force[7], -5, 1e-6);
+
+  EXPECT_EQ(data->sensordata[0], 3);
+  EXPECT_EQ(data->sensordata[1], 0);
+  EXPECT_EQ(data->sensordata[2], -10);
+  EXPECT_EQ(data->sensordata[3], 0);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 }  // namespace
 }  // namespace mujoco
diff --git a/test/engine/testdata/actuation/tendon_force_clamp.xml b/test/engine/testdata/actuation/tendon_force_clamp.xml
new file mode 100644
index 00000000..51952b3a
--- /dev/null
+++ b/test/engine/testdata/actuation/tendon_force_clamp.xml
@@ -0,0 +1,55 @@
+<mujoco model="fixed_site">
+  <worldbody>
+    <body>
+      <joint name="joint0" type="hinge" axis="0 1 0"/>
+      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
+      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
+      <body pos="0.5 0 0">
+        <joint name="joint1" type="hinge" axis="0 1 0"/>
+        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
+        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
+        <body pos="0.5 0 0">
+          <joint name="joint2" type="hinge" axis="0 1 0"/>
+          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
+          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <tendon>
+    <spatial name="spatial0" width="0.0125">
+      <site site="site0"/>
+      <site site="site1"/>
+      <site site="site2"/>
+    </spatial>
+    <spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
+      <site site="site1"/>
+      <site site="site2"/>
+    </spatial>
+    <fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
+      <joint joint="joint0" coef=".1"/>
+      <joint joint="joint1" coef=".2"/>
+      <joint joint="joint2" coef=".3"/>
+    </fixed>
+    <fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
+      <joint joint="joint0" coef=".1"/>
+      <joint joint="joint2" coef=".3"/>
+    </fixed>
+  </tendon>
+  <actuator>
+    <motor tendon="spatial0"/>
+    <motor tendon="spatial0"/>
+    <motor tendon="spatial0"/>
+    <motor tendon="spatial1"/>
+    <motor tendon="spatial1"/>
+    <motor tendon="fixed0"/>
+    <motor tendon="fixed1"/>
+    <motor tendon="fixed1"/>
+  </actuator>
+  <sensor>
+    <tendonactuatorfrc tendon="spatial0"/>
+    <tendonactuatorfrc tendon="spatial1"/>
+    <tendonactuatorfrc tendon="fixed0"/>
+    <tendonactuatorfrc tendon="fixed1"/>
+  </sensor>
+</mujoco>
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index b9f13cd4..37bec917 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -2070,6 +2070,51 @@ TEST_F(TendonTest, SiteBetweenPulleyNotAllowed) {
   EXPECT_THAT(error.data(), HasSubstr("line 9"));
 }
 
+TEST_F(TendonTest, ActuatorForceRangeNotAllowed) {
+  std::string xml = R"(
+  <mujoco>
+    <worldbody>
+      <site name="site0"/>
+      <site name="site1"/>
+    </worldbody>
+    <tendon>
+      <spatial name="spatial" actuatorfrclimited="true" actuatorfrcrange="{}">
+        <site site="site0"/>
+        <site site="site1"/>
+      </spatial>
+    </tendon>
+    <actuator>
+      <motor tendon="spatial"/>
+    </actuator>
+  </mujoco>
+  )";
+
+  std::array<char, 1024> error;
+  std::string str_replace = "{}";
+  size_t rng_ind = xml.find(str_replace);
+
+  std::string xml0 = xml;
+  std::string range0 = "-2 -1";
+  xml0.replace(rng_ind, str_replace.length(), range0);
+  mjModel* m0 = LoadModelFromString(xml0.c_str(), error.data(), error.size());
+  EXPECT_THAT(m0, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
+
+  std::string xml1 = xml;
+  std::string range1 = "1 2";
+  xml1.replace(rng_ind, str_replace.length(), range1);
+  mjModel* m1 = LoadModelFromString(xml1.c_str(), error.data(), error.size());
+  EXPECT_THAT(m1, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
+
+  std::string xml2 = xml;
+  std::string range2 = "1 0";
+  xml2.replace(rng_ind, str_replace.length(), range2);
+  mjModel* m2 = LoadModelFromString(xml2.c_str(), error.data(), error.size());
+  EXPECT_THAT(m2, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
+}
+
 // ------------- tests for tendon springrange ----------------------------------
 
 using SpringrangeTest = MujocoTest;
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index f7d6ac29..ca702ca0 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -357,34 +357,35 @@ public enum mjtSensor : int{
   mjSENS_ACTUATORVEL = 14,
   mjSENS_ACTUATORFRC = 15,
   mjSENS_JOINTACTFRC = 16,
-  mjSENS_BALLQUAT = 17,
-  mjSENS_BALLANGVEL = 18,
-  mjSENS_JOINTLIMITPOS = 19,
-  mjSENS_JOINTLIMITVEL = 20,
-  mjSENS_JOINTLIMITFRC = 21,
-  mjSENS_TENDONLIMITPOS = 22,
-  mjSENS_TENDONLIMITVEL = 23,
-  mjSENS_TENDONLIMITFRC = 24,
-  mjSENS_FRAMEPOS = 25,
-  mjSENS_FRAMEQUAT = 26,
-  mjSENS_FRAMEXAXIS = 27,
-  mjSENS_FRAMEYAXIS = 28,
-  mjSENS_FRAMEZAXIS = 29,
-  mjSENS_FRAMELINVEL = 30,
-  mjSENS_FRAMEANGVEL = 31,
-  mjSENS_FRAMELINACC = 32,
-  mjSENS_FRAMEANGACC = 33,
-  mjSENS_SUBTREECOM = 34,
-  mjSENS_SUBTREELINVEL = 35,
-  mjSENS_SUBTREEANGMOM = 36,
-  mjSENS_GEOMDIST = 37,
-  mjSENS_GEOMNORMAL = 38,
-  mjSENS_GEOMFROMTO = 39,
-  mjSENS_E_POTENTIAL = 40,
-  mjSENS_E_KINETIC = 41,
-  mjSENS_CLOCK = 42,
-  mjSENS_PLUGIN = 43,
-  mjSENS_USER = 44,
+  mjSENS_TENDONACTFRC = 17,
+  mjSENS_BALLQUAT = 18,
+  mjSENS_BALLANGVEL = 19,
+  mjSENS_JOINTLIMITPOS = 20,
+  mjSENS_JOINTLIMITVEL = 21,
+  mjSENS_JOINTLIMITFRC = 22,
+  mjSENS_TENDONLIMITPOS = 23,
+  mjSENS_TENDONLIMITVEL = 24,
+  mjSENS_TENDONLIMITFRC = 25,
+  mjSENS_FRAMEPOS = 26,
+  mjSENS_FRAMEQUAT = 27,
+  mjSENS_FRAMEXAXIS = 28,
+  mjSENS_FRAMEYAXIS = 29,
+  mjSENS_FRAMEZAXIS = 30,
+  mjSENS_FRAMELINVEL = 31,
+  mjSENS_FRAMEANGVEL = 32,
+  mjSENS_FRAMELINACC = 33,
+  mjSENS_FRAMEANGACC = 34,
+  mjSENS_SUBTREECOM = 35,
+  mjSENS_SUBTREELINVEL = 36,
+  mjSENS_SUBTREEANGMOM = 37,
+  mjSENS_GEOMDIST = 38,
+  mjSENS_GEOMNORMAL = 39,
+  mjSENS_GEOMFROMTO = 40,
+  mjSENS_E_POTENTIAL = 41,
+  mjSENS_E_KINETIC = 42,
+  mjSENS_CLOCK = 43,
+  mjSENS_PLUGIN = 44,
+  mjSENS_USER = 45,
 }
 public enum mjtStage : int{
   mjSTAGE_NONE = 0,
@@ -5569,12 +5570,14 @@ public unsafe struct mjModel_ {
   public int* tendon_matid;
   public int* tendon_group;
   public byte* tendon_limited;
+  public byte* tendon_actfrclimited;
   public double* tendon_width;
   public double* tendon_solref_lim;
   public double* tendon_solimp_lim;
   public double* tendon_solref_fri;
   public double* tendon_solimp_fri;
   public double* tendon_range;
+  public double* tendon_actfrcrange;
   public double* tendon_margin;
   public double* tendon_stiffness;
   public double* tendon_damping;
@@ -6398,8 +6401,10 @@ public unsafe struct model {
   public int* tendon_matid;
   public int* tendon_group;
   public byte* tendon_limited;
+  public byte* tendon_actfrclimited;
   public double* tendon_width;
   public double* tendon_range;
+  public double* tendon_actfrcrange;
   public double* tendon_stiffness;
   public double* tendon_damping;
   public double* tendon_frictionloss;

From fc516ee3c1eacbb43cf82909434d7e07ae6ec6b7 Mon Sep 17 00:00:00 2001
From: andrew <andrew.luo1@outlook.com>
Date: Tue, 8 Apr 2025 14:06:17 -0400
Subject: [PATCH 047/191] revert import order

---
 python/mujoco/viewer.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index e78e1229..234bf784 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -27,10 +27,9 @@ from typing import Callable, List, Optional, Tuple, Union
 import weakref
 
 import glfw
-import numpy as np
-
 import mujoco
 from mujoco import _simulate
+import numpy as np
 
 if not glfw._glfw:  # pylint: disable=protected-access
   raise RuntimeError('GLFW dynamic library handle is not available')

From 55e3ca3acfbb787e8c697f88a2813791ba1ba178 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 8 Apr 2025 11:21:15 -0700
Subject: [PATCH 048/191] Improvements to `minimize.least_squares`.

All changes make functionality more similar to SciPy least squares:
- Use adaptive findiff epsilon.
- Make termination on step size relative to norm(x).
- Add termination on gradient norm.
- Make default tolerances like SciPy's.

PiperOrigin-RevId: 745221614
Change-Id: Iee93256651fca8154c97fa3bdaa9c67ede28e573
---
 python/mujoco/minimize.py      | 51 ++++++++++++++++++++++++++--------
 python/mujoco/minimize_test.py |  9 +++---
 2 files changed, 43 insertions(+), 17 deletions(-)

diff --git a/python/mujoco/minimize.py b/python/mujoco/minimize.py
index 449d4bb8..665c4fd9 100644
--- a/python/mujoco/minimize.py
+++ b/python/mujoco/minimize.py
@@ -36,6 +36,7 @@ class Status(enum.Enum):
   NO_IMPROVEMENT = enum.auto()
   MAX_ITER = enum.auto()
   DX_TOL = enum.auto()
+  G_TOL = enum.auto()
 
 
 _STATUS_MESSAGE = {
@@ -43,6 +44,7 @@ _STATUS_MESSAGE = {
     Status.NO_IMPROVEMENT: 'insufficient reduction.',
     Status.MAX_ITER: 'maximum iterations reached.',
     Status.DX_TOL: 'norm(dx) < tol.',
+    Status.G_TOL: 'norm(gradient) < tol.',
 }
 
 
@@ -57,6 +59,7 @@ class IterLog:
     regularizer: Value of the regularizer used for this iteration.
     residual: Optional value of the residual at the candidate.
     jacobian: Optional value of the Jacobian at the candidate.
+    grad: Optional value of the gradient at the candidate.
     step: Optional change in decision variable during this iteration.
   """
 
@@ -66,6 +69,7 @@ class IterLog:
   regularizer: np.float64
   residual: Optional[np.ndarray] = None
   jacobian: Optional[np.ndarray] = None
+  grad: Optional[np.ndarray] = None
   step: Optional[np.ndarray] = None
 
 
@@ -141,11 +145,12 @@ def least_squares(
     bounds: Optional[Sequence[np.ndarray]] = None,
     jacobian: Optional[Callable[[np.ndarray, np.ndarray], np.ndarray]] = None,
     norm: Norm = Quadratic(),
-    eps: float = 1e-6,
+    eps: float = np.finfo(np.float64).eps ** 0.5,
     mu_min: float = 1e-6,
     mu_max: float = 1e8,
-    mu_factor: float = 10.0**0.1,
-    tol: float = 1e-6,
+    mu_factor: float = 10.0 ** 0.1,
+    xtol: float = 1e-8,
+    gtol: float = 1e-8,
     max_iter: int = 100,
     verbose: Union[Verbosity, int] = Verbosity.ITER,
     output: Optional[TextIO] = None,
@@ -166,7 +171,8 @@ def least_squares(
     mu_min: Minimum value of the regularizer.
     mu_max: Maximum value of the regularizer.
     mu_factor: Factor for increasing or decreasing the regularizer.
-    tol: Termination tolerance on the step size.
+    xtol: Termination tolerance on relative step size.
+    gtol: Termination tolerance on gradient norm.
     max_iter: Maximum number of iterations.
     verbose: Verbosity level.
     output: Optional file or StringIO to which to print messages.
@@ -281,6 +287,23 @@ def least_squares(
     # Get gradient, Gauss-Newton Hessian.
     grad, hess = norm.grad_hess(r, jac)
 
+    # Get free (unclamped) gradient.
+    if bounds is None:
+      grad_free = grad
+    else:
+      clamped_lower = (x == bounds[0]) & (grad > 0)
+      clamped_upper = (x == bounds[1]) & (grad < 0)
+      clamped = clamped_lower | clamped_upper
+      grad_free = grad[~clamped]
+
+    # Check termination condition on gradient norm.
+    g_norm = np.linalg.norm(grad_free)
+    if g_norm <= gtol:
+      status = Status.G_TOL
+      if g_norm == 0:
+        print('Zero gradient norm: exact minimum found?', file=output)
+      break
+
     # Bounds relative to x
     dlower = None if bounds is None else bounds[0] - x
     dupper = None if bounds is None else bounds[1] - x
@@ -353,13 +376,15 @@ def least_squares(
     # Append log to trace, call iter_callback.
     log = IterLog(candidate=x, objective=y, reduction=reduction, regularizer=mu)
     if verbose >= Verbosity.FULLITER.value:
-      log = dataclasses.replace(log, residual=r, jacobian=jac, step=dx)
+      log = dataclasses.replace(
+          log, residual=r, jacobian=jac, grad=grad, step=dx
+      )
     trace.append(log)
     if iter_callback is not None:
       iter_callback(trace)
 
-    # Check for success.
-    if dx_norm < tol:
+    # Check termination condition on step norm.
+    if dx_norm < xtol * (xtol + np.linalg.norm(x)):
       status = Status.DX_TOL
       break
 
@@ -376,7 +401,7 @@ def least_squares(
   # Append final log to trace, call iter_callback.
   # Note: unlike other iter logs, values are computed at the end point.
   yfinal = norm.value(r)
-  red = np.float64(0.0)  # No reduction sice we didn't take a step.
+  red = np.float64(0.0)  # No reduction since we didn't take a step.
   log = IterLog(candidate=x, objective=yfinal, reduction=red, regularizer=mu)
   trace.append(log)
   if iter_callback is not None:
@@ -430,13 +455,15 @@ def jacobian_fd(
   """
   n = x.size
   if bounds is None:
-    eps_vec = eps * np.ones(n)
+    eps_vec = eps * np.ones((n, 1))
   else:
     mid = 0.5 * (bounds[1] - bounds[0])
-    eps_vec = np.where(x > mid, -eps, eps).flatten()
-  xh = x + np.diag(eps_vec)
+    eps_vec = np.where(x > mid, -eps, eps)
+  eps_vec *= np.maximum(1.0, np.abs(x))
+  eps_vec = (eps_vec + x) - x
+  xh = x + np.diag(eps_vec.flatten())
   rh = residual(xh)
-  jac = (rh - r) / eps_vec
+  jac = (rh - r) / eps_vec.T
   return jac, n_res + n
 
 
diff --git a/python/mujoco/minimize_test.py b/python/mujoco/minimize_test.py
index e642a8e1..5ba90b2f 100644
--- a/python/mujoco/minimize_test.py
+++ b/python/mujoco/minimize_test.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 # ==============================================================================
-"""Tests for minimize.py."""
 
 import io
 
@@ -32,7 +31,7 @@ class MinimizeTest(absltest.TestCase):
     x, _ = minimize.least_squares(x0, residual, output=out)
     expected_x = np.array((1.0, 1.0))
     np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(dx) < tol', out.getvalue())
+    self.assertIn('norm(gradient) < tol', out.getvalue())
 
   def test_start_at_minimum(self) -> None:
     def residual(x):
@@ -43,7 +42,7 @@ class MinimizeTest(absltest.TestCase):
     x, _ = minimize.least_squares(x0, residual, output=out)
     expected_x = np.array((1.0, 1.0))
     np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(dx) < tol', out.getvalue())
+    self.assertIn('norm(gradient) < tol', out.getvalue())
     self.assertIn('exact minimum found', out.getvalue())
 
   def test_jac_callback(self) -> None:
@@ -61,7 +60,7 @@ class MinimizeTest(absltest.TestCase):
     )
     expected_x = np.array((1.0, 1.0))
     np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(dx) < tol', out.getvalue())
+    self.assertIn('norm(gradient) < tol', out.getvalue())
     self.assertIn('Jacobian matches', out.getvalue())
 
     # Try with bad Jacobian, ask least_squares to check it.
@@ -116,7 +115,7 @@ class MinimizeTest(absltest.TestCase):
         x0, residual, bounds=bounds_types['inbounds'], output=out
     )
     np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(dx) < tol', out.getvalue())
+    self.assertIn('norm(gradient) < tol', out.getvalue())
 
     # Test different bounds conditions.
     for bounds in bounds_types.values():

From 5031f881589cc3d6d471234c8887c83e87e40321 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 8 Apr 2025 14:54:51 -0700
Subject: [PATCH 049/191] In `minimize.least_squares`, compute values at the
 solution at full verbosity.

PiperOrigin-RevId: 745301888
Change-Id: Ibd8e35e405bb2cebc7ac59a6dfc77118a6e6ba9f
---
 python/mujoco/minimize.py      | 17 +++++++++++++++++
 python/mujoco/minimize_test.py |  4 ++--
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/python/mujoco/minimize.py b/python/mujoco/minimize.py
index 665c4fd9..b06f3eb1 100644
--- a/python/mujoco/minimize.py
+++ b/python/mujoco/minimize.py
@@ -403,6 +403,23 @@ def least_squares(
   yfinal = norm.value(r)
   red = np.float64(0.0)  # No reduction since we didn't take a step.
   log = IterLog(candidate=x, objective=yfinal, reduction=red, regularizer=mu)
+
+  # If full verbosity requested, compute values at the final point.
+  if verbose >= Verbosity.FULLITER.value:
+    # Get Jacobian jac.
+    t_start = time.time()
+    if jacobian is None:
+      jac, n_res = jacobian_fd(residual, x, r, eps, n_res, bounds)
+      t_res += time.time() - t_start
+    else:
+      jac = jacobian(x, r)
+      t_jac += time.time() - t_start
+      n_jac += 1
+
+    # Get gradient, add to log.
+    grad, _ = norm.grad_hess(r, jac)
+    log = dataclasses.replace(log, residual=r, jacobian=jac, grad=grad)
+
   trace.append(log)
   if iter_callback is not None:
     iter_callback(trace)
diff --git a/python/mujoco/minimize_test.py b/python/mujoco/minimize_test.py
index 5ba90b2f..1792643d 100644
--- a/python/mujoco/minimize_test.py
+++ b/python/mujoco/minimize_test.py
@@ -127,8 +127,8 @@ class MinimizeTest(absltest.TestCase):
           output=out,
           verbose=minimize.Verbosity.FULLITER,
       )
-      self.assertIn(' < tol', out.getvalue())
-      grad = trace[-2].jacobian.T @ trace[-2].residual
+      self.assertIn('norm(gradient) < tol', out.getvalue())
+      grad = trace[-1].grad
       # If x_i is on the boundary, gradient points out, otherwise it is 0.
       for i, xi in enumerate(x):
         if xi == bounds[0][i]:

From 8fc616bf8fb00e4be99107d59e09e32b53395db5 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Wed, 9 Apr 2025 04:27:48 -0700
Subject: [PATCH 050/191] Add tendon actuator force limits to MJX.

PiperOrigin-RevId: 745529685
Change-Id: I43c372116daefc3dd2ed6ad1bb9c6e3978bc8527
---
 doc/changelog.rst                             |  4 ++
 mjx/mujoco/mjx/_src/forward.py                | 29 +++++++++++
 mjx/mujoco/mjx/_src/forward_test.py           | 16 ++++++
 .../test_data/actuator/tendon_force_clamp.xml | 49 +++++++++++++++++++
 4 files changed, 98 insertions(+)
 create mode 100644 mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml

diff --git a/doc/changelog.rst b/doc/changelog.rst
index deaba59e..f2590378 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -23,6 +23,10 @@ General
 - Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
   :ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
 
+MJX
+^^^
+- Added tendon actuator force limits.
+
 Bug fixes
 ^^^^^^^^^
 - :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 71a6e3f5..6ad1ae71 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -38,6 +38,7 @@ from mujoco.mjx._src.types import GainType
 from mujoco.mjx._src.types import IntegratorType
 from mujoco.mjx._src.types import JointType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import TrnType
 # pylint: enable=g-importing-member
 import numpy as np
 
@@ -178,6 +179,34 @@ def fwd_actuation(m: Model, d: Data) -> Data:
       jp.array(m.actuator_acc0),
       group_by='u',
   )
+
+  # tendon total force clamping
+  if np.any(m.tendon_actfrclimited):
+    (tendon_actfrclimited_id,) = np.nonzero(m.tendon_actfrclimited)
+    actuator_tendon = m.actuator_trntype == TrnType.TENDON
+
+    force_mask = [
+        actuator_tendon & (m.actuator_trnid[:, 0] == tendon_id)
+        for tendon_id in tendon_actfrclimited_id
+    ]
+    force_ids = np.concatenate([np.nonzero(mask)[0] for mask in force_mask])
+    force_mat = np.array(force_mask)[:, force_ids]
+    tendon_total_force = force_mat @ force[force_ids]
+
+    force_scaling = jp.where(
+        tendon_total_force < m.tendon_actfrcrange[tendon_actfrclimited_id, 0],
+        m.tendon_actfrcrange[tendon_actfrclimited_id, 0] / tendon_total_force,
+        1,
+    )
+    force_scaling = jp.where(
+        tendon_total_force > m.tendon_actfrcrange[tendon_actfrclimited_id, 1],
+        m.tendon_actfrcrange[tendon_actfrclimited_id, 1] / tendon_total_force,
+        force_scaling,
+    )
+
+    tendon_forces = force[force_ids] * (force_mat.T @ force_scaling)
+    force = force.at[force_ids].set(tendon_forces)
+
   forcerange = jp.where(
       m.actuator_forcelimited[:, None],
       m.actuator_forcerange,
diff --git a/mjx/mujoco/mjx/_src/forward_test.py b/mjx/mujoco/mjx/_src/forward_test.py
index c6466449..efdbcd65 100644
--- a/mjx/mujoco/mjx/_src/forward_test.py
+++ b/mjx/mujoco/mjx/_src/forward_test.py
@@ -17,6 +17,7 @@
 from absl.testing import absltest
 from absl.testing import parameterized
 import jax
+from jax import numpy as jp
 import mujoco
 from mujoco import mjx
 from mujoco.mjx._src import test_util
@@ -196,6 +197,21 @@ class ActuatorTest(parameterized.TestCase):
     dx = jax.jit(mjx.euler)(mx, dx)
     _assert_attr_eq(d, dx, 'act')
 
+  def test_tendon_force_clamp(self):
+    m = test_util.load_test_file('actuator/tendon_force_clamp.xml')
+    d = mujoco.MjData(m)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+
+    dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -20.0, 5.0, -5.0]))
+    dx = mjx.forward(mx, dx)
+
+    _assert_eq(
+        dx.actuator_force,
+        jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -10.0, 5.0, -5.0]),
+        'actuator_force',
+    )
+
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml b/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
new file mode 100644
index 00000000..43d4c69b
--- /dev/null
+++ b/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
@@ -0,0 +1,49 @@
+<mujoco model="fixed_site">
+  <worldbody>
+    <body>
+      <joint name="joint0" type="hinge" axis="0 1 0"/>
+      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
+      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
+      <body pos="0.5 0 0">
+        <joint name="joint1" type="hinge" axis="0 1 0"/>
+        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
+        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
+        <body pos="0.5 0 0">
+          <joint name="joint2" type="hinge" axis="0 1 0"/>
+          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
+          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <tendon>
+    <spatial name="spatial0" width="0.0125">
+      <site site="site0"/>
+      <site site="site1"/>
+      <site site="site2"/>
+    </spatial>
+    <spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
+      <site site="site1"/>
+      <site site="site2"/>
+    </spatial>
+    <fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
+      <joint joint="joint0" coef=".1"/>
+      <joint joint="joint1" coef=".2"/>
+      <joint joint="joint2" coef=".3"/>
+    </fixed>
+    <fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
+      <joint joint="joint0" coef=".1"/>
+      <joint joint="joint2" coef=".3"/>
+    </fixed>
+  </tendon>
+  <actuator>
+    <motor tendon="spatial0"/>
+    <motor tendon="spatial0"/>
+    <motor tendon="spatial0"/>
+    <motor tendon="spatial1"/>
+    <motor tendon="spatial1"/>
+    <motor tendon="fixed0"/>
+    <motor tendon="fixed1"/>
+    <motor tendon="fixed1"/>
+  </actuator>
+</mujoco>

From 85b323c7fb92338c094e1b601b7ebfa7992403cc Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Wed, 9 Apr 2025 06:17:58 -0700
Subject: [PATCH 051/191] Remove square roots when possible in EPA improving
 numerical precision.

PiperOrigin-RevId: 745559836
Change-Id: I3f8b23406e93ccfc4bc3499bfbed829b35462a74
---
 src/engine/engine_collision_gjk.c        | 148 ++++++++++++++---------
 test/engine/engine_collision_gjk_test.cc |  64 ++++++++++
 2 files changed, 153 insertions(+), 59 deletions(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index e1ac8739..cb58530d 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -24,6 +24,9 @@
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 
+#define mjMINVAL2 (mjMINVAL * mjMINVAL)
+#define mjMAXVAL2 (mjMAXVAL * mjMAXVAL)
+
 // subdistance algorithm for GJK that computes the barycentric coordinates of the point in a
 // simplex closest to the origin
 // implementation adapted from Montanari et al, ToG 2017
@@ -50,7 +53,7 @@ typedef struct {
   int verts[3];      // indices of the three vertices of the face in the polytope
   int adj[3];        // adjacent faces, one for each edge: [v1,v2], [v2,v3], [v3,v1]
   mjtNum v[3];       // projection of the origin on face, can be used as face normal
-  mjtNum dist;       // norm of v; negative if deleted
+  mjtNum dist2;      // squared norm of v; negative if deleted
   int index;         // index in map; -1: not in map, -2: deleted from polytope
 } Face;
 
@@ -78,7 +81,7 @@ static int epaSupport(Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2,
 // make copy of vertex in polytope and return its index
 static int insertVertex(Polytope* pt, const Vertex* v);
 
-// attach a face to the polytope with the given vertex indices; return distance to origin
+// attach a face to the polytope with the given vertex indices; return squared distance to origin
 static mjtNum attachFace(Polytope* pt, int v1, int v2, int v3, int adj1, int adj2, int adj3);
 
 // return 1 if objects are in contact; 0 if not; -1 if inconclusive
@@ -318,7 +321,7 @@ static void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
 
   // mjc_support requires a normalized direction
   mjtNum norm = dot3(x_k, x_k);
-  if (norm > mjMINVAL*mjMINVAL) {
+  if (norm > mjMINVAL2) {
     norm = 1/mju_sqrt(norm);
     scl3(dir_neg, x_k, norm);
     scl3(dir, dir_neg, -1);
@@ -392,10 +395,9 @@ static inline mjtNum signedDistance(mjtNum normal[3], const Vertex* v1, const Ve
   sub3(diff1, v3->vert, v1->vert);
   sub3(diff2, v2->vert, v1->vert);
   cross3(normal, diff1, diff2);
-  mjtNum norm = dot3(normal, normal);
-  if (norm > mjMINVAL*mjMINVAL && norm < mjMAXVAL*mjMAXVAL) {
-    norm = 1/mju_sqrt(norm);
-    scl3(normal, normal, norm);
+  mjtNum norm2 = dot3(normal, normal);
+  if (norm2 > mjMINVAL2 && norm2 < mjMAXVAL2) {
+    scl3(normal, normal, 1 / mju_sqrt(norm2));
     return dot3(normal, v1->vert);
   }
   return mjMAX_LIMIT;  // cannot recover normal (ignore face)
@@ -964,27 +966,27 @@ static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
   mjtNum* v5 = pt->verts[v5i].vert;
 
   // build hexahedron
-  if (attachFace(pt, v1i, v3i, v4i, 1, 3, 2) < mjMINVAL) {
+  if (attachFace(pt, v1i, v3i, v4i, 1, 3, 2) < mjMINVAL2) {
     replaceSimplex3(pt, status, v1i, v3i, v4i);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v1i, v5i, v3i, 2, 4, 0) < mjMINVAL) {
+  if (attachFace(pt, v1i, v5i, v3i, 2, 4, 0) < mjMINVAL2) {
     replaceSimplex3(pt, status, v1i, v5i, v3i);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v1i, v4i, v5i, 0, 5, 1) < mjMINVAL) {
+  if (attachFace(pt, v1i, v4i, v5i, 0, 5, 1) < mjMINVAL2) {
     replaceSimplex3(pt, status, v1i, v4i, v5i);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v2i, v4i, v3i, 5, 0, 4) < mjMINVAL) {
+  if (attachFace(pt, v2i, v4i, v3i, 5, 0, 4) < mjMINVAL2) {
     replaceSimplex3(pt, status, v2i, v4i, v3i);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v2i, v3i, v5i, 3, 1, 5) < mjMINVAL) {
+  if (attachFace(pt, v2i, v3i, v5i, 3, 1, 5) < mjMINVAL2) {
     replaceSimplex3(pt, status, v2i, v3i, v5i);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v2i, v5i, v4i, 4, 2, 3) < mjMINVAL) {
+  if (attachFace(pt, v2i, v5i, v4i, 4, 2, 3) < mjMINVAL2) {
     replaceSimplex3(pt, status, v2i, v5i, v4i);
     return polytope3(pt, status, obj1, obj2);
   }
@@ -1120,22 +1122,22 @@ static int polytope3(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
   }
 
   // create hexahedron for EPA
-  if (attachFace(pt, v4i, v1i, v2i, 1, 3, 2) < mjMINVAL) {
+  if (attachFace(pt, v4i, v1i, v2i, 1, 3, 2) < mjMINVAL2) {
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
-  if (attachFace(pt, v4i, v3i, v1i, 2, 4, 0) < mjMINVAL) {
+  if (attachFace(pt, v4i, v3i, v1i, 2, 4, 0) < mjMINVAL2) {
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
-  if (attachFace(pt, v4i, v2i, v3i, 0, 5, 1) < mjMINVAL) {
+  if (attachFace(pt, v4i, v2i, v3i, 0, 5, 1) < mjMINVAL2) {
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
-  if (attachFace(pt, v5i, v2i, v1i, 5, 0, 4) < mjMINVAL) {
+  if (attachFace(pt, v5i, v2i, v1i, 5, 0, 4) < mjMINVAL2) {
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
-  if (attachFace(pt, v5i, v1i, v3i, 3, 1, 5) < mjMINVAL) {
+  if (attachFace(pt, v5i, v1i, v3i, 3, 1, 5) < mjMINVAL2) {
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
-  if (attachFace(pt, v5i, v3i, v2i, 4, 2, 3) < mjMINVAL) {
+  if (attachFace(pt, v5i, v3i, v2i, 4, 2, 3) < mjMINVAL2) {
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
 
@@ -1160,19 +1162,19 @@ static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
   int v4 = insertVertex(pt, status->simplex + 3);
 
   // if the origin is on a face, replace the 3-simplex with a 2-simplex
-  if (attachFace(pt, v1, v2, v3, 1, 3, 2) < mjMINVAL) {
+  if (attachFace(pt, v1, v2, v3, 1, 3, 2) < mjMINVAL2) {
     replaceSimplex3(pt, status, v1, v2, v3);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v1, v4, v2, 2, 3, 0) < mjMINVAL) {
+  if (attachFace(pt, v1, v4, v2, 2, 3, 0) < mjMINVAL2) {
     replaceSimplex3(pt, status, v1, v4, v2);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v1, v3, v4, 0, 3, 1) < mjMINVAL) {
+  if (attachFace(pt, v1, v3, v4, 0, 3, 1) < mjMINVAL2) {
     replaceSimplex3(pt, status, v1, v3, v4);
     return polytope3(pt, status, obj1, obj2);
   }
-  if (attachFace(pt, v4, v3, v2, 2, 0, 1) < mjMINVAL) {
+  if (attachFace(pt, v4, v3, v2, 2, 0, 1) < mjMINVAL2) {
     replaceSimplex3(pt, status, v4, v3, v2);
     return polytope3(pt, status, obj1, obj2);
   }
@@ -1222,7 +1224,7 @@ static inline int maxFaces(Polytope* pt) {
 
 
 
-// attach a face to the polytope with the given vertex indices; return distance to origin
+// attach a face to the polytope with the given vertex indices; return squared distance to origin
 static inline mjtNum attachFace(Polytope* pt, int v1, int v2, int v3,
                                 int adj1, int adj2, int adj3) {
   Face* face = &pt->faces[pt->nfaces++];
@@ -1240,10 +1242,10 @@ static inline mjtNum attachFace(Polytope* pt, int v1, int v2, int v3,
   if (ret) {
     return 0;
   }
-  face->dist = norm3(face->v);
+  face->dist2 = dot3(face->v, face->v);
   face->index = -1;
 
-  return face->dist;
+  return face->dist2;
 }
 
 
@@ -1267,10 +1269,8 @@ static inline int getEdge(Face* face, int vertex) {
 
 // recursive call to build horizon; return 1 if face is visible from w otherwise 0
 static int horizonRec(Polytope* pt, Face* face, int e) {
-    mjtNum dist2 = face->dist * face->dist;
-
     // v is visible from w so it is deleted and adjacent faces are checked
-    if (dot3(face->v, pt->horizon.w) > dist2) {
+    if (dot3(face->v, pt->horizon.w) - face->dist2 > mjMINVAL) {
       deleteFace(pt, face);
 
       // recursively search the adjacent faces on the next two edges
@@ -1350,7 +1350,7 @@ static void epaWitness(const Polytope* pt, const Face* face, mjtNum x1[3], mjtNu
 // return a face of the expanded polytope that best approximates the pentration depth
 // witness points are in status->{x1, x2}
 static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2) {
-  mjtNum tolerance = status->tolerance, lower, upper = mjMAX_LIMIT;
+  mjtNum tolerance = status->tolerance, lower2, upper = mjMAX_LIMIT, upper2 = mjMAX_LIMIT;
   int k, kmax = status->max_iterations;
   Face* face = NULL, *pface = NULL;  // face closest to origin
 
@@ -1358,31 +1358,35 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
     pface = face;
 
     // find the face closest to the origin (lower bound for penetration depth)
-    lower = mjMAX_LIMIT;
+    lower2 = mjMAX_LIMIT;
     for (int i = 0; i < pt->nmap; i++) {
-      if (pt->map[i]->dist < lower) {
+      if (pt->map[i]->dist2 < lower2) {
         face = pt->map[i];
-        lower = face->dist;
+        lower2 = face->dist2;
       }
     }
 
     // face not valid, return previous face
-    if (lower > upper || !face) {
+    if (lower2 > upper2 || !face) {
       face = pface;
       break;
     }
 
     // check if lower bound is 0
-    if (lower <= 0) {
+    if (lower2 <= 0) {
       mju_warning("EPA: origin lies on affine hull of face");
       break;
     }
 
     // compute support point w from the closest face's normal
+    mjtNum lower = mju_sqrt(lower2);
     int wi = epaSupport(pt, obj1, obj2, face->v, lower);
     mjtNum* w = pt->verts[wi].vert;
     mjtNum upper_k = dot3(face->v, w) / lower;  // upper bound for kth iteration
-    if (upper_k < upper) upper = upper_k;
+    if (upper_k < upper) {
+      upper = upper_k;
+      upper2 = upper * upper;
+    }
     if (upper - lower < tolerance) {
       break;
     }
@@ -1411,16 +1415,16 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
     int v1 = horFace->verts[horEdge],
         v2 = horFace->verts[(horEdge + 1) % 3];
     horFace->adj[horEdge] = nfaces;
-    mjtNum dist = attachFace(pt, wi, v2, v1, nfaces + nedges - 1, horIndex, nfaces + 1);
+    mjtNum dist2 = attachFace(pt, wi, v2, v1, nfaces + nedges - 1, horIndex, nfaces + 1);
 
     // unrecoverable numerical issue
-    if (dist == 0) {
+    if (dist2 == 0) {
       face = NULL;
       break;
     }
 
     // store face in map
-    if (dist >= lower && dist <= upper) {
+    if (dist2 >= lower2 && dist2 <= upper2) {
       int i = pt->nmap++;
       pt->map[i] = &pt->faces[pt->nfaces - 1];
       pt->map[i]->index = i;
@@ -1436,16 +1440,16 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
       v1 = horFace->verts[horEdge];
       v2 = horFace->verts[(horEdge + 1) % 3];
       horFace->adj[horEdge] = cur;
-      dist = attachFace(pt, wi, v2, v1, cur - 1, horIndex, next);
+      dist2 = attachFace(pt, wi, v2, v1, cur - 1, horIndex, next);
 
       // unrecoverable numerical issue
-      if (dist == 0) {
+      if (dist2 == 0) {
         face = NULL;
         break;
       }
 
       // store face in map
-      if (dist >= lower && dist <= upper) {
+      if (dist2 >= lower2 && dist2 <= upper2) {
         int idx = pt->nmap++;
         pt->map[idx] = &pt->faces[pt->nfaces - 1];
         pt->map[idx]->index = idx;
@@ -1463,7 +1467,7 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
   if (face) {
     epaWitness(pt, face, status->x1, status->x2);
     status->nx = 1;
-    status->dist = -face->dist;
+    status->dist = -mju_sqrt(face->dist2);
   } else {
     status->nx = 0;
     status->dist = 0;
@@ -1565,7 +1569,7 @@ static mjtNum planeNormal(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3],
 // find what side of a plane a point p lies
 static int halfspace(const mjtNum a[3], const mjtNum n[3], const mjtNum p[3]) {
   mjtNum diff[3] = {p[0] - a[0], p[1] - a[1], p[2] - a[2]};
-  return dot3(diff, n) >= 0.0;
+  return dot3(diff, n) > -mjMINVAL;
 }
 
 
@@ -1855,13 +1859,37 @@ static int meshEdgeNormals(mjtNum* res, mjtNum* endverts, int dim, mjCCDObj* obj
 
 
 
+// try recovering box normal from collision normal
+static int boxNormals2(mjtNum res[9], int resind[3], const mjtNum mat[9], const mjtNum n[3]) {
+  // list of box face normals
+  mjtNum normals[18] = {1, 0, 0,    -1,  0,  0,
+                        0, 1, 0,     0, -1,  0,
+                        0, 0, 1,     0,  0, -1};
+
+  // get local coordinates of the normal
+  mjtNum local_n[3];
+  local_n[0] = mat[0]*n[0] + mat[3]*n[1] + mat[6]*n[2];
+  local_n[1] = mat[1]*n[0] + mat[4]*n[1] + mat[7]*n[2];
+  local_n[2] = mat[2]*n[0] + mat[5]*n[1] + mat[8]*n[2];
+  scl3(local_n, local_n, 1/mju_sqrt(dot3(local_n, local_n)));
+
+  // determine if there is a side close to the normal
+  for (int i = 0; i < 6; i++) {
+    if (dot3(local_n, normals + 3*i) > mjFACE_TOL) {
+      globalcoord(res, mat, NULL, normals[3*i], normals[3*i + 1], normals[3*i + 2]);
+      resind[0] = i;
+      return 1;
+    }
+  }
+  return 0;
+}
+
+
+
 // compute possible face normals of a box given up to 3 vertices
 static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
-                      int v1, int v2, int v3) {
-  // box data
-  int g = 3*obj->geom;
-  const mjtNum* mat = obj->data->geom_xmat + 3*g;
-
+                      int v1, int v2, int v3, const mjtNum dir[3]) {
+  const mjtNum* mat = obj->data->geom_xmat + 9*obj->geom;
   if (dim == 3) {
     int c = 0;
     int x = ((v1 & 1) && (v2 & 1) && (v3 & 1)) - (!(v1 & 1) && !(v2 & 1) && !(v3 & 1));
@@ -1873,7 +1901,7 @@ static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
     if (y) resind[c++] = 2;
     if (z) resind[c++] = 4;
     if (sgn == -1) resind[0]++;
-    return c == 1 ? 1 : 0;  // return 1 only if vertices make a valid face
+    return c == 1 ? 1 : boxNormals2(res, resind, mat, dir);
   }
 
   if (dim == 2) {
@@ -1893,8 +1921,7 @@ static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
       globalcoord(res + 3, mat, NULL, 0, 0, z);
       resind[c++] = (z > 0) ? 4 : 5;
     }
-    // TODO(kylebayes): Should be able to recover multiple contacts here.
-    return c == 2 ? 2 : 0;
+    return c == 2 ? 2 : boxNormals2(res, resind, mat, dir);
   }
 
   if (dim == 1) {
@@ -2107,14 +2134,18 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
   mjtNum n1[3 * mjMAX_POLYVERT], n2[3 * mjMAX_POLYVERT];  // normals of possible face collisions
   int idx1[mjMAX_POLYVERT], idx2[mjMAX_POLYVERT];         // indices of faces
 
+  mjtNum dir[3], dir_neg[3];
+  sub3(dir, status->x2, status->x1);
+  sub3(dir_neg, status->x1, status->x2);
+
   // get all possible face normals for each geom
   if (obj1->geom_type == mjGEOM_BOX) {
-    nnorms1 = boxNormals(n1, idx1, nface1, obj1, v11i, v12i, v13i);
+    nnorms1 = boxNormals(n1, idx1, nface1, obj1, v11i, v12i, v13i, dir_neg);
   } else if (obj1->geom_type == mjGEOM_MESH) {
     nnorms1 = meshNormals(n1, idx1, nface1, obj1, v11i, v12i, v13i);
   }
   if (obj2->geom_type == mjGEOM_BOX) {
-    nnorms2 = boxNormals(n2, idx2, nface2, obj2, v21i, v22i, v23i);
+    nnorms2 = boxNormals(n2, idx2, nface2, obj2, v21i, v22i, v23i, dir);
   } else if (obj2->geom_type == mjGEOM_MESH) {
     nnorms2 = meshNormals(n2, idx2, nface2, obj2, v21i, v22i, v23i);
   }
@@ -2181,25 +2212,24 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
   // TODO(kylebayes): this approximates the contact direction, by scaling the face normal by the
   // single contact direction's magnitude. This is effective, but polygonClip should compute
   // this for each contact point.
-  mjtNum diff[3], approx_dir[3];
-  sub3(diff, status->x2, status->x1);
+  mjtNum approx_dir[3];
 
   // face1 is an edge; clip face1 against face2
   if (edgecon1) {
-    scl3(approx_dir, n2 + 3*j, norm3(diff));
+    scl3(approx_dir, n2 + 3*j, norm3(dir));
     polygonClip(status, face2, nface2, face1, nface1, n2 + 3*j, approx_dir);
     return;
   }
 
   // face2 is an edge; clip face2 against face1
   if (edgecon2) {
-    scl3(approx_dir, n1 + 3*j, -norm3(diff));
+    scl3(approx_dir, n1 + 3*j, -norm3(dir));
     polygonClip(status, face1, nface1, face2, nface2, n1 + 3*j, approx_dir);
     return;
   }
 
   // face-face collision
-  scl3(approx_dir, n2 + 3*j, norm3(diff));
+  scl3(approx_dir, n2 + 3*j, norm3(dir));
   polygonClip(status, face1, nface1, face2, nface2, n1 + 3*i, approx_dir);
 }
 
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index f4fcb141..934a034e 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -1088,6 +1088,70 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+      <geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+    </worldbody>
+  </mujoco>)";
+
+  std::array<char, 1000> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  mjtNum* xpos = data->geom_xpos;
+  mjtNum* xmat = data->geom_xmat;
+
+  xmat[0] = 1.0000000000000000000000000000000000000000;
+  xmat[1] = 0.0000000000000000000000000000000000000000;
+  xmat[2] = 0.0000000000000000000000000000000000000000;
+  xmat[3] = 0.0000000000000000000000000000000000000000;
+  xmat[4] = 1.0000000000000000000000000000000000000000;
+  xmat[5] = -0.0000000000000000032154383478277941584027;
+  xmat[6] = 0.0000000000000000000000000000000000000000;
+  xmat[7] = 0.0000000000000000032154383478277941584027;
+  xmat[8] = 1.0000000000000000000000000000000000000000;
+
+  xpos[0] = 0.0164299999999999862820843077315657865256;
+  xpos[1] = -0.0764300000000000256950016819246229715645;
+  xpos[2] = 0.1252706891962387103500731200256268493831;
+
+  xpos = data->geom_xpos + 3;
+  xmat = data->geom_xmat + 9;
+
+  xmat[0] = 1.0000000000000000000000000000000000000000;
+  xmat[1] = 0.0000000000000000000000000000000000000000;
+  xmat[2] = 0.0000000000000000000000000000000000000000;
+  xmat[3] = 0.0000000000000000000000000000000000000000;
+  xmat[4] = 1.0000000000000000000000000000000000000000;
+  xmat[5] = -0.0000000000000000018997602302052549055743;
+  xmat[6] = 0.0000000000000000000000000000000000000000;
+  xmat[7] = 0.0000000000000000018997602302052549055743;
+  xmat[8] = 1.0000000000000000000000000000000000000000;
+
+  xpos[0] = 0.0164299999999999862820843077315657865256;
+  xpos[1] = -0.0764300000000000256950016819246229715645;
+  xpos[2] = 0.1748374248948718623353215662064030766487;
+
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
+  std::vector<mjtNum> dir, pos;
+  mjtNum dist;
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
+
+  EXPECT_EQ(ncons, 4);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(MjGjkTest, SmallBoxMesh) {
   static constexpr char xml[] = R"(
   <mujoco>

From 5c12ea871f975a43e0951f39851f9a85e344a0d4 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 9 Apr 2025 07:29:44 -0700
Subject: [PATCH 052/191] Split MjSpec out into header to allow use by other
 pybind modules.

This should enable other pybind modules to accept arguments of type MjSpec.

PiperOrigin-RevId: 745580987
Change-Id: I435a8d264149369e3fbee14c5d2c628ef74b2541
---
 python/mujoco/CMakeLists.txt   |   2 +
 python/mujoco/specs.cc         |  95 +------------------------
 python/mujoco/specs_wrapper.cc | 124 +++++++++++++++++++++++++++++++++
 python/mujoco/specs_wrapper.h  |  45 ++++++++++++
 4 files changed, 172 insertions(+), 94 deletions(-)
 create mode 100644 python/mujoco/specs_wrapper.cc
 create mode 100644 python/mujoco/specs_wrapper.h

diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index e6c067f7..03e45b95 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -417,6 +417,8 @@ endif()
 mujoco_pybind11_module(
   _specs
   specs.cc
+  specs_wrapper.h
+  specs_wrapper.cc
   specs.cc.inc
 )
 target_link_libraries(
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index a87fcf4e..ec444f52 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -30,6 +30,7 @@
 #include <mujoco/mujoco.h>
 #include "errors.h"
 #include "indexers.h"  // IWYU pragma: keep
+#include "specs_wrapper.h"  // IWYU pragma: keep
 #include "raw.h"
 #include "structs.h"  // IWYU pragma: keep
 #include <pybind11/cast.h>
@@ -70,100 +71,6 @@ using MjDoubleRef10 = Eigen::Ref<const Eigen::Matrix<double, 10, 1>>;
 using MjDoubleRef11 = Eigen::Ref<const Eigen::Matrix<double, 11, 1>>;
 using MjDoubleRefVec = Eigen::Ref<const Eigen::VectorXd>;
 
-struct MjSpec {
-  MjSpec() : ptr(mj_makeSpec()) {}
-  MjSpec(raw::MjSpec* ptr, const py::dict& assets_ = {}) : ptr(ptr) {
-    for (const auto [key, value] : assets_) {
-      assets[key] = value;
-    }
-  }
-
-  // copy constructor and assignment
-  MjSpec(const MjSpec& other) : ptr(mj_copySpec(other.ptr)) {
-    override_assets = other.override_assets;
-    for (const auto [key, value] : other.assets) {
-      assets[key] = value;
-    }
-    parent = other.parent;
-  }
-  MjSpec& operator=(const MjSpec& other) {
-    override_assets = other.override_assets;
-    ptr = mj_copySpec(other.ptr);
-    for (const auto [key, value] : other.assets) {
-      assets[key] = value;
-    }
-    parent = other.parent;
-    return *this;
-  }
-
-  // move constructor and move assignment
-  MjSpec(MjSpec&& other) : ptr(other.ptr) {
-    override_assets = other.override_assets;
-    other.ptr = nullptr;
-    for (const auto [key, value] : other.assets) {
-      assets[key] = value;
-    }
-    other.assets.clear();
-    parent = other.parent;
-    other.parent = nullptr;
-  }
-  MjSpec& operator=(MjSpec&& other) {
-    override_assets = other.override_assets;
-    ptr = other.ptr;
-    other.ptr = nullptr;
-    for (const auto [key, value] : other.assets) {
-      assets[key] = value;
-    }
-    other.assets.clear();
-    parent = other.parent;
-    other.parent = nullptr;
-    return *this;
-  }
-
-  ~MjSpec() {
-    mj_deleteSpec(ptr);
-  }
-
-  raw::MjModel* Compile() {
-    if (assets.empty()) {
-      auto m = mj_compile(ptr, 0);
-      if (!m || mjs_isWarning(ptr)) {
-        throw py::value_error(mjs_getError(ptr));
-      }
-      return m;
-    }
-    mjVFS vfs;
-    mj_defaultVFS(&vfs);
-    for (const auto& asset : assets) {
-      std::string buffer_name =
-          _impl::StripPath(py::cast<std::string>(asset.first).c_str());
-      std::string buffer = py::cast<std::string>(asset.second);
-      const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
-          &vfs, buffer_name.c_str(), buffer.c_str(), buffer.size());
-      if (vfs_error) {
-        mj_deleteVFS(&vfs);
-        if (vfs_error == 2) {
-          throw py::value_error("Repeated file name in assets dict: " +
-                                buffer_name);
-        } else {
-          throw py::value_error("Asset failed to load: " + buffer_name);
-        }
-      }
-    }
-    auto m = mj_compile(ptr, &vfs);
-    if (!m || mjs_isWarning(ptr)) {
-      throw py::value_error(mjs_getError(ptr));
-    }
-    mj_deleteVFS(&vfs);
-    return m;
-  }
-
-  raw::MjSpec* ptr;
-  py::dict assets;
-  bool override_assets = true;
-  MjSpec* parent = nullptr;
-};
-
 template <typename LoadFunc>
 static raw::MjSpec* LoadSpecFileImpl(
     const std::string& filename,
diff --git a/python/mujoco/specs_wrapper.cc b/python/mujoco/specs_wrapper.cc
new file mode 100644
index 00000000..18ffd3b5
--- /dev/null
+++ b/python/mujoco/specs_wrapper.cc
@@ -0,0 +1,124 @@
+// Copyright 2024 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "specs_wrapper.h"
+
+#include <cstddef>  // IWYU pragma: keep
+#include <string>
+#include <string_view>  // IWYU pragma: keep
+#include <vector>       // IWYU pragma: keep
+
+#include <mujoco/mjspec.h>  // IWYU pragma: keep
+#include <mujoco/mujoco.h>
+#include "errors.h"
+#include "indexers.h"  // IWYU pragma: keep
+#include "raw.h"
+#include "structs.h"  // IWYU pragma: keep
+#include <pybind11/cast.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/pytypes.h>
+#include <pybind11/stl.h>
+
+namespace py = ::pybind11;
+
+namespace mujoco::python {
+
+MjSpec::MjSpec() : ptr(mj_makeSpec()) {}
+MjSpec::MjSpec(raw::MjSpec* ptr, const py::dict& assets_) : ptr(ptr) {
+  for (const auto [key, value] : assets_) {
+    assets[key] = value;
+  }
+}
+
+// copy constructor and assignment
+MjSpec::MjSpec(const MjSpec& other) : ptr(mj_copySpec(other.ptr)) {
+  override_assets = other.override_assets;
+  for (const auto [key, value] : other.assets) {
+    assets[key] = value;
+  }
+  parent = other.parent;
+}
+
+MjSpec& MjSpec::operator=(const MjSpec& other) {
+  override_assets = other.override_assets;
+  ptr = mj_copySpec(other.ptr);
+  for (const auto [key, value] : other.assets) {
+    assets[key] = value;
+  }
+  parent = other.parent;
+  return *this;
+}
+
+// move constructor and move assignment
+MjSpec::MjSpec(MjSpec&& other) : ptr(other.ptr) {
+  override_assets = other.override_assets;
+  other.ptr = nullptr;
+  for (const auto [key, value] : other.assets) {
+    assets[key] = value;
+  }
+  other.assets.clear();
+  parent = other.parent;
+  other.parent = nullptr;
+}
+
+MjSpec& MjSpec::operator=(MjSpec&& other) {
+  override_assets = other.override_assets;
+  ptr = other.ptr;
+  other.ptr = nullptr;
+  for (const auto [key, value] : other.assets) {
+    assets[key] = value;
+  }
+  other.assets.clear();
+  parent = other.parent;
+  other.parent = nullptr;
+  return *this;
+}
+
+MjSpec::~MjSpec() { mj_deleteSpec(ptr); }
+
+raw::MjModel* MjSpec::Compile() {
+  if (assets.empty()) {
+    auto m = mj_compile(ptr, 0);
+    if (!m || mjs_isWarning(ptr)) {
+      throw py::value_error(mjs_getError(ptr));
+    }
+    return m;
+  }
+  mjVFS vfs;
+  mj_defaultVFS(&vfs);
+  for (const auto& asset : assets) {
+    std::string buffer_name =
+        _impl::StripPath(py::cast<std::string>(asset.first).c_str());
+    std::string buffer = py::cast<std::string>(asset.second);
+    const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
+        &vfs, buffer_name.c_str(), buffer.c_str(), buffer.size());
+    if (vfs_error) {
+      mj_deleteVFS(&vfs);
+      if (vfs_error == 2) {
+        throw py::value_error("Repeated file name in assets dict: " +
+                              buffer_name);
+      } else {
+        throw py::value_error("Asset failed to load: " + buffer_name);
+      }
+    }
+  }
+  auto m = mj_compile(ptr, &vfs);
+  if (!m || mjs_isWarning(ptr)) {
+    throw py::value_error(mjs_getError(ptr));
+  }
+  mj_deleteVFS(&vfs);
+  return m;
+}
+
+}  // namespace mujoco::python
diff --git a/python/mujoco/specs_wrapper.h b/python/mujoco/specs_wrapper.h
new file mode 100644
index 00000000..2ebaac60
--- /dev/null
+++ b/python/mujoco/specs_wrapper.h
@@ -0,0 +1,45 @@
+// Copyright 2024 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "raw.h"
+#include <pybind11/cast.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/pytypes.h>
+#include <pybind11/stl.h>
+
+namespace py = ::pybind11;
+
+namespace mujoco::python {
+
+struct MjSpec {
+  MjSpec();
+  MjSpec(raw::MjSpec* ptr, const py::dict& assets_ = {});
+
+  // copy constructor and assignment
+  MjSpec(const MjSpec& other);
+  MjSpec& operator=(const MjSpec& other);
+
+  // move constructor and move assignment
+  MjSpec(MjSpec&& other);
+  MjSpec& operator=(MjSpec&& other);
+  ~MjSpec();
+
+  raw::MjModel* Compile();
+
+  raw::MjSpec* ptr;
+  py::dict assets;
+  bool override_assets = true;
+  MjSpec* parent = nullptr;
+};
+}  // namespace mujoco::python

From da1850760ae019aa88610385bdd51e1176d0beec Mon Sep 17 00:00:00 2001
From: Gabe Oppenheimer <goppenheimer@google.com>
Date: Wed, 9 Apr 2025 08:39:27 -0700
Subject: [PATCH 053/191] Prepare for v3.3.1 release.

PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
---
 cmake/MujocoDependencies.cmake |  4 +--
 doc/changelog.rst              | 45 +++++++++++++++++-----------------
 python/mujoco/CMakeLists.txt   |  4 +--
 3 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 004aedc4..9d5dc01c 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -39,12 +39,12 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    66f7f51b7e069d0a03a21157fa60b24aece69aeb
+    464c1d097891a1462ab28bf8bb763c1683883892
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0
+    d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
     CACHE STRING "Version of `abseil` to be fetched."
 )
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index f2590378..fa30391f 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -1,27 +1,26 @@
 =========
 Changelog
 =========
-
-Upcoming version (not yet released)
------------------------------------
+Version 3.3.1 (Apr 9, 2025)
+----------------------------
 
 .. admonition:: Breaking API changes
    :class: attention
 
-   - The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
-     "true" to "false". This feature has proven to be counterintuitive for users.
-   - All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``,
-     ``mjs_attachFrameToSite``) have been removed and replaced by a single function :ref:`mjs_attach`.
+   1. The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
+      "true" to "false". This feature has proven to be counterintuitive for users.
+   2. All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``,
+      ``mjs_attachFrameToSite``) have been removed and replaced by a single function :ref:`mjs_attach`.
 
 General
 ^^^^^^^
-- Added :ref:`tendon armature<tendon-spatial-armature>`: inertia associated with changes in tendon length.
-- Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
-  bodies when saving to XML.
-- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
-  composite to be the direct child of a frame.
-- Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
-  :ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
+3. Added :ref:`tendon armature<tendon-spatial-armature>`: inertia associated with changes in tendon length.
+4. Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
+   bodies when saving to XML.
+5. Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
+   composite to be the direct child of a frame.
+6. Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
+   :ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
 
 MJX
 ^^^
@@ -29,12 +28,12 @@ MJX
 
 Bug fixes
 ^^^^^^^^^
-- :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
-  which the Jacobian is computed, now fixed.
-- Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an
-  mjSpec to a frame or a site.
-- Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support ARB_clip_control.
-  Fixed in collaboration with :github:user:`aftersomemath`.
+7. :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
+   which the Jacobian is computed, now fixed.
+8. Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an
+   mjSpec to a frame or a site.
+9. Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support ARB_clip_control.
+   Fixed in collaboration with :github:user:`aftersomemath`.
 
 Python bindings
 ^^^^^^^^^^^^^^^
@@ -44,9 +43,9 @@ Python bindings
    :align: right
    :width: 240px
 
-- Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab|
-- Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section<PyMJCF>`
-  in the documentation.
+10. Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab|
+11. Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section<PyMJCF>`
+    in the documentation.
 
 .. |mjspec_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
                   :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 03e45b95..2a59248e 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -140,7 +140,7 @@ findorfetch(
   GIT_REPO
   https://github.com/abseil/abseil-cpp
   GIT_TAG
-  9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0
+  d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
   TARGETS
   ${MUJOCO_PYTHON_ABSL_TARGETS}
   EXCLUDE_FROM_ALL
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  66f7f51b7e069d0a03a21157fa60b24aece69aeb
+  464c1d097891a1462ab28bf8bb763c1683883892
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL

From eadd13038a144a806841ce0c00b32f578ee825a4 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 9 Apr 2025 09:27:40 -0700
Subject: [PATCH 054/191] Move Mujoco struct wrappers definitions into library
 separate from pybind module.

This allows other modules to depend on functions such as FromRawPointer that previously were only defined in the _struct python module.

PiperOrigin-RevId: 745619670
Change-Id: I9f1af60cb665c00d853b7ca38201b37302d278af
---
 python/mujoco/CMakeLists.txt      |   20 +
 python/mujoco/structs.cc          | 1616 +++--------------------------
 python/mujoco/structs_wrappers.cc | 1328 ++++++++++++++++++++++++
 3 files changed, 1505 insertions(+), 1459 deletions(-)
 create mode 100644 python/mujoco/structs_wrappers.cc

diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 2a59248e..ac15ccd5 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -278,6 +278,25 @@ target_link_libraries(
             raw
 )
 
+add_library(structs_wrappers STATIC
+  structs_wrappers.cc
+  serialization.h
+  indexers.cc
+)
+target_include_directories(structs_wrappers PRIVATE ${Python3_INCLUDE_DIRS})
+target_link_libraries(
+  structs_wrappers
+  PRIVATE absl::flat_hash_map
+          absl::span
+          crossplatform
+          mujoco
+          raw
+          structs_header
+          pybind11::headers
+          Eigen3::Eigen
+)
+
+
 add_library(functions_header INTERFACE)
 target_sources(functions_header INTERFACE functions.h)
 set_target_properties(functions_header PROPERTIES PUBLIC_HEADER functions.h)
@@ -403,6 +422,7 @@ target_link_libraries(
           func_wrap
           function_traits
           structs_header
+          structs_wrappers
 )
 
 if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 77200386..3cf6eb82 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -16,37 +16,23 @@
 
 #include <Python.h>
 
-#include <algorithm>
-#include <array>
-#include <chrono>  // NOLINT(build/c++11)
-#include <cctype>
-#include <cstddef>
 #include <cstdint>
-#include <cstring>
-#include <exception>
 #include <ios>
 #include <iostream>
 #include <memory>
-#include <optional>
 #include <sstream>
 #include <string>
 #include <string_view>
-#include <tuple>
-#include <type_traits>
-#include <unordered_map>
 #include <utility>
 #include <vector>
 
-#include <absl/container/flat_hash_map.h>
 #include <mujoco/mjxmacro.h>
 #include <mujoco/mujoco.h>
 #include "errors.h"
 #include "function_traits.h"
 #include "indexer_xmacro.h"
 #include "indexers.h"
-#include "private.h"
 #include "raw.h"
-#include "serialization.h"
 #include <pybind11/cast.h>
 #include <pybind11/detail/common.h>
 #include <pybind11/numpy.h>
@@ -69,13 +55,9 @@ namespace {
 // (dim0, dim1).
 #define X_ARRAY_SHAPE(dim0, dim1) XArrayShapeImpl(#dim1)((dim0), (dim1))
 
-std::vector<int> XArrayShapeImpl1D(int dim0, int dim1) {
-  return {dim0};
-}
+std::vector<int> XArrayShapeImpl1D(int dim0, int dim1) { return {dim0}; }
 
-std::vector<int> XArrayShapeImpl2D(int dim0, int dim1) {
-  return {dim0, dim1};
-}
+std::vector<int> XArrayShapeImpl2D(int dim0, int dim1) { return {dim0, dim1}; }
 
 constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
   if (dim1_str == "1") {
@@ -85,334 +67,6 @@ constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
   }
 }
 
-inline std::size_t NConMax(const mjData* d) {
-  return d->narena / sizeof(mjContact);
-}
-
-}  // namespace
-
-// ==================== MJOPTION ===============================================
-#define X(var, dim) , var(InitPyArray(std::array{dim}, ptr_->var, owner_))
-MjOptionWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjOption* const opt = new raw::MjOption;
-        mj_defaultOption(opt);
-        return opt;
-      }())
-      MJOPTION_VECTORS {}
-
-MjOptionWrapper::MjWrapper(raw::MjOption* ptr, py::handle owner)
-    : WrapperBase(ptr, owner)
-      MJOPTION_VECTORS {}
-#undef X
-
-MjOptionWrapper::MjWrapper(const MjOptionWrapper& other)
-    : MjOptionWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVISUAL ===============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjVisualHeadlightWrapper::MjWrapper()
-    : WrapperBase(new raw::MjVisualHeadlight{}),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-
-MjVisualHeadlightWrapper::MjWrapper(
-    raw::MjVisualHeadlight* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-#undef X
-
-MjVisualHeadlightWrapper::MjWrapper(const MjVisualHeadlightWrapper& other)
-    : MjVisualHeadlightWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjVisualRgbaWrapper::MjWrapper()
-    : WrapperBase(new raw::MjVisualRgba{}),
-      X(fog),
-      X(haze),
-      X(force),
-      X(inertia),
-      X(joint),
-      X(actuator),
-      X(actuatornegative),
-      X(actuatorpositive),
-      X(com),
-      X(camera),
-      X(light),
-      X(selectpoint),
-      X(connect),
-      X(contactpoint),
-      X(contactforce),
-      X(contactfriction),
-      X(contacttorque),
-      X(contactgap),
-      X(rangefinder),
-      X(constraint),
-      X(slidercrank),
-      X(crankbroken),
-      X(frustum) {}
-
-MjVisualRgbaWrapper::MjWrapper(raw::MjVisualRgba* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(fog),
-      X(haze),
-      X(force),
-      X(inertia),
-      X(joint),
-      X(actuator),
-      X(actuatornegative),
-      X(actuatorpositive),
-      X(com),
-      X(camera),
-      X(light),
-      X(selectpoint),
-      X(connect),
-      X(contactpoint),
-      X(contactforce),
-      X(contactfriction),
-      X(contacttorque),
-      X(contactgap),
-      X(rangefinder),
-      X(constraint),
-      X(slidercrank),
-      X(crankbroken),
-      X(frustum) {}
-#undef X
-
-MjVisualRgbaWrapper::MjWrapper(const MjVisualRgbaWrapper& other)
-    : MjVisualRgbaWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-MjVisualWrapper::MjWrapper()
-    : WrapperBase(new raw::MjVisual{}),
-      headlight(&ptr_->headlight, owner_),
-      rgba(&ptr_->rgba, owner_) {}
-
-MjVisualWrapper::MjWrapper(raw::MjVisual* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      headlight(&ptr_->headlight, owner_),
-      rgba(&ptr_->rgba, owner_) {}
-
-
-MjVisualWrapper::MjWrapper(const MjVisualWrapper& other)
-    : MjVisualWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJMODEL ================================================
-static void MjModelCapsuleDestructor(PyObject* pyobj) {
-  mj_deleteModel(
-      static_cast<raw::MjModel*>(PyCapsule_GetPointer(pyobj, nullptr)));
-}
-
-static absl::flat_hash_map<raw::MjModel*, MjModelWrapper*>&
-MjModelRawPointerMap() {
-  static auto* hash_map =
-      new absl::flat_hash_map<raw::MjModel*, MjModelWrapper*>();
-  return *hash_map;
-}
-
-MjModelWrapper* MjModelWrapper::FromRawPointer(raw::MjModel* m) noexcept {
-  try {
-    auto& map = MjModelRawPointerMap();
-    {
-      py::gil_scoped_acquire gil;
-      auto found = map.find(m);
-      return found != map.end() ? found->second : nullptr;
-    }
-  } catch (...) {
-    return nullptr;
-  }
-}
-
-#undef MJ_M
-#define MJ_M(x) ptr_->x
-#define X(dtype, var, dim0, dim1) \
-    , var (InitPyArray(X_ARRAY_SHAPE(ptr_->dim0, dim1), ptr_->var, owner_))
-MjModelWrapper::MjWrapper(raw::MjModel* ptr)
-    : WrapperBase(ptr, &MjModelCapsuleDestructor),
-      opt(&ptr->opt, owner_),
-      vis(&ptr->vis, owner_),
-      stat(&ptr->stat, owner_)
-      MJMODEL_POINTERS,
-      text_data_bytes(ptr->text_data, ptr->ntextdata),
-      names_bytes(ptr->names, ptr->nnames),
-      paths_bytes(ptr->paths, ptr->npaths),
-      indexer_(ptr, owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted = MjModelRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjModelWrapper(mjModel*): MjModelRawPointerMap already contains this "
-        "raw mjModel*");
-  }
-}
-
-MjModelWrapper::MjWrapper(MjModelWrapper&& other)
-    : WrapperBase(other.ptr_, other.owner_),
-      opt(&ptr_->opt, owner_),
-      vis(&ptr_->vis, owner_),
-      stat(&ptr_->stat, owner_)
-      MJMODEL_POINTERS,
-      text_data_bytes(ptr_->text_data, ptr_->ntextdata),
-      names_bytes(ptr_->names, ptr_->nnames),
-      paths_bytes(ptr_->paths, ptr_->npaths),
-      indexer_(ptr_, owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted =
-        MjModelRawPointerMap().insert_or_assign(ptr_, this).second;
-  }
-  if (is_newly_inserted) {
-    throw UnexpectedError(
-        "MjModelRawPointerMap does not contains the moved-from mjModel*");
-  }
-  other.ptr_ = nullptr;
-}
-#undef X
-#undef MJ_M
-#define MJ_M(x) x
-
-// Delegating to the MjModelWrapper::MjWrapper(raw::MjModel*) constructor,
-// no need to modify MjModelRawPointerMap here.
-MjModelWrapper::MjWrapper(const MjModelWrapper& other)
-    : MjModelWrapper(InterceptMjErrors(mj_copyModel)(NULL, other.get())) {}
-
-MjModelWrapper::~MjWrapper() {
-  if (ptr_) {
-    bool erased = false;
-    {
-      py::gil_scoped_acquire gil;
-      erased = MjModelRawPointerMap().erase(ptr_);
-    }
-    if (!erased) {
-      std::cerr << "MjModelRawPointerMap does not contain this raw mjModel*"
-                << std::endl;
-      std::terminate();
-    }
-  }
-}
-
-// Helper function for both LoadXMLFile and LoadBinaryFile.
-// Creates a temporary MJB from the assets dictionary if one is supplied.
-template <typename LoadFunc>
-static raw::MjModel* LoadModelFileImpl(
-    const std::string& filename,
-    const std::vector<VfsAsset>& assets,
-    LoadFunc&& loadfunc) {
-  mjVFS vfs;
-  mjVFS* vfs_ptr = nullptr;
-  if (!assets.empty()) {
-    mj_defaultVFS(&vfs);
-    vfs_ptr = &vfs;
-    for (const auto& asset : assets) {
-      std::string buffer_name = StripPath(asset.name);
-      const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
-          vfs_ptr, buffer_name.c_str(), asset.content, asset.content_size);
-      if (vfs_error) {
-        mj_deleteVFS(vfs_ptr);
-        if (vfs_error == 2) {
-          throw py::value_error("Repeated file name in assets dict: " +
-                                buffer_name);
-        } else {
-          throw py::value_error("Asset failed to load: " + buffer_name);
-        }
-      }
-    }
-  }
-
-  raw::MjModel* model = loadfunc(filename.c_str(), vfs_ptr);
-  mj_deleteVFS(vfs_ptr);
-  if (model && !model->buffer) {
-    mj_deleteModel(model);
-    model = nullptr;
-  }
-  return model;
-}
-
-MjModelWrapper MjModelWrapper::LoadXMLFile(
-    const std::string& filename,
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
-  const auto converted_assets = ConvertAssetsDict(assets);
-  raw::MjModel* model;
-  {
-    py::gil_scoped_release no_gil;
-    char error[1024];
-    model = LoadModelFileImpl(
-        filename, converted_assets,
-        [&error](const char* filename, const mjVFS* vfs) {
-          return InterceptMjErrors(mj_loadXML)(
-              filename, vfs, error, sizeof(error));
-        });
-    if (!model) {
-      throw py::value_error(error);
-    }
-  }
-  return MjModelWrapper(model);
-}
-
-MjModelWrapper MjModelWrapper::LoadBinaryFile(
-    const std::string& filename,
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
-  const auto converted_assets = ConvertAssetsDict(assets);
-  raw::MjModel* model;
-  {
-    py::gil_scoped_release no_gil;
-    model = LoadModelFileImpl(
-        filename, converted_assets, InterceptMjErrors(mj_loadModel));
-    if (!model) {
-      throw py::value_error("mj_loadModel: failed to load from mjb");
-    }
-  }
-  return MjModelWrapper(model);
-}
-
-MjModelWrapper MjModelWrapper::LoadXML(
-    const std::string& xml,
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
-  auto converted_assets = ConvertAssetsDict(assets);
-  raw::MjModel* model;
-  {
-    py::gil_scoped_release no_gil;
-    std::string model_filename = "model_.xml";
-    if (assets.has_value()) {
-      while (assets->find(model_filename) != assets->end()) {
-        model_filename =
-            model_filename.substr(0, model_filename.size() - 4) + "_.xml";
-      }
-    }
-    converted_assets.emplace_back(
-        model_filename.c_str(), xml.c_str(), xml.length());
-    char error[1024];
-    model = LoadModelFileImpl(
-        model_filename, converted_assets,
-        [&error](const char* filename, const mjVFS* vfs) {
-          return InterceptMjErrors(mj_loadXML)(
-              filename, vfs, error, sizeof(error));
-        });
-    if (!model) {
-      throw py::value_error(error);
-    }
-  }
-  return MjModelWrapper(model);
-}
-
-MjModelWrapper MjModelWrapper::WrapRawModel(raw::MjModel* m) {
-  return MjModelWrapper(m);
-}
-
 py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
                         const MjDataWrapper& old_d) {
   raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
@@ -428,950 +82,8 @@ py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
   return py::make_tuple(m_pyobj, d_pyobj);
 }
 
-namespace {
-// A byte at the start of serialized mjModel structs, which can be incremented
-// when we change the serialization logic to reject pickles from an unsupported
-// future version.
-constexpr static char kSerializationVersion = 1;
-
-void CheckInput(const std::istream& input, std::string class_name) {
-  if (input.fail()) {
-    throw py::value_error("Invalid serialized " + class_name + ".");
-  }
-}
-
 }  // namespace
 
-void MjModelWrapper::Serialize(std::ostream& output) const {
-  WriteChar(output, kSerializationVersion);
-
-  int model_size = mj_sizeModel(get());
-  WriteInt(output, model_size);
-  std::string buffer(model_size, 0);
-  mj_saveModel(get(), nullptr, buffer.data(), model_size);
-  WriteBytes(output, buffer.data(), model_size);
-}
-
-std::unique_ptr<MjModelWrapper> MjModelWrapper::Deserialize(
-    std::istream& input) {
-  CheckInput(input, "mjModel");
-
-  char serializationVersion = ReadChar(input);
-  CheckInput(input, "mjModel");
-
-  if (serializationVersion != kSerializationVersion) {
-    throw py::value_error("Incompatible serialization version.");
-  }
-
-  std::size_t model_size = ReadInt(input);
-  CheckInput(input, "mjModel");
-  if (model_size < 0) {
-    throw py::value_error("Invalid serialized mjModel.");
-  }
-  std::string model_bytes(model_size, 0);
-  ReadBytes(input, model_bytes.data(), model_size);
-  CheckInput(input, "mjModel");
-
-  raw::MjModel* model = LoadModelFileImpl(
-      "model.mjb",
-      {{"model.mjb", model_bytes.data(), static_cast<std::size_t>(model_size)}},
-      InterceptMjErrors(mj_loadModel));
-  if (!model) {
-    throw py::value_error("Invalid serialized mjModel.");
-  }
-  return std::unique_ptr<MjModelWrapper>(new MjModelWrapper(model));
-}
-
-// ==================== MJCONTACT ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjContactWrapper::MjWrapper()
-    : WrapperBase(new raw::MjContact{}),
-      X(pos),
-      X(frame),
-      X(friction),
-      X(solref),
-      X(solreffriction),
-      X(solimp),
-      X(H),
-      X(geom),
-      X(flex),
-      X(elem),
-      X(vert) {}
-
-MjContactWrapper::MjWrapper(raw::MjContact* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(pos),
-      X(frame),
-      X(friction),
-      X(solref),
-      X(solreffriction),
-      X(solimp),
-      X(H),
-      X(geom),
-      X(flex),
-      X(elem),
-      X(vert) {}
-#undef X
-
-MjContactWrapper::MjWrapper(const MjContactWrapper& other)
-    : MjContactWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-MjContactList::MjStructList(raw::MjContact* ptr, int nconmax,
-                            int* ncon, py::handle owner)
-    : StructListBase(ptr, nconmax, owner, /* lazy = */ true),
-      ncon_(ncon) {}
-
-// Slicing
-MjContactList::MjStructList(MjContactList& other, py::slice slice)
-    : StructListBase(other, slice),
-      ncon_(other.ncon_) {}
-
-// ==================== MJDATA =================================================
-static void MjDataCapsuleDestructor(PyObject* pyobj) {
-  mj_deleteData(
-      static_cast<raw::MjData*>(PyCapsule_GetPointer(pyobj, nullptr)));
-}
-
-absl::flat_hash_map<raw::MjData*, MjDataWrapper*>&
-MjDataRawPointerMap() {
-  static auto* hash_map =
-      new absl::flat_hash_map<raw::MjData*, MjDataWrapper*>();
-  return *hash_map;
-}
-
-MjDataWrapper* MjDataWrapper::FromRawPointer(raw::MjData* m) noexcept {
-  try {
-    auto& map = MjDataRawPointerMap();
-    {
-      py::gil_scoped_acquire gil;
-      auto found = map.find(m);
-      return found != map.end() ? found->second : nullptr;
-    }
-  } catch (...) {
-    return nullptr;
-  }
-}
-
-namespace {
-// default timer callback (seconds)
-mjtNum GetTime() {
-  using Clock = std::chrono::steady_clock;
-  using Seconds = std::chrono::duration<mjtNum>;
-  static const Clock::time_point tm_start = Clock::now();
-  return Seconds(Clock::now() - tm_start).count();
-}
-}  // namespace
-
-MjDataWrapper::MjWrapper(MjModelWrapper* model)
-    : WrapperBase(InterceptMjErrors(mj_makeData)(model->get()),
-                  &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) model->get()->x
-#define X(dtype, var, dim0, dim1) \
-  var(InitPyArray(X_ARRAY_SHAPE(model->get()->dim0, dim1), ptr_->var, owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-  contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(model),
-      model_ref_(py::cast(model_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-
-  // install default timer if not already installed
-  {
-    py::gil_scoped_acquire gil;
-    if (!mjcb_time) {
-      mjcb_time = GetTime;
-    }
-  }
-}
-
-MjDataWrapper::MjWrapper(const MjDataWrapper& other)
-    : WrapperBase(other.Copy(), &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) other.model_->get()->x
-#define X(dtype, var, dim0, dim1)                                       \
-  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
-                  owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-  contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(other.model_),
-      model_ref_(other.model_ref_),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-}
-
-MjDataWrapper::MjWrapper(MjDataWrapper&& other)
-    : WrapperBase(other.ptr_, other.owner_),
-#undef MJ_M
-#define MJ_M(x) other.model_->get()->x
-#define X(dtype, var, dim0, dim1)                                       \
-  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
-                  owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-  contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(other.model_),
-      model_ref_(std::move(other.model_ref_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted =
-        MjDataRawPointerMap().insert_or_assign(ptr_, this).second;
-  }
-  if (is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap does not contains the moved-from mjData*");
-  }
-  other.ptr_ = nullptr;
-}
-
-MjDataWrapper::MjWrapper(const MjDataWrapper& other, MjModelWrapper* model)
-    : WrapperBase(other.Copy(), &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) other.model_->get()->x
-#define X(dtype, var, dim0, dim1)                                       \
-  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
-                  owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-  contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(model),
-      model_ref_(py::cast(model_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-}
-
-MjDataWrapper::MjWrapper(MjModelWrapper* model, raw::MjData* d)
-    : WrapperBase(d, &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) model->get()->x
-#define X(dtype, var, dim0, dim1) \
-  var(InitPyArray(X_ARRAY_SHAPE(model->get()->dim0, dim1), ptr_->var, owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-  contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(model),
-      model_ref_(py::cast(model_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-}
-
-MjDataWrapper::~MjWrapper() {
-  if (ptr_) {
-    bool erased = false;
-    {
-      py::gil_scoped_acquire gil;
-      erased = MjDataRawPointerMap().erase(ptr_);
-    }
-    if (!erased) {
-      std::cerr << "MjDataRawPointerMap does not contain this raw mjData*"
-                << std::endl;
-      std::terminate();
-    }
-  }
-}
-
-void MjDataWrapper::Serialize(std::ostream& output) const {
-  // TODO: Replace this custom serialization with a protobuf
-  WriteChar(output, kSerializationVersion);
-
-  model_->Serialize(output);
-
-  // Write struct and scalar fields
-#define X(var) WriteBytes(output, &ptr_->var, sizeof(ptr_->var))
-  X(maxuse_stack);
-  X(maxuse_arena);
-  X(maxuse_con);
-  X(maxuse_efc);
-  X(solver);
-  X(timer);
-  X(warning);
-  X(ncon);
-  X(ne);
-  X(nf);
-  X(nJ);
-  X(nA);
-  X(nefc);
-  X(nisland);
-  X(time);
-  X(energy);
-#undef X
-
-  // Write buffer and arena contents
-  {
-    MJDATA_POINTERS_PREAMBLE((this->model_->get()))
-
-#define X(type, name, nr, nc)  \
-    WriteBytes(output, ptr_->name, sizeof(type)*(this->model_->get()->nr)*(nc));
-    MJDATA_POINTERS
-#undef X
-
-#undef MJ_M
-#define MJ_M(x) this->model_->get()->x
-#undef MJ_D
-#define MJ_D(x) this->ptr_->x
-#define X(type, name, nr, nc)                     \
-  if ((nr) * (nc)) {                              \
-    WriteBytes(output, ptr_->name,                \
-    ptr_->name ? sizeof(type) * (nr) * (nc) : 0); \
-  }
-
-    MJDATA_ARENA_POINTERS_CONTACT
-    MJDATA_ARENA_POINTERS_SOLVER
-    if (mj_isDual(this->model_->get())) {
-      MJDATA_ARENA_POINTERS_DUAL
-    }
-    if (this->ptr_->nisland) {
-      MJDATA_ARENA_POINTERS_ISLAND
-    }
-#undef MJ_M
-#define MJ_M(x) x
-#undef MJ_D
-#define MJ_D(x) x
-#undef X
-  }
-}
-
-MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
-  char serializationVersion = ReadChar(input);
-  CheckInput(input, "mjData");
-
-  if (serializationVersion != kSerializationVersion) {
-    throw py::value_error("Incompatible serialization version.");
-  }
-
-  // Read the model that was used to create the mjData.
-  std::unique_ptr<MjModelWrapper> m_wrapper =
-      MjModelWrapper::Deserialize(input);
-  raw::MjModel& m = *m_wrapper->get();
-
-  bool is_dual = mj_isDual(&m);
-
-  raw::MjData* d = mj_makeData(&m);
-  if (!d) {
-    throw py::value_error("Failed to create mjData.");
-  }
-
-  // Read structs and scalar fields
-#define X(var)                                       \
-  ReadBytes(input, (void*) &d->var, sizeof(d->var)); \
-  CheckInput(input, "mjData");
-
-  X(maxuse_stack);
-  X(maxuse_arena);
-  X(maxuse_con);
-  X(maxuse_efc);
-  X(solver);
-  X(timer);
-  X(warning);
-  X(ncon);
-  X(ne);
-  X(nf);
-  X(nJ);
-  X(nA);
-  X(nefc);
-  X(nisland);
-  X(time);
-  X(energy);
-#undef X
-
-  // Read buffer and arena contents
-  {
-    MJDATA_POINTERS_PREAMBLE((&m))
-
-#define X(type, name, nr, nc)  \
-    ReadBytes(input, d->name, sizeof(type)*(m.nr)*(nc));
-    MJDATA_POINTERS
-#undef X
-
-#undef MJ_M
-#define MJ_M(x) m.x
-#undef MJ_D
-#define MJ_D(x) d->x
-// arena pointers might be null, so we need to check the size before allocating.
-#define X(type, name, nr, nc)                                                 \
-  if ((nr) * (nc)) {                                                          \
-    std::size_t actual_nbytes = ReadInt(input);                               \
-    if (actual_nbytes) {                                                      \
-      if (actual_nbytes != sizeof(type) * (nr) * (nc)) {                      \
-        input.setstate(input.rdstate() | std::ios_base::failbit);             \
-      } else {                                                                \
-        d->name = static_cast<decltype(d->name)>(                             \
-            mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), alignof(type))); \
-        input.read(reinterpret_cast<char*>(d->name), actual_nbytes);          \
-      }                                                                       \
-    } else {                                                                  \
-      d->name = nullptr;                                                      \
-    }                                                                         \
-  }
-
-    MJDATA_ARENA_POINTERS_CONTACT
-    MJDATA_ARENA_POINTERS_SOLVER
-    if (is_dual) {
-      MJDATA_ARENA_POINTERS_DUAL
-    }
-    if (d->nisland) {
-      MJDATA_ARENA_POINTERS_ISLAND
-    }
-#undef MJ_M
-#define MJ_M(x) x
-#undef MJ_D
-#define MJ_D(x) x
-#undef X
-  }
-  CheckInput(input, "mjData");
-
-  // All bytes should have been used.
-  input.ignore(1);
-  if (!input.eof()) {
-    throw py::value_error("Invalid serialized mjData.");
-  }
-
-  return MjDataWrapper(m_wrapper.release(), d);
-}
-
-raw::MjData* MjDataWrapper::Copy() const {
-  const raw::MjModel* m = model_->get();
-  return InterceptMjErrors(mj_copyData)(NULL, m, this->ptr_);
-}
-
-// ==================== MJSTATISTIC ============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjStatisticWrapper::MjWrapper()
-    : WrapperBase(new raw::MjStatistic{}),
-      X(center) {}
-
-MjStatisticWrapper::MjWrapper(raw::MjStatistic* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(center) {}
-#undef X
-
-MjStatisticWrapper::MjWrapper(const MjStatisticWrapper& other)
-    : MjStatisticWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJWARNINGSTAT ==========================================
-MjWarningStatWrapper::MjWrapper()
-    : WrapperBase(new raw::MjWarningStat{}) {}
-
-MjWarningStatWrapper::MjWrapper(raw::MjWarningStat* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjWarningStatWrapper::MjWrapper(const MjWarningStatWrapper& other)
-    : MjWarningStatWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(type, var)                                                       \
-  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjWarningStat)}, \
-      &ptr->var, owner)
-MjWarningStatList::MjStructList(raw::MjWarningStat* ptr, int num,
-                                py::handle owner)
-    : StructListBase(ptr, num, owner), X(int, lastinfo), X(int, number) {}
-#undef X
-
-// Slicing
-#define X(type, var) var(other.var[slice])
-MjWarningStatList::MjStructList(MjWarningStatList& other, py::slice slice)
-    : StructListBase(other, slice),
-      X(int, lastinfo),
-      X(int, number) {}
-#undef X
-
-// ==================== MJTIMERSTAT ============================================
-MjTimerStatWrapper::MjWrapper()
-    : WrapperBase(new raw::MjTimerStat{}) {}
-
-MjTimerStatWrapper::MjWrapper(raw::MjTimerStat* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjTimerStatWrapper::MjWrapper(const MjTimerStatWrapper& other)
-    : MjTimerStatWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(type, var)                                                     \
-  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjTimerStat)}, \
-      &ptr->var, owner)
-MjTimerStatList::MjStructList(raw::MjTimerStat* ptr, int num, py::handle owner)
-    : StructListBase(ptr, num, owner),
-      X(mjtNum, duration),
-      X(int, number) {}
-#undef X
-
-// Slicing
-#define X(type, var) var(other.var[slice])
-MjTimerStatList::MjStructList(MjTimerStatList& other, py::slice slice)
-    : StructListBase(other, slice),
-      X(mjtNum, duration),
-      X(int, number) {}
-#undef X
-
-// ==================== MJSOLVERSTAT ===========================================
-MjSolverStatWrapper::MjWrapper()
-    : WrapperBase(new raw::MjSolverStat{}) {}
-
-MjSolverStatWrapper::MjWrapper(raw::MjSolverStat* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjSolverStatWrapper::MjWrapper(const MjSolverStatWrapper& other)
-    : MjSolverStatWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(type, var)                                                      \
-  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjSolverStat)}, \
-      &ptr->var, owner)
-MjSolverStatList::MjStructList(raw::MjSolverStat* ptr, int num,
-                               py::handle owner)
-    : StructListBase(ptr, num, owner),
-      X(mjtNum, improvement),
-      X(mjtNum, gradient),
-      X(mjtNum, lineslope),
-      X(int, nactive),
-      X(int, nchange),
-      X(int, neval),
-      X(int, nupdate) {}
-#undef X
-#undef XN
-
-// Slicing
-#define X(type, var) var(other.var[slice])
-MjSolverStatList::MjStructList(MjSolverStatList& other, py::slice slice)
-    : StructListBase(other, slice),
-      X(mjtNum, improvement),
-      X(mjtNum, gradient),
-      X(mjtNum, lineslope),
-      X(int, nactive),
-      X(int, nchange),
-      X(int, neval),
-      X(int, nupdate) {}
-#undef X
-
-// ==================== MJVPERTURB =============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvPerturbWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvPerturb* const pert = new raw::MjvPerturb;
-        mjv_defaultPerturb(pert);
-        return pert;
-      }()),
-      X(refpos),
-      X(refquat),
-      X(refselpos),
-      X(localpos) {}
-#undef X
-
-MjvPerturbWrapper::MjWrapper(const MjvPerturbWrapper& other)
-    : MjvPerturbWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVCAMERA ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvCameraWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvCamera* const cam = new raw::MjvCamera;
-        mjv_defaultCamera(cam);
-        return cam;
-      }()),
-      X(lookat) {}
-#undef X
-
-MjvCameraWrapper::MjWrapper(const MjvCameraWrapper& other)
-    : MjvCameraWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVGLCAMERA ============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvGLCameraWrapper::MjWrapper()
-    : WrapperBase(new raw::MjvGLCamera{}),
-      X(pos),
-      X(forward),
-      X(up) {}
-
-MjvGLCameraWrapper::MjWrapper(raw::MjvGLCamera* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(pos),
-      X(forward),
-      X(up) {}
-#undef X
-
-MjvGLCameraWrapper::MjWrapper(raw::MjvGLCamera&& other)
-    : MjvGLCameraWrapper() {
-  *this->ptr_ = other;
-}
-
-MjvGLCameraWrapper::MjWrapper(const MjvGLCameraWrapper& other)
-    : MjvGLCameraWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVGEOM ================================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvGeomWrapper::MjWrapper()
-    : WrapperBase(new raw::MjvGeom{}),
-      X(size),
-      X(pos),
-      mat([this]() {
-        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0])*9);
-        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
-      }()),
-      X(rgba) {
-  mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
-}
-
-MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(size),
-      X(pos),
-      mat([this]() {
-        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0])*9);
-        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
-      }()),
-      X(rgba) {}
-#undef X
-
-MjvGeomWrapper::MjWrapper(const MjvGeomWrapper& other)
-    : MjvGeomWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVLIGHT ===============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvLightWrapper::MjWrapper()
-    : WrapperBase(new raw::MjvLight{}),
-      X(pos),
-      X(dir),
-      X(attenuation),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-
-MjvLightWrapper::MjWrapper(raw::MjvLight* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(pos),
-      X(dir),
-      X(attenuation),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-#undef X
-
-MjvLightWrapper::MjWrapper(const MjvLightWrapper& other)
-    : MjvLightWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVOPTION ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvOptionWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvOption* const opt = new raw::MjvOption;
-        mjv_defaultOption(opt);
-        return opt;
-      }()),
-      X(geomgroup),
-      X(sitegroup),
-      X(jointgroup),
-      X(tendongroup),
-      X(actuatorgroup),
-      X(flexgroup),
-      X(skingroup),
-      X(flags) {}
-#undef X
-
-MjvOptionWrapper::MjWrapper(const MjvOptionWrapper& other)
-    : MjvOptionWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVSCENE ===============================================
-static void MjvSceneCapsuleDestructor(PyObject* pyobj) {
-  py::gil_scoped_acquire gil;
-  auto* scn = static_cast<raw::MjvScene*>(PyCapsule_GetPointer(pyobj, nullptr));
-  if (scn) {
-    mjv_freeScene(scn);
-    delete scn;
-  }
-}
-
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-#define XN(var, n) var(InitPyArray(std::array{n}, ptr_->var, owner_))
-MjvSceneWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvScene *const scn = new raw::MjvScene;
-        mjv_defaultScene(scn);
-        InterceptMjErrors(mjv_makeScene)(nullptr, scn, 0);
-        return scn;
-      }(), &MjvSceneCapsuleDestructor),
-      nskinvert(0),
-      XN(geoms, 0),
-      XN(geomorder, 0),
-      XN(flexedgeadr, 0),
-      XN(flexedgenum, 0),
-      XN(flexvertadr, 0),
-      XN(flexvertnum, 0),
-      XN(flexfaceadr, 0),
-      XN(flexfacenum, 0),
-      XN(flexfaceused, 0),
-      XN(flexedge, 0),
-      XN(flexvert, 0),
-      XN(flexface, 0),
-      XN(flexnormal, 0),
-      XN(flextexcoord, 0),
-      XN(skinfacenum, 0),
-      XN(skinvertadr, 0),
-      XN(skinvertnum, 0),
-      XN(skinvert, 0),
-      XN(skinnormal, 0),
-      X(lights),
-      X(camera),
-      X(translate),
-      X(rotate),
-      X(flags),
-      X(framergb) {}
-
-#define XN(var, n) var(InitPyArray(std::array{n}, ptr_->var, owner_))
-MjvSceneWrapper::MjWrapper(const MjModelWrapper& model, int maxgeom)
-    : WrapperBase(
-        [maxgeom](const raw::MjModel* m) {
-          raw::MjvScene *const scn = new raw::MjvScene;
-          mjv_defaultScene(scn);
-          InterceptMjErrors(mjv_makeScene)(m, scn, maxgeom);
-          return scn;
-        }(model.get()),
-        &MjvSceneCapsuleDestructor),
-      nskinvert([](const raw::MjModel* m) {
-        int nskinvert = 0;
-        for (int i = 0; i < m->nskin; ++i) {
-          nskinvert += m->skin_vertnum[i];
-        }
-        return nskinvert;
-      }(model.get())),
-      nflexface([](const raw::MjModel* m) {
-        int nflexface = 0;
-        int flexfacenum = 0;
-        for (int f=0; f < m->nflex; f++) {
-          if (m->flex_dim[f] == 0) {
-            // 1D : 0
-            flexfacenum = 0;
-          } else if (m->flex_dim[f] == 2) {
-            // 2D: 2*fragments + 2*elements
-            flexfacenum = 2*m->flex_shellnum[f] + 2*m->flex_elemnum[f];
-          } else {
-            // 3D: max(fragments, 4*maxlayer)
-            // find number of elements in biggest layer
-            int maxlayer = 0, layer = 0, nlayer = 1;
-            while (nlayer) {
-              nlayer = 0;
-              for (int e=0; e < m->flex_elemnum[f]; e++) {
-                if (m->flex_elemlayer[m->flex_elemadr[f]+e] == layer) {
-                  nlayer++;
-                }
-              }
-              maxlayer = mjMAX(maxlayer, nlayer);
-              layer++;
-            }
-            flexfacenum = mjMAX(m->flex_shellnum[f], 4*maxlayer);
-          }
-
-          // accumulate over flexes
-          nflexface += flexfacenum;
-        }
-        return nflexface;
-      }(model.get())),
-      nflexedge(model.get()->nflexedge),
-      nflexvert(model.get()->nflexvert),
-      XN(geoms, ptr_->maxgeom),
-      XN(geomorder, ptr_->maxgeom),
-      XN(flexedgeadr, ptr_->nflex),
-      XN(flexedgenum, ptr_->nflex),
-      XN(flexvertadr, ptr_->nflex),
-      XN(flexvertnum, ptr_->nflex),
-      XN(flexfaceadr, ptr_->nflex),
-      XN(flexfacenum, ptr_->nflex),
-      XN(flexfaceused, ptr_->nflex),
-      XN(flexedge, 2*nflexedge),
-      XN(flexvert, 3*nflexvert),
-      XN(flexface, 9*nflexface),
-      XN(flexnormal, 9*nflexface),
-      XN(flextexcoord, 6*nflexface),
-      XN(skinfacenum, ptr_->nskin),
-      XN(skinvertadr, ptr_->nskin),
-      XN(skinvertnum, ptr_->nskin),
-      XN(skinvert, 3*nskinvert),
-      XN(skinnormal, 3*nskinvert),
-      X(lights),
-      X(camera),
-      X(translate),
-      X(rotate),
-      X(flags),
-      X(framergb) {}
-#undef X
-#undef XN
-
-template <typename T>
-static T* MallocAndCopy(const T* src, int count) {
-  if (src) {
-    T* out = static_cast<T*>(mju_malloc(count * sizeof(T)));
-    std::memcpy(out, src, count * sizeof(T));
-    return out;
-  } else {
-    return nullptr;
-  }
-}
-
-MjvSceneWrapper::MjWrapper(const MjvSceneWrapper& other)
-    : MjvSceneWrapper() {
-  mjv_freeScene(ptr_);
-  *ptr_ = *other.ptr_;
-
-#define XN(var, n)                                     \
-  ptr_->var = MallocAndCopy(other.ptr_->var, n);       \
-  var = InitPyArray(std::array{n}, ptr_->var, owner_);
-
-  XN(geoms, ptr_->ngeom);
-  XN(geomorder, ptr_->ngeom);
-  XN(flexedgeadr, ptr_->nflex);
-  XN(flexedgenum, ptr_->nflex);
-  XN(flexvertadr, ptr_->nflex);
-  XN(flexvertnum, ptr_->nflex);
-  XN(flexfaceadr, ptr_->nflex);
-  XN(flexfacenum, ptr_->nflex);
-  XN(flexfaceused, ptr_->nflex);
-  XN(flexedge, 2*nflexedge);
-  XN(flexvert, 3*nflexvert);
-  XN(flexface, 9*nflexface);
-  XN(flexnormal, 9*nflexface);
-  XN(flextexcoord, 6*nflexface);
-  XN(skinfacenum, ptr_->nskin);
-  XN(skinvertadr, ptr_->nskin);
-  XN(skinvertnum, ptr_->nskin);
-  XN(skinvert, 3*nskinvert);
-  XN(skinnormal, 3*nskinvert);
-
-#undef XN
-}
-
-// ==================== MJVFIGURE ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvFigureWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvFigure* const fig = new raw::MjvFigure;
-        mjv_defaultFigure(fig);
-        return fig;
-      }()),
-      X(flg_ticklabel),
-      X(gridsize),
-      X(gridrgb),
-      X(figurergba),
-      X(panergba),
-      X(legendrgba),
-      X(textrgb),
-      X(linergb),
-      X(range),
-      X(highlight),
-      X(linepnt),
-      X(linedata),
-      X(xaxispixel),
-      X(yaxispixel),
-      X(xaxisdata),
-      X(yaxisdata),
-#undef X
-
-      linename([](raw::MjvFigure* ptr, py::handle owner) {
-// Use a macro to help us static_assert that the array extents here are kept
-// in sync with mjVisualize.h.
-#define MAKE_STR_ARRAY(N1, N2)                                           \
-  static_assert(                                                         \
-      std::is_same_v<decltype(raw::MjvFigure::linename), char[N1][N2]>); \
-  return py::array(py::dtype("|S" #N2), N1, ptr->linename, owner);
-
-      MAKE_STR_ARRAY(mjMAXLINE, 100);
-
-#undef MAKE_STR_ARRAY
-      }(ptr_, owner_)) {}
-
-MjvFigureWrapper::MjWrapper(const MjvFigureWrapper& other)
-    : MjvFigureWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
 PYBIND11_MODULE(_structs, m) {
   py::module_::import("mujoco._enums");
 
@@ -1439,8 +151,8 @@ PYBIND11_MODULE(_structs, m) {
            << self.attr("__class__").attr("__name__").cast<std::string_view>();
 
 #define X(type, var)          \
-    result << "\n  " #var ": "; \
-    StructReprImpl<type>(self.attr(#var), result, 2);
+  result << "\n  " #var ": "; \
+  StructReprImpl<type>(self.attr(#var), result, 2);
 
     X(raw::MjVisualGlobal, global_)
     X(raw::MjVisualQuality, quality)
@@ -1457,10 +169,10 @@ PYBIND11_MODULE(_structs, m) {
   mjVisualGlobal.def("__copy__", [](const raw::MjVisualGlobal& other) {
     return raw::MjVisualGlobal(other);
   });
-  mjVisualGlobal.def(
-      "__deepcopy__", [](const raw::MjVisualGlobal& other, py::dict) {
-        return raw::MjVisualGlobal(other);
-      });
+  mjVisualGlobal.def("__deepcopy__",
+                     [](const raw::MjVisualGlobal& other, py::dict) {
+                       return raw::MjVisualGlobal(other);
+                     });
   DefineStructFunctions(mjVisualGlobal);
 #define X(var) mjVisualGlobal.def_readwrite(#var, &raw::MjVisualGlobal::var)
   X(orthographic);
@@ -1481,10 +193,10 @@ PYBIND11_MODULE(_structs, m) {
   mjVisualQuality.def("__copy__", [](const raw::MjVisualQuality& other) {
     return raw::MjVisualQuality(other);
   });
-  mjVisualQuality.def(
-      "__deepcopy__", [](const raw::MjVisualQuality& other, py::dict) {
-        return raw::MjVisualQuality(other);
-      });
+  mjVisualQuality.def("__deepcopy__",
+                      [](const raw::MjVisualQuality& other, py::dict) {
+                        return raw::MjVisualQuality(other);
+                      });
   DefineStructFunctions(mjVisualQuality);
 #define X(var) mjVisualQuality.def_readwrite(#var, &raw::MjVisualQuality::var)
   X(shadowsize);
@@ -1495,21 +207,20 @@ PYBIND11_MODULE(_structs, m) {
 #undef X
 
   py::class_<MjVisualHeadlightWrapper> mjVisualHeadlight(mjVisual, "Headlight");
-  mjVisualHeadlight.def(
-      "__copy__", [](const MjVisualHeadlightWrapper& other) {
-        return MjVisualHeadlightWrapper(other);
-      });
-  mjVisualHeadlight.def(
-      "__deepcopy__", [](const MjVisualHeadlightWrapper& other, py::dict) {
-        return MjVisualHeadlightWrapper(other);
-      });
+  mjVisualHeadlight.def("__copy__", [](const MjVisualHeadlightWrapper& other) {
+    return MjVisualHeadlightWrapper(other);
+  });
+  mjVisualHeadlight.def("__deepcopy__",
+                        [](const MjVisualHeadlightWrapper& other, py::dict) {
+                          return MjVisualHeadlightWrapper(other);
+                        });
   DefineStructFunctions(mjVisualHeadlight);
-  #define X(var) \
-      DefinePyArray(mjVisualHeadlight, #var, &MjVisualHeadlightWrapper::var)
+#define X(var) \
+  DefinePyArray(mjVisualHeadlight, #var, &MjVisualHeadlightWrapper::var)
   X(ambient);
   X(diffuse);
   X(specular);
-  #undef X
+#undef X
   mjVisualHeadlight.def_property(
       "active",
       [](const MjVisualHeadlightWrapper& c) { return c.get()->active; },
@@ -1521,10 +232,9 @@ PYBIND11_MODULE(_structs, m) {
   mjVisualMap.def("__copy__", [](const raw::MjVisualMap& other) {
     return raw::MjVisualMap(other);
   });
-  mjVisualMap.def(
-      "__deepcopy__", [](const raw::MjVisualMap& other, py::dict) {
-        return raw::MjVisualMap(other);
-      });
+  mjVisualMap.def("__deepcopy__", [](const raw::MjVisualMap& other, py::dict) {
+    return raw::MjVisualMap(other);
+  });
   DefineStructFunctions(mjVisualMap);
 #define X(var) mjVisualMap.def_readwrite(#var, &raw::MjVisualMap::var)
   X(stiffness);
@@ -1546,10 +256,10 @@ PYBIND11_MODULE(_structs, m) {
   mjVisualScale.def("__copy__", [](const raw::MjVisualScale& other) {
     return raw::MjVisualScale(other);
   });
-  mjVisualScale.def(
-      "__deepcopy__", [](const raw::MjVisualScale& other, py::dict) {
-        return raw::MjVisualScale(other);
-      });
+  mjVisualScale.def("__deepcopy__",
+                    [](const raw::MjVisualScale& other, py::dict) {
+                      return raw::MjVisualScale(other);
+                    });
   DefineStructFunctions(mjVisualScale);
 #define X(var) mjVisualScale.def_readwrite(#var, &raw::MjVisualScale::var)
   X(forcewidth);
@@ -1575,10 +285,10 @@ PYBIND11_MODULE(_structs, m) {
   mjVisualRgba.def("__copy__", [](const MjVisualRgbaWrapper& other) {
     return MjVisualRgbaWrapper(other);
   });
-  mjVisualRgba.def(
-      "__deepcopy__", [](const MjVisualRgbaWrapper& other, py::dict) {
-        return MjVisualRgbaWrapper(other);
-      });
+  mjVisualRgba.def("__deepcopy__",
+                   [](const MjVisualRgbaWrapper& other, py::dict) {
+                     return MjVisualRgbaWrapper(other);
+                   });
   DefineStructFunctions(mjVisualRgba);
 #define X(var) DefinePyArray(mjVisualRgba, #var, &MjVisualRgbaWrapper::var)
   X(fog);
@@ -1626,26 +336,26 @@ PYBIND11_MODULE(_structs, m) {
   // ==================== MJMODEL ==============================================
   py::class_<MjModelWrapper> mjModel(m, "MjModel");
   mjModel.def_static(
-      "from_xml_string", &MjModelWrapper::LoadXML,
-      py::arg("xml"), py::arg_v("assets", py::none()),
+      "from_xml_string", &MjModelWrapper::LoadXML, py::arg("xml"),
+      py::arg_v("assets", py::none()),
       py::doc(
-R"(Loads an MjModel from an XML string and an optional assets dictionary.)"));
+          R"(Loads an MjModel from an XML string and an optional assets dictionary.)"));
   mjModel.def_static("_from_model_ptr", [](uintptr_t addr) {
     return MjModelWrapper::WrapRawModel(reinterpret_cast<raw::MjModel*>(addr));
   });
   mjModel.def_static(
-      "from_xml_path", &MjModelWrapper::LoadXMLFile,
-      py::arg("filename"), py::arg_v("assets", py::none()),
+      "from_xml_path", &MjModelWrapper::LoadXMLFile, py::arg("filename"),
+      py::arg_v("assets", py::none()),
       py::doc(
-R"(Loads an MjModel from an XML file and an optional assets dictionary.
+          R"(Loads an MjModel from an XML file and an optional assets dictionary.
 
 The filename for the XML can also refer to a key in the assets dictionary.
 This is useful for example when the XML is not available as a file on disk.)"));
   mjModel.def_static(
-      "from_binary_path", &MjModelWrapper::LoadBinaryFile,
-      py::arg("filename"), py::arg_v("assets", py::none()),
+      "from_binary_path", &MjModelWrapper::LoadBinaryFile, py::arg("filename"),
+      py::arg_v("assets", py::none()),
       py::doc(
-R"(Loads an MjModel from an MJB file and an optional assets dictionary.
+          R"(Loads an MjModel from an MJB file and an optional assets dictionary.
 
 The filename for the MJB can also refer to a key in the assets dictionary.
 This is useful for example when the MJB is not available as a file on disk.)"));
@@ -1705,34 +415,37 @@ This is useful for example when the MJB is not available as a file on disk.)"));
     return py::tuple(py::cast(fields));
   });
 
-#define X(dtype, var, dim0, dim1)                             \
-  if constexpr (std::string_view(#var) != "text_data" &&      \
-                std::string_view(#var) != "names" &&          \
-                std::string_view(#var) != "paths") {          \
-    DefinePyArray(mjModel, #var, &MjModelWrapper::var);       \
+#define X(dtype, var, dim0, dim1)                        \
+  if constexpr (std::string_view(#var) != "text_data" && \
+                std::string_view(#var) != "names" &&     \
+                std::string_view(#var) != "paths") {     \
+    DefinePyArray(mjModel, #var, &MjModelWrapper::var);  \
   }
   MJMODEL_POINTERS
 #undef X
 
-  mjModel.def_property_readonly(
-      "text_data", [](const MjModelWrapper& m) -> const auto& {
-        // Return the full bytes array of concatenated text data
-        return m.text_data_bytes;
-      });
-  mjModel.def_property_readonly(
-      "names", [](const MjModelWrapper& m) -> const auto& {
-        // Return the full bytes array of concatenated names
-        return m.names_bytes;
-      });
-  mjModel.def_property_readonly(
-      "paths", [](const MjModelWrapper& m) -> const auto& {
-        // Return the full bytes array of concatenated paths
-        return m.paths_bytes;
-      });
-  mjModel.def_property_readonly(
-      "signature", [](const MjModelWrapper& m) -> const uint64_t& {
-        return m.get()->signature;
-      });
+  mjModel.def_property_readonly("text_data",
+                                [](const MjModelWrapper& m) -> const auto& {
+                                  // Return the full bytes array of concatenated
+                                  // text data
+                                  return m.text_data_bytes;
+                                });
+  mjModel.def_property_readonly("names",
+                                [](const MjModelWrapper& m) -> const auto& {
+                                  // Return the full bytes array of concatenated
+                                  // names
+                                  return m.names_bytes;
+                                });
+  mjModel.def_property_readonly("paths",
+                                [](const MjModelWrapper& m) -> const auto& {
+                                  // Return the full bytes array of concatenated
+                                  // paths
+                                  return m.paths_bytes;
+                                });
+  mjModel.def_property_readonly("signature",
+                                [](const MjModelWrapper& m) -> const uint64_t& {
+                                  return m.get()->signature;
+                                });
 
 #define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS)             \
   mjModel.def(                                                                \
@@ -1740,28 +453,28 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       [](MjModelWrapper& m, int i) -> auto& { return m.indexer().field(i); }, \
       py::return_value_policy::reference_internal);                           \
   mjModel.def(                                                                \
-      #field, [](MjModelWrapper& m, std::string_view name) -> auto& {         \
+      #field,                                                                 \
+      [](MjModelWrapper& m, std::string_view name) -> auto& {                 \
         return m.indexer().field##_by_name(name);                             \
       },                                                                      \
       py::return_value_policy::reference_internal, py::arg_v("name", ""));
 
-
   MJMODEL_VIEW_GROUPS
 #undef XGROUP
 
-#define XGROUP(spectype, field)                                       \
-  mjModel.def(                                                        \
-      "bind_scalar",                                                  \
-      [](MjModelWrapper& m, spectype& spec) -> auto& {                \
-        if (mjs_getSpec(spec.element)->element->signature !=          \
-            m.get()->signature) {                                     \
-          throw py::value_error(                                      \
-              "The mjSpec does not match mjModel. Please recompile "  \
-              "the mjSpec.");                                         \
-        }                                                             \
-        return m.indexer().field(mjs_getId(spec.element)); \
-      },                                                              \
-      py::return_value_policy::reference_internal,                    \
+#define XGROUP(spectype, field)                                      \
+  mjModel.def(                                                       \
+      "bind_scalar",                                                 \
+      [](MjModelWrapper& m, spectype& spec) -> auto& {               \
+        if (mjs_getSpec(spec.element)->element->signature !=         \
+            m.get()->signature) {                                    \
+          throw py::value_error(                                     \
+              "The mjSpec does not match mjModel. Please recompile " \
+              "the mjSpec.");                                        \
+        }                                                            \
+        return m.indexer().field(mjs_getId(spec.element));           \
+      },                                                             \
+      py::return_value_policy::reference_internal,                   \
       py::arg_v("spec", py::none()));
 
   MJMODEL_BIND_GROUPS
@@ -1773,7 +486,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       [](MjModelWrapper& m, int i) -> auto& { return m.indexer().field(i); }, \
       py::return_value_policy::reference_internal);                           \
   mjModel.def(                                                                \
-      #altname, [](MjModelWrapper& m, std::string_view name) -> auto& {       \
+      #altname,                                                               \
+      [](MjModelWrapper& m, std::string_view name) -> auto& {                 \
         return m.indexer().field##_by_name(name);                             \
       },                                                                      \
       py::return_value_policy::reference_internal, py::arg_v("name", ""));
@@ -1787,12 +501,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
     py::class_<MjModelGroupedViews> groupedViews(m, "_" #MjModelGroupedViews); \
     FIELD_XMACROS                                                              \
     groupedViews.def("__repr__", MjModelStructRepr<GroupedViews>);             \
-    groupedViews.def_property_readonly("id", [](GroupedViews& views) {         \
-      return views.index();                                                    \
-    });                                                                        \
-    groupedViews.def_property_readonly("name", [](GroupedViews& views) {       \
-      return views.name();                                                     \
-    });                                                                        \
+    groupedViews.def_property_readonly(                                        \
+        "id", [](GroupedViews& views) { return views.index(); });              \
+    groupedViews.def_property_readonly(                                        \
+        "name", [](GroupedViews& views) { return views.name(); });             \
   }
 #define X(type, prefix, var, dim0, dim1)                                    \
   groupedViews.def_property(                                                \
@@ -1807,8 +519,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   {
     py::handle builtins(PyEval_GetBuiltins());
     builtins[MjModelWrapper::kFromRawPointer] =
-        reinterpret_cast<std::uintptr_t>(reinterpret_cast<void*>(
-        &MjModelWrapper::FromRawPointer));
+        reinterpret_cast<std::uintptr_t>(
+            reinterpret_cast<void*>(&MjModelWrapper::FromRawPointer));
   }
 
   // ==================== MJWARNINGSTAT ========================================
@@ -1817,10 +529,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjWarningStat.def("__copy__", [](const MjWarningStatWrapper& other) {
     return MjWarningStatWrapper(other);
   });
-  mjWarningStat.def(
-      "__deepcopy__", [](const MjWarningStatWrapper& other, py::dict) {
-        return MjWarningStatWrapper(other);
-      });
+  mjWarningStat.def("__deepcopy__",
+                    [](const MjWarningStatWrapper& other, py::dict) {
+                      return MjWarningStatWrapper(other);
+                    });
   DefineStructFunctions(mjWarningStat);
 #define X(var)                                                             \
   mjWarningStat.def_property(                                              \
@@ -1833,10 +545,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 #undef X
 
   py::class_<MjWarningStatList> mjWarningStatList(m, "_MjWarningStatList");
-  mjWarningStatList.def(
-      "__getitem__",
-      &MjWarningStatList::operator[],
-      py::return_value_policy::reference);
+  mjWarningStatList.def("__getitem__", &MjWarningStatList::operator[],
+                        py::return_value_policy::reference);
   mjWarningStatList.def(
       "__getitem__",
       [](MjWarningStatList& list, ::mjtWarning idx) { return list[idx]; },
@@ -1857,10 +567,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjTimerStat.def("__copy__", [](const MjTimerStatWrapper& other) {
     return MjTimerStatWrapper(other);
   });
-  mjTimerStat.def(
-      "__deepcopy__", [](const MjTimerStatWrapper& other, py::dict) {
-        return MjTimerStatWrapper(other);
-      });
+  mjTimerStat.def("__deepcopy__",
+                  [](const MjTimerStatWrapper& other, py::dict) {
+                    return MjTimerStatWrapper(other);
+                  });
   DefineStructFunctions(mjTimerStat);
 #define X(var)                                                         \
   mjTimerStat.def_property(                                            \
@@ -1873,10 +583,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 #undef X
 
   py::class_<MjTimerStatList> mjTimerStatList(m, "_MjTimerStatList");
-  mjTimerStatList.def(
-      "__getitem__",
-      &MjTimerStatList::operator[],
-      py::return_value_policy::reference);
+  mjTimerStatList.def("__getitem__", &MjTimerStatList::operator[],
+                      py::return_value_policy::reference);
   mjTimerStatList.def(
       "__getitem__",
       [](MjTimerStatList& list, ::mjtTimer idx) { return list[idx]; },
@@ -1885,8 +593,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjTimerStatList.def("__len__", &MjTimerStatList::size);
   DefineStructFunctions(mjTimerStatList);
 
-#define X(type, var) \
-  mjTimerStatList.def_readonly(#var, &MjTimerStatList::var)
+#define X(type, var) mjTimerStatList.def_readonly(#var, &MjTimerStatList::var)
   X(mjtNum, duration);
   X(int, number);
 #undef X
@@ -1897,10 +604,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjSolverStat.def("__copy__", [](const MjSolverStatWrapper& other) {
     return MjSolverStatWrapper(other);
   });
-  mjSolverStat.def(
-      "__deepcopy__", [](const MjSolverStatWrapper& other, py::dict) {
-        return MjSolverStatWrapper(other);
-      });
+  mjSolverStat.def("__deepcopy__",
+                   [](const MjSolverStatWrapper& other, py::dict) {
+                     return MjSolverStatWrapper(other);
+                   });
   DefineStructFunctions(mjSolverStat);
 #define X(var)                                                           \
   mjSolverStat.def_property(                                             \
@@ -1919,13 +626,12 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 
   py::class_<MjSolverStatList> mjSolverStatList(m, "_MjSolverStatList");
   mjSolverStatList.def("__getitem__", &MjSolverStatList::operator[],
-                    py::return_value_policy::reference);
+                       py::return_value_policy::reference);
   mjSolverStatList.def("__getitem__", &MjSolverStatList::Slice);
   mjSolverStatList.def("__len__", &MjSolverStatList::size);
   DefineStructFunctions(mjSolverStatList);
 
-#define X(type, var) \
-  mjSolverStatList.def_readonly(#var, &MjSolverStatList::var)
+#define X(type, var) mjSolverStatList.def_readonly(#var, &MjSolverStatList::var)
   X(mjtNum, improvement);
   X(mjtNum, gradient);
   X(mjtNum, lineslope);
@@ -2025,12 +731,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjData.def_property_readonly("_address", [](const MjDataWrapper& d) {
     return reinterpret_cast<std::uintptr_t>(d.get());
   });
-  mjData.def_property_readonly("model", [](const MjDataWrapper& d) {
-    return &d.model();
-  });
-  mjData.def("__copy__", [](const MjDataWrapper& other) {
-    return MjDataWrapper(other);
-  });
+  mjData.def_property_readonly(
+      "model", [](const MjDataWrapper& d) { return &d.model(); });
+  mjData.def("__copy__",
+             [](const MjDataWrapper& other) { return MjDataWrapper(other); });
   mjData.def("__deepcopy__", [](const MjDataWrapper& other, py::dict memo) {
     // Use copy.deepcopy(model) to make a model that Python is aware of.
     py::object new_model_py =
@@ -2048,9 +752,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
         return MjDataWrapper::Deserialize(input);
       }));
   mjData.def_property_readonly(
-      "signature", [](const MjDataWrapper& d) -> uint64_t {
-        return d.get()->signature;
-      });
+      "signature",
+      [](const MjDataWrapper& d) -> uint64_t { return d.get()->signature; });
 
 #define X(type, var)                                             \
   mjData.def_property(                                           \
@@ -2097,7 +800,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       [](MjDataWrapper& d, int i) -> auto& { return d.indexer().field(i); }, \
       py::return_value_policy::reference_internal);                          \
   mjData.def(                                                                \
-      #field, [](MjDataWrapper& d, std::string_view name) -> auto& {         \
+      #field,                                                                \
+      [](MjDataWrapper& d, std::string_view name) -> auto& {                 \
         return d.indexer().field##_by_name(name);                            \
       },                                                                     \
       py::return_value_policy::reference_internal, py::arg_v("name", ""));
@@ -2105,19 +809,19 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   MJDATA_VIEW_GROUPS
 #undef XGROUP
 
-#define XGROUP(spectype, field)                                       \
-  mjData.def(                                                         \
-      "bind_scalar",                                                  \
-      [](MjDataWrapper& d, spectype& spec) -> auto& {                 \
-        if (mjs_getSpec(spec.element)->element->signature !=          \
-            d.get()->signature) {                                     \
-          throw py::value_error(                                      \
-                 "The mjSpec does not match mjData. Please recompile "\
-                 "the mjSpec.");                                      \
-        }                                                             \
-        return d.indexer().field(mjs_getId(spec.element));            \
-      },                                                              \
-      py::return_value_policy::reference_internal,                    \
+#define XGROUP(spectype, field)                                     \
+  mjData.def(                                                       \
+      "bind_scalar",                                                \
+      [](MjDataWrapper& d, spectype& spec) -> auto& {               \
+        if (mjs_getSpec(spec.element)->element->signature !=        \
+            d.get()->signature) {                                   \
+          throw py::value_error(                                    \
+              "The mjSpec does not match mjData. Please recompile " \
+              "the mjSpec.");                                       \
+        }                                                           \
+        return d.indexer().field(mjs_getId(spec.element));          \
+      },                                                            \
+      py::return_value_policy::reference_internal,                  \
       py::arg_v("spec", py::none()));
 
   MJDATA_BIND_GROUPS
@@ -2129,7 +833,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       [](MjDataWrapper& d, int i) -> auto& { return d.indexer().field(i); }, \
       py::return_value_policy::reference_internal);                          \
   mjData.def(                                                                \
-      #altname, [](MjDataWrapper& d, std::string_view name) -> auto& {       \
+      #altname,                                                              \
+      [](MjDataWrapper& d, std::string_view name) -> auto& {                 \
         return d.indexer().field##_by_name(name);                            \
       },                                                                     \
       py::return_value_policy::reference_internal, py::arg_v("name", ""));
@@ -2143,12 +848,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
     py::class_<MjDataGroupedViews> groupedViews(m, "_" #MjDataGroupedViews); \
     FIELD_XMACROS                                                            \
     groupedViews.def("__repr__", MjDataStructRepr<GroupedViews>);            \
-    groupedViews.def_property_readonly("id", [](GroupedViews& views) {       \
-      return views.index();                                                  \
-    });                                                                      \
-    groupedViews.def_property_readonly("name", [](GroupedViews& views) {     \
-      return views.name();                                                   \
-    });                                                                      \
+    groupedViews.def_property_readonly(                                      \
+        "id", [](GroupedViews& views) { return views.index(); });            \
+    groupedViews.def_property_readonly(                                      \
+        "name", [](GroupedViews& views) { return views.name(); });           \
   }
 #define X(type, prefix, var, dim0, dim1)                                    \
   groupedViews.def_property(                                                \
@@ -2162,9 +865,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 
   {
     py::handle builtins(PyEval_GetBuiltins());
-    builtins[MjDataWrapper::kFromRawPointer] =
-        reinterpret_cast<std::uintptr_t>(reinterpret_cast<void*>(
-        &MjDataWrapper::FromRawPointer));
+    builtins[MjDataWrapper::kFromRawPointer] = reinterpret_cast<std::uintptr_t>(
+        reinterpret_cast<void*>(&MjDataWrapper::FromRawPointer));
   }
 
   // ==================== MJSTATISTIC ==========================================
@@ -2173,10 +875,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjStatistic.def("__copy__", [](const MjStatisticWrapper& other) {
     return MjStatisticWrapper(other);
   });
-  mjStatistic.def(
-      "__deepcopy__", [](const MjStatisticWrapper& other, py::dict) {
-        return MjStatisticWrapper(other);
-      });
+  mjStatistic.def("__deepcopy__",
+                  [](const MjStatisticWrapper& other, py::dict) {
+                    return MjStatisticWrapper(other);
+                  });
   DefineStructFunctions(mjStatistic);
 
 #define X(var)                                                         \
@@ -2198,9 +900,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   // ==================== MJLROPT ==============================================
   py::class_<raw::MjLROpt> mjLROpt(m, "MjLROpt");
   mjLROpt.def(py::init<>());
-  mjLROpt.def("__copy__", [](const raw::MjLROpt& other) {
-    return raw::MjLROpt(other);
-  });
+  mjLROpt.def("__copy__",
+              [](const raw::MjLROpt& other) { return raw::MjLROpt(other); });
   mjLROpt.def("__deepcopy__", [](const raw::MjLROpt& other, py::dict) {
     return raw::MjLROpt(other);
   });
@@ -2285,11 +986,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   mjvGLCamera.def("__copy__", [](const MjvGLCameraWrapper& other) {
     return MjvGLCameraWrapper(other);
   });
-  mjvGLCamera.def(
-      "__deepcopy__",
-      [](const MjvGLCameraWrapper& other, py::dict) {
-        return MjvGLCameraWrapper(other);
-      });
+  mjvGLCamera.def("__deepcopy__",
+                  [](const MjvGLCameraWrapper& other, py::dict) {
+                    return MjvGLCameraWrapper(other);
+                  });
   DefineStructFunctions(mjvGLCamera);
 #define X(var)                                                         \
   mjvGLCamera.def_property(                                            \
@@ -2400,7 +1100,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 #define X(var)                                                      \
   mjvOption.def_property(                                           \
       #var, [](const MjvOptionWrapper& c) { return c.get()->var; }, \
-      [](MjvOptionWrapper& c, decltype(raw::MjvOption::var) rhs) { \
+      [](MjvOptionWrapper& c, decltype(raw::MjvOption::var) rhs) {  \
         c.get()->var = rhs;                                         \
       })
   X(label);
@@ -2423,8 +1123,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   // ==================== MJVSCENE =============================================
   py::class_<MjvSceneWrapper> mjvScene(m, "MjvScene");
   mjvScene.def(py::init<>());
-  mjvScene.def(py::init<const MjModelWrapper&, int>(),
-               py::arg("model"), py::arg("maxgeom"));
+  mjvScene.def(py::init<const MjModelWrapper&, int>(), py::arg("model"),
+               py::arg("maxgeom"));
   mjvScene.def("__copy__", [](const MjvSceneWrapper& other) {
     return MjvSceneWrapper(other);
   });
@@ -2551,11 +1251,9 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       py::arg("cam1"), py::arg("cam2"),
       py::doc(python_traits::mjv_averageCamera::doc));
 
-  m.def(
-      "_recompile_spec_addr",
-      [](uintptr_t spec_addr, const MjModelWrapper& m, const MjDataWrapper& d) {
-        return RecompileSpec(reinterpret_cast<raw::MjSpec*>(spec_addr), m, d);
-      }
-  );
+  m.def("_recompile_spec_addr", [](uintptr_t spec_addr, const MjModelWrapper& m,
+                                   const MjDataWrapper& d) {
+    return RecompileSpec(reinterpret_cast<raw::MjSpec*>(spec_addr), m, d);
+  });
 }  // PYBIND11_MODULE NOLINT(readability/fn_size)
 }  // namespace mujoco::python::_impl
diff --git a/python/mujoco/structs_wrappers.cc b/python/mujoco/structs_wrappers.cc
new file mode 100644
index 00000000..7c1ec9b0
--- /dev/null
+++ b/python/mujoco/structs_wrappers.cc
@@ -0,0 +1,1328 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <Python.h>
+
+#include <array>
+#include <cstddef>
+#include <cstring>
+#include <chrono>  // NOLINT(build/c++11)
+#include <exception>
+#include <ios>
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <type_traits>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include <absl/container/flat_hash_map.h>
+#include <mujoco/mjxmacro.h>
+#include <mujoco/mujoco.h>
+#include "errors.h"
+#include "private.h"
+#include "raw.h"
+#include "serialization.h"
+#include "structs.h"
+#include <pybind11/cast.h>
+#include <pybind11/detail/common.h>
+#include <pybind11/numpy.h>
+#include <pybind11/operators.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/pytypes.h>
+#include <pybind11/stl.h>
+
+namespace mujoco::python::_impl {
+
+namespace py = ::pybind11;
+
+namespace {
+#define PTRDIFF(x, y) \
+  reinterpret_cast<const char*>(x) - reinterpret_cast<const char*>(y)
+
+// Returns the shape of a NumPy array given the dimensions from an X Macro.
+// If dim1 is a _literal_ constant 1, the resulting array is 1-dimensional of
+// length dim0, otherwise the resulting array is 2-dimensional of shape
+// (dim0, dim1).
+#define X_ARRAY_SHAPE(dim0, dim1) XArrayShapeImpl(#dim1)((dim0), (dim1))
+
+std::vector<int> XArrayShapeImpl1D(int dim0, int dim1) { return {dim0}; }
+
+std::vector<int> XArrayShapeImpl2D(int dim0, int dim1) { return {dim0, dim1}; }
+
+constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
+  if (dim1_str == "1") {
+    return XArrayShapeImpl1D;
+  } else {
+    return XArrayShapeImpl2D;
+  }
+}
+
+inline std::size_t NConMax(const mjData* d) {
+  return d->narena / sizeof(mjContact);
+}
+
+}  // namespace
+
+// ==================== MJOPTION ===============================================
+#define X(var, dim) , var(InitPyArray(std::array{dim}, ptr_->var, owner_))
+MjOptionWrapper::MjWrapper()
+    : WrapperBase([]() {
+        raw::MjOption* const opt = new raw::MjOption;
+        mj_defaultOption(opt);
+        return opt;
+      }()) MJOPTION_VECTORS {}
+
+MjOptionWrapper::MjWrapper(raw::MjOption* ptr, py::handle owner)
+    : WrapperBase(ptr, owner) MJOPTION_VECTORS {}
+#undef X
+
+MjOptionWrapper::MjWrapper(const MjOptionWrapper& other) : MjOptionWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVISUAL ===============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjVisualHeadlightWrapper::MjWrapper()
+    : WrapperBase(new raw::MjVisualHeadlight{}),
+      X(ambient),
+      X(diffuse),
+      X(specular) {}
+
+MjVisualHeadlightWrapper::MjWrapper(raw::MjVisualHeadlight* ptr,
+                                    py::handle owner)
+    : WrapperBase(ptr, owner), X(ambient), X(diffuse), X(specular) {}
+#undef X
+
+MjVisualHeadlightWrapper::MjWrapper(const MjVisualHeadlightWrapper& other)
+    : MjVisualHeadlightWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjVisualRgbaWrapper::MjWrapper()
+    : WrapperBase(new raw::MjVisualRgba{}),
+      X(fog),
+      X(haze),
+      X(force),
+      X(inertia),
+      X(joint),
+      X(actuator),
+      X(actuatornegative),
+      X(actuatorpositive),
+      X(com),
+      X(camera),
+      X(light),
+      X(selectpoint),
+      X(connect),
+      X(contactpoint),
+      X(contactforce),
+      X(contactfriction),
+      X(contacttorque),
+      X(contactgap),
+      X(rangefinder),
+      X(constraint),
+      X(slidercrank),
+      X(crankbroken),
+      X(frustum) {}
+
+MjVisualRgbaWrapper::MjWrapper(raw::MjVisualRgba* ptr, py::handle owner)
+    : WrapperBase(ptr, owner),
+      X(fog),
+      X(haze),
+      X(force),
+      X(inertia),
+      X(joint),
+      X(actuator),
+      X(actuatornegative),
+      X(actuatorpositive),
+      X(com),
+      X(camera),
+      X(light),
+      X(selectpoint),
+      X(connect),
+      X(contactpoint),
+      X(contactforce),
+      X(contactfriction),
+      X(contacttorque),
+      X(contactgap),
+      X(rangefinder),
+      X(constraint),
+      X(slidercrank),
+      X(crankbroken),
+      X(frustum) {}
+#undef X
+
+MjVisualRgbaWrapper::MjWrapper(const MjVisualRgbaWrapper& other)
+    : MjVisualRgbaWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+MjVisualWrapper::MjWrapper()
+    : WrapperBase(new raw::MjVisual{}),
+      headlight(&ptr_->headlight, owner_),
+      rgba(&ptr_->rgba, owner_) {}
+
+MjVisualWrapper::MjWrapper(raw::MjVisual* ptr, py::handle owner)
+    : WrapperBase(ptr, owner),
+      headlight(&ptr_->headlight, owner_),
+      rgba(&ptr_->rgba, owner_) {}
+
+MjVisualWrapper::MjWrapper(const MjVisualWrapper& other) : MjVisualWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJMODEL ================================================
+static void MjModelCapsuleDestructor(PyObject* pyobj) {
+  mj_deleteModel(
+      static_cast<raw::MjModel*>(PyCapsule_GetPointer(pyobj, nullptr)));
+}
+
+static absl::flat_hash_map<raw::MjModel*, MjModelWrapper*>&
+MjModelRawPointerMap() {
+  static auto* hash_map =
+      new absl::flat_hash_map<raw::MjModel*, MjModelWrapper*>();
+  return *hash_map;
+}
+
+MjModelWrapper* MjModelWrapper::FromRawPointer(raw::MjModel* m) noexcept {
+  try {
+    auto& map = MjModelRawPointerMap();
+    {
+      py::gil_scoped_acquire gil;
+      auto found = map.find(m);
+      return found != map.end() ? found->second : nullptr;
+    }
+  } catch (...) {
+    return nullptr;
+  }
+}
+
+#undef MJ_M
+#define MJ_M(x) ptr_->x
+#define X(dtype, var, dim0, dim1) \
+  , var(InitPyArray(X_ARRAY_SHAPE(ptr_->dim0, dim1), ptr_->var, owner_))
+MjModelWrapper::MjWrapper(raw::MjModel* ptr)
+    : WrapperBase(ptr, &MjModelCapsuleDestructor),
+      opt(&ptr->opt, owner_),
+      vis(&ptr->vis, owner_),
+      stat(&ptr->stat, owner_) MJMODEL_POINTERS,
+      text_data_bytes(ptr->text_data, ptr->ntextdata),
+      names_bytes(ptr->names, ptr->nnames),
+      paths_bytes(ptr->paths, ptr->npaths),
+      indexer_(ptr, owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted = MjModelRawPointerMap().insert({ptr_, this}).second;
+  }
+  if (!is_newly_inserted) {
+    throw UnexpectedError(
+        "MjModelWrapper(mjModel*): MjModelRawPointerMap already contains this "
+        "raw mjModel*");
+  }
+}
+
+MjModelWrapper::MjWrapper(MjModelWrapper&& other)
+    : WrapperBase(other.ptr_, other.owner_),
+      opt(&ptr_->opt, owner_),
+      vis(&ptr_->vis, owner_),
+      stat(&ptr_->stat, owner_) MJMODEL_POINTERS,
+      text_data_bytes(ptr_->text_data, ptr_->ntextdata),
+      names_bytes(ptr_->names, ptr_->nnames),
+      paths_bytes(ptr_->paths, ptr_->npaths),
+      indexer_(ptr_, owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted =
+        MjModelRawPointerMap().insert_or_assign(ptr_, this).second;
+  }
+  if (is_newly_inserted) {
+    throw UnexpectedError(
+        "MjModelRawPointerMap does not contains the moved-from mjModel*");
+  }
+  other.ptr_ = nullptr;
+}
+#undef X
+#undef MJ_M
+#define MJ_M(x) x
+
+// Delegating to the MjModelWrapper::MjWrapper(raw::MjModel*) constructor,
+// no need to modify MjModelRawPointerMap here.
+MjModelWrapper::MjWrapper(const MjModelWrapper& other)
+    : MjModelWrapper(InterceptMjErrors(mj_copyModel)(NULL, other.get())) {}
+
+MjModelWrapper::~MjWrapper() {
+  if (ptr_) {
+    bool erased = false;
+    {
+      py::gil_scoped_acquire gil;
+      erased = MjModelRawPointerMap().erase(ptr_);
+    }
+    if (!erased) {
+      std::cerr << "MjModelRawPointerMap does not contain this raw mjModel*"
+                << std::endl;
+      std::terminate();
+    }
+  }
+}
+
+// Helper function for both LoadXMLFile and LoadBinaryFile.
+// Creates a temporary MJB from the assets dictionary if one is supplied.
+template <typename LoadFunc>
+static raw::MjModel* LoadModelFileImpl(const std::string& filename,
+                                       const std::vector<VfsAsset>& assets,
+                                       LoadFunc&& loadfunc) {
+  mjVFS vfs;
+  mjVFS* vfs_ptr = nullptr;
+  if (!assets.empty()) {
+    mj_defaultVFS(&vfs);
+    vfs_ptr = &vfs;
+    for (const auto& asset : assets) {
+      std::string buffer_name = StripPath(asset.name);
+      const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
+          vfs_ptr, buffer_name.c_str(), asset.content, asset.content_size);
+      if (vfs_error) {
+        mj_deleteVFS(vfs_ptr);
+        if (vfs_error == 2) {
+          throw py::value_error("Repeated file name in assets dict: " +
+                                buffer_name);
+        } else {
+          throw py::value_error("Asset failed to load: " + buffer_name);
+        }
+      }
+    }
+  }
+
+  raw::MjModel* model = loadfunc(filename.c_str(), vfs_ptr);
+  mj_deleteVFS(vfs_ptr);
+  if (model && !model->buffer) {
+    mj_deleteModel(model);
+    model = nullptr;
+  }
+  return model;
+}
+
+MjModelWrapper MjModelWrapper::LoadXMLFile(
+    const std::string& filename,
+    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
+  const auto converted_assets = ConvertAssetsDict(assets);
+  raw::MjModel* model;
+  {
+    py::gil_scoped_release no_gil;
+    char error[1024];
+    model = LoadModelFileImpl(filename, converted_assets,
+                              [&error](const char* filename, const mjVFS* vfs) {
+                                return InterceptMjErrors(mj_loadXML)(
+                                    filename, vfs, error, sizeof(error));
+                              });
+    if (!model) {
+      throw py::value_error(error);
+    }
+  }
+  return MjModelWrapper(model);
+}
+
+MjModelWrapper MjModelWrapper::LoadBinaryFile(
+    const std::string& filename,
+    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
+  const auto converted_assets = ConvertAssetsDict(assets);
+  raw::MjModel* model;
+  {
+    py::gil_scoped_release no_gil;
+    model = LoadModelFileImpl(filename, converted_assets,
+                              InterceptMjErrors(mj_loadModel));
+    if (!model) {
+      throw py::value_error("mj_loadModel: failed to load from mjb");
+    }
+  }
+  return MjModelWrapper(model);
+}
+
+MjModelWrapper MjModelWrapper::LoadXML(
+    const std::string& xml,
+    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
+  auto converted_assets = ConvertAssetsDict(assets);
+  raw::MjModel* model;
+  {
+    py::gil_scoped_release no_gil;
+    std::string model_filename = "model_.xml";
+    if (assets.has_value()) {
+      while (assets->find(model_filename) != assets->end()) {
+        model_filename =
+            model_filename.substr(0, model_filename.size() - 4) + "_.xml";
+      }
+    }
+    converted_assets.emplace_back(model_filename.c_str(), xml.c_str(),
+                                  xml.length());
+    char error[1024];
+    model = LoadModelFileImpl(model_filename, converted_assets,
+                              [&error](const char* filename, const mjVFS* vfs) {
+                                return InterceptMjErrors(mj_loadXML)(
+                                    filename, vfs, error, sizeof(error));
+                              });
+    if (!model) {
+      throw py::value_error(error);
+    }
+  }
+  return MjModelWrapper(model);
+}
+
+MjModelWrapper MjModelWrapper::WrapRawModel(raw::MjModel* m) {
+  return MjModelWrapper(m);
+}
+
+py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
+                        const MjDataWrapper& old_d) {
+  raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
+  m->buffer = nullptr;
+  raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
+  if (mj_recompile(spec, nullptr, m, d)) {
+    throw py::value_error(mjs_getError(spec));
+  }
+
+  py::object m_pyobj = py::cast((MjModelWrapper(m)));
+  py::object d_pyobj =
+      py::cast((MjDataWrapper(py::cast<MjModelWrapper*>(m_pyobj), d)));
+  return py::make_tuple(m_pyobj, d_pyobj);
+}
+
+namespace {
+// A byte at the start of serialized mjModel structs, which can be incremented
+// when we change the serialization logic to reject pickles from an unsupported
+// future version.
+constexpr static char kSerializationVersion = 1;
+
+void CheckInput(const std::istream& input, std::string class_name) {
+  if (input.fail()) {
+    throw py::value_error("Invalid serialized " + class_name + ".");
+  }
+}
+
+}  // namespace
+
+void MjModelWrapper::Serialize(std::ostream& output) const {
+  WriteChar(output, kSerializationVersion);
+
+  int model_size = mj_sizeModel(get());
+  WriteInt(output, model_size);
+  std::string buffer(model_size, 0);
+  mj_saveModel(get(), nullptr, buffer.data(), model_size);
+  WriteBytes(output, buffer.data(), model_size);
+}
+
+std::unique_ptr<MjModelWrapper> MjModelWrapper::Deserialize(
+    std::istream& input) {
+  CheckInput(input, "mjModel");
+
+  char serializationVersion = ReadChar(input);
+  CheckInput(input, "mjModel");
+
+  if (serializationVersion != kSerializationVersion) {
+    throw py::value_error("Incompatible serialization version.");
+  }
+
+  std::size_t model_size = ReadInt(input);
+  CheckInput(input, "mjModel");
+  if (model_size < 0) {
+    throw py::value_error("Invalid serialized mjModel.");
+  }
+  std::string model_bytes(model_size, 0);
+  ReadBytes(input, model_bytes.data(), model_size);
+  CheckInput(input, "mjModel");
+
+  raw::MjModel* model = LoadModelFileImpl(
+      "model.mjb",
+      {{"model.mjb", model_bytes.data(), static_cast<std::size_t>(model_size)}},
+      InterceptMjErrors(mj_loadModel));
+  if (!model) {
+    throw py::value_error("Invalid serialized mjModel.");
+  }
+  return std::unique_ptr<MjModelWrapper>(new MjModelWrapper(model));
+}
+
+// ==================== MJCONTACT ==============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjContactWrapper::MjWrapper()
+    : WrapperBase(new raw::MjContact{}),
+      X(pos),
+      X(frame),
+      X(friction),
+      X(solref),
+      X(solreffriction),
+      X(solimp),
+      X(H),
+      X(geom),
+      X(flex),
+      X(elem),
+      X(vert) {}
+
+MjContactWrapper::MjWrapper(raw::MjContact* ptr, py::handle owner)
+    : WrapperBase(ptr, owner),
+      X(pos),
+      X(frame),
+      X(friction),
+      X(solref),
+      X(solreffriction),
+      X(solimp),
+      X(H),
+      X(geom),
+      X(flex),
+      X(elem),
+      X(vert) {}
+#undef X
+
+MjContactWrapper::MjWrapper(const MjContactWrapper& other)
+    : MjContactWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+MjContactList::MjStructList(raw::MjContact* ptr, int nconmax, int* ncon,
+                            py::handle owner)
+    : StructListBase(ptr, nconmax, owner, /* lazy = */ true), ncon_(ncon) {}
+
+// Slicing
+MjContactList::MjStructList(MjContactList& other, py::slice slice)
+    : StructListBase(other, slice), ncon_(other.ncon_) {}
+
+// ==================== MJDATA =================================================
+static void MjDataCapsuleDestructor(PyObject* pyobj) {
+  mj_deleteData(
+      static_cast<raw::MjData*>(PyCapsule_GetPointer(pyobj, nullptr)));
+}
+
+absl::flat_hash_map<raw::MjData*, MjDataWrapper*>& MjDataRawPointerMap() {
+  static auto* hash_map =
+      new absl::flat_hash_map<raw::MjData*, MjDataWrapper*>();
+  return *hash_map;
+}
+
+MjDataWrapper* MjDataWrapper::FromRawPointer(raw::MjData* m) noexcept {
+  try {
+    auto& map = MjDataRawPointerMap();
+    {
+      py::gil_scoped_acquire gil;
+      auto found = map.find(m);
+      return found != map.end() ? found->second : nullptr;
+    }
+  } catch (...) {
+    return nullptr;
+  }
+}
+
+namespace {
+// default timer callback (seconds)
+mjtNum GetTime() {
+  using Clock = std::chrono::steady_clock;
+  using Seconds = std::chrono::duration<mjtNum>;
+  static const Clock::time_point tm_start = Clock::now();
+  return Seconds(Clock::now() - tm_start).count();
+}
+}  // namespace
+
+MjDataWrapper::MjWrapper(MjModelWrapper* model)
+    : WrapperBase(InterceptMjErrors(mj_makeData)(model->get()),
+                  &MjDataCapsuleDestructor),
+#undef MJ_M
+#define MJ_M(x) model->get()->x
+#define X(dtype, var, dim0, dim1) \
+  var(InitPyArray(X_ARRAY_SHAPE(model->get()->dim0, dim1), ptr_->var, owner_)),
+      MJDATA_POINTERS
+#undef MJ_M
+#define MJ_M(x) (x)
+#undef X
+
+      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
+
+#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
+      MJDATA_VECTOR
+#undef X
+      model_(model),
+      model_ref_(py::cast(model_)),
+      indexer_(ptr_, model_->get(), owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
+  }
+  if (!is_newly_inserted) {
+    throw UnexpectedError(
+        "MjDataRawPointerMap already contains this raw mjData*");
+  }
+
+  // install default timer if not already installed
+  {
+    py::gil_scoped_acquire gil;
+    if (!mjcb_time) {
+      mjcb_time = GetTime;
+    }
+  }
+}
+
+MjDataWrapper::MjWrapper(const MjDataWrapper& other)
+    : WrapperBase(other.Copy(), &MjDataCapsuleDestructor),
+#undef MJ_M
+#define MJ_M(x) other.model_->get()->x
+#define X(dtype, var, dim0, dim1)                                            \
+  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
+                  owner_)),
+      MJDATA_POINTERS
+#undef MJ_M
+#define MJ_M(x) (x)
+#undef X
+
+      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
+
+#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
+      MJDATA_VECTOR
+#undef X
+      model_(other.model_),
+      model_ref_(other.model_ref_),
+      indexer_(ptr_, model_->get(), owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
+  }
+  if (!is_newly_inserted) {
+    throw UnexpectedError(
+        "MjDataRawPointerMap already contains this raw mjData*");
+  }
+}
+
+MjDataWrapper::MjWrapper(MjDataWrapper&& other)
+    : WrapperBase(other.ptr_, other.owner_),
+#undef MJ_M
+#define MJ_M(x) other.model_->get()->x
+#define X(dtype, var, dim0, dim1)                                            \
+  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
+                  owner_)),
+      MJDATA_POINTERS
+#undef MJ_M
+#define MJ_M(x) (x)
+#undef X
+
+      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
+
+#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
+      MJDATA_VECTOR
+#undef X
+      model_(other.model_),
+      model_ref_(std::move(other.model_ref_)),
+      indexer_(ptr_, model_->get(), owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted =
+        MjDataRawPointerMap().insert_or_assign(ptr_, this).second;
+  }
+  if (is_newly_inserted) {
+    throw UnexpectedError(
+        "MjDataRawPointerMap does not contains the moved-from mjData*");
+  }
+  other.ptr_ = nullptr;
+}
+
+MjDataWrapper::MjWrapper(const MjDataWrapper& other, MjModelWrapper* model)
+    : WrapperBase(other.Copy(), &MjDataCapsuleDestructor),
+#undef MJ_M
+#define MJ_M(x) other.model_->get()->x
+#define X(dtype, var, dim0, dim1)                                            \
+  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
+                  owner_)),
+      MJDATA_POINTERS
+#undef MJ_M
+#define MJ_M(x) (x)
+#undef X
+
+      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
+
+#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
+      MJDATA_VECTOR
+#undef X
+      model_(model),
+      model_ref_(py::cast(model_)),
+      indexer_(ptr_, model_->get(), owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
+  }
+  if (!is_newly_inserted) {
+    throw UnexpectedError(
+        "MjDataRawPointerMap already contains this raw mjData*");
+  }
+}
+
+MjDataWrapper::MjWrapper(MjModelWrapper* model, raw::MjData* d)
+    : WrapperBase(d, &MjDataCapsuleDestructor),
+#undef MJ_M
+#define MJ_M(x) model->get()->x
+#define X(dtype, var, dim0, dim1) \
+  var(InitPyArray(X_ARRAY_SHAPE(model->get()->dim0, dim1), ptr_->var, owner_)),
+      MJDATA_POINTERS
+#undef MJ_M
+#define MJ_M(x) (x)
+#undef X
+
+      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
+
+#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
+      MJDATA_VECTOR
+#undef X
+      model_(model),
+      model_ref_(py::cast(model_)),
+      indexer_(ptr_, model_->get(), owner_) {
+  bool is_newly_inserted = false;
+  {
+    py::gil_scoped_acquire gil;
+    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
+  }
+  if (!is_newly_inserted) {
+    throw UnexpectedError(
+        "MjDataRawPointerMap already contains this raw mjData*");
+  }
+}
+
+MjDataWrapper::~MjWrapper() {
+  if (ptr_) {
+    bool erased = false;
+    {
+      py::gil_scoped_acquire gil;
+      erased = MjDataRawPointerMap().erase(ptr_);
+    }
+    if (!erased) {
+      std::cerr << "MjDataRawPointerMap does not contain this raw mjData*"
+                << std::endl;
+      std::terminate();
+    }
+  }
+}
+
+void MjDataWrapper::Serialize(std::ostream& output) const {
+  // TODO: Replace this custom serialization with a protobuf
+  WriteChar(output, kSerializationVersion);
+
+  model_->Serialize(output);
+
+  // Write struct and scalar fields
+#define X(var) WriteBytes(output, &ptr_->var, sizeof(ptr_->var))
+  X(maxuse_stack);
+  X(maxuse_arena);
+  X(maxuse_con);
+  X(maxuse_efc);
+  X(solver);
+  X(timer);
+  X(warning);
+  X(ncon);
+  X(ne);
+  X(nf);
+  X(nJ);
+  X(nA);
+  X(nefc);
+  X(nisland);
+  X(time);
+  X(energy);
+#undef X
+
+  // Write buffer and arena contents
+  {
+    MJDATA_POINTERS_PREAMBLE((this->model_->get()))
+
+#define X(type, name, nr, nc)    \
+  WriteBytes(output, ptr_->name, \
+             sizeof(type) * (this->model_->get()->nr) * (nc));
+    MJDATA_POINTERS
+#undef X
+
+#undef MJ_M
+#define MJ_M(x) this->model_->get()->x
+#undef MJ_D
+#define MJ_D(x) this->ptr_->x
+#define X(type, name, nr, nc)                                \
+  if ((nr) * (nc)) {                                         \
+    WriteBytes(output, ptr_->name,                           \
+               ptr_->name ? sizeof(type) * (nr) * (nc) : 0); \
+  }
+
+    MJDATA_ARENA_POINTERS_CONTACT
+    MJDATA_ARENA_POINTERS_SOLVER
+    if (mj_isDual(this->model_->get())) {
+      MJDATA_ARENA_POINTERS_DUAL
+    }
+    if (this->ptr_->nisland) {
+      MJDATA_ARENA_POINTERS_ISLAND
+    }
+#undef MJ_M
+#define MJ_M(x) x
+#undef MJ_D
+#define MJ_D(x) x
+#undef X
+  }
+}
+
+MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
+  char serializationVersion = ReadChar(input);
+  CheckInput(input, "mjData");
+
+  if (serializationVersion != kSerializationVersion) {
+    throw py::value_error("Incompatible serialization version.");
+  }
+
+  // Read the model that was used to create the mjData.
+  std::unique_ptr<MjModelWrapper> m_wrapper =
+      MjModelWrapper::Deserialize(input);
+  raw::MjModel& m = *m_wrapper->get();
+
+  bool is_dual = mj_isDual(&m);
+
+  raw::MjData* d = mj_makeData(&m);
+  if (!d) {
+    throw py::value_error("Failed to create mjData.");
+  }
+
+  // Read structs and scalar fields
+#define X(var)                                      \
+  ReadBytes(input, (void*)&d->var, sizeof(d->var)); \
+  CheckInput(input, "mjData");
+
+  X(maxuse_stack);
+  X(maxuse_arena);
+  X(maxuse_con);
+  X(maxuse_efc);
+  X(solver);
+  X(timer);
+  X(warning);
+  X(ncon);
+  X(ne);
+  X(nf);
+  X(nJ);
+  X(nA);
+  X(nefc);
+  X(nisland);
+  X(time);
+  X(energy);
+#undef X
+
+  // Read buffer and arena contents
+  {
+    MJDATA_POINTERS_PREAMBLE((&m))
+
+#define X(type, name, nr, nc) \
+  ReadBytes(input, d->name, sizeof(type) * (m.nr) * (nc));
+    MJDATA_POINTERS
+#undef X
+
+#undef MJ_M
+#define MJ_M(x) m.x
+#undef MJ_D
+#define MJ_D(x) d->x
+// arena pointers might be null, so we need to check the size before allocating.
+#define X(type, name, nr, nc)                                                 \
+  if ((nr) * (nc)) {                                                          \
+    std::size_t actual_nbytes = ReadInt(input);                               \
+    if (actual_nbytes) {                                                      \
+      if (actual_nbytes != sizeof(type) * (nr) * (nc)) {                      \
+        input.setstate(input.rdstate() | std::ios_base::failbit);             \
+      } else {                                                                \
+        d->name = static_cast<decltype(d->name)>(                             \
+            mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), alignof(type))); \
+        input.read(reinterpret_cast<char*>(d->name), actual_nbytes);          \
+      }                                                                       \
+    } else {                                                                  \
+      d->name = nullptr;                                                      \
+    }                                                                         \
+  }
+
+    MJDATA_ARENA_POINTERS_CONTACT
+    MJDATA_ARENA_POINTERS_SOLVER
+    if (is_dual) {
+      MJDATA_ARENA_POINTERS_DUAL
+    }
+    if (d->nisland) {
+      MJDATA_ARENA_POINTERS_ISLAND
+    }
+#undef MJ_M
+#define MJ_M(x) x
+#undef MJ_D
+#define MJ_D(x) x
+#undef X
+  }
+  CheckInput(input, "mjData");
+
+  // All bytes should have been used.
+  input.ignore(1);
+  if (!input.eof()) {
+    throw py::value_error("Invalid serialized mjData.");
+  }
+
+  return MjDataWrapper(m_wrapper.release(), d);
+}
+
+raw::MjData* MjDataWrapper::Copy() const {
+  const raw::MjModel* m = model_->get();
+  return InterceptMjErrors(mj_copyData)(NULL, m, this->ptr_);
+}
+
+// ==================== MJSTATISTIC ============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjStatisticWrapper::MjWrapper()
+    : WrapperBase(new raw::MjStatistic{}), X(center) {}
+
+MjStatisticWrapper::MjWrapper(raw::MjStatistic* ptr, py::handle owner)
+    : WrapperBase(ptr, owner), X(center) {}
+#undef X
+
+MjStatisticWrapper::MjWrapper(const MjStatisticWrapper& other)
+    : MjStatisticWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJWARNINGSTAT ==========================================
+MjWarningStatWrapper::MjWrapper() : WrapperBase(new raw::MjWarningStat{}) {}
+
+MjWarningStatWrapper::MjWrapper(raw::MjWarningStat* ptr, py::handle owner)
+    : WrapperBase(ptr, owner) {}
+
+MjWarningStatWrapper::MjWrapper(const MjWarningStatWrapper& other)
+    : MjWarningStatWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+#define X(type, var)                                                       \
+  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjWarningStat)}, \
+      &ptr->var, owner)
+MjWarningStatList::MjStructList(raw::MjWarningStat* ptr, int num,
+                                py::handle owner)
+    : StructListBase(ptr, num, owner), X(int, lastinfo), X(int, number) {}
+#undef X
+
+// Slicing
+#define X(type, var) var(other.var[slice])
+MjWarningStatList::MjStructList(MjWarningStatList& other, py::slice slice)
+    : StructListBase(other, slice), X(int, lastinfo), X(int, number) {}
+#undef X
+
+// ==================== MJTIMERSTAT ============================================
+MjTimerStatWrapper::MjWrapper() : WrapperBase(new raw::MjTimerStat{}) {}
+
+MjTimerStatWrapper::MjWrapper(raw::MjTimerStat* ptr, py::handle owner)
+    : WrapperBase(ptr, owner) {}
+
+MjTimerStatWrapper::MjWrapper(const MjTimerStatWrapper& other)
+    : MjTimerStatWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+#define X(type, var)                                                     \
+  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjTimerStat)}, \
+      &ptr->var, owner)
+MjTimerStatList::MjStructList(raw::MjTimerStat* ptr, int num, py::handle owner)
+    : StructListBase(ptr, num, owner), X(mjtNum, duration), X(int, number) {}
+#undef X
+
+// Slicing
+#define X(type, var) var(other.var[slice])
+MjTimerStatList::MjStructList(MjTimerStatList& other, py::slice slice)
+    : StructListBase(other, slice), X(mjtNum, duration), X(int, number) {}
+#undef X
+
+// ==================== MJSOLVERSTAT ===========================================
+MjSolverStatWrapper::MjWrapper() : WrapperBase(new raw::MjSolverStat{}) {}
+
+MjSolverStatWrapper::MjWrapper(raw::MjSolverStat* ptr, py::handle owner)
+    : WrapperBase(ptr, owner) {}
+
+MjSolverStatWrapper::MjWrapper(const MjSolverStatWrapper& other)
+    : MjSolverStatWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+#define X(type, var)                                                      \
+  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjSolverStat)}, \
+      &ptr->var, owner)
+MjSolverStatList::MjStructList(raw::MjSolverStat* ptr, int num,
+                               py::handle owner)
+    : StructListBase(ptr, num, owner),
+      X(mjtNum, improvement),
+      X(mjtNum, gradient),
+      X(mjtNum, lineslope),
+      X(int, nactive),
+      X(int, nchange),
+      X(int, neval),
+      X(int, nupdate) {}
+#undef X
+#undef XN
+
+// Slicing
+#define X(type, var) var(other.var[slice])
+MjSolverStatList::MjStructList(MjSolverStatList& other, py::slice slice)
+    : StructListBase(other, slice),
+      X(mjtNum, improvement),
+      X(mjtNum, gradient),
+      X(mjtNum, lineslope),
+      X(int, nactive),
+      X(int, nchange),
+      X(int, neval),
+      X(int, nupdate) {}
+#undef X
+
+// ==================== MJVPERTURB =============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvPerturbWrapper::MjWrapper()
+    : WrapperBase([]() {
+        raw::MjvPerturb* const pert = new raw::MjvPerturb;
+        mjv_defaultPerturb(pert);
+        return pert;
+      }()),
+      X(refpos),
+      X(refquat),
+      X(refselpos),
+      X(localpos) {}
+#undef X
+
+MjvPerturbWrapper::MjWrapper(const MjvPerturbWrapper& other)
+    : MjvPerturbWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVCAMERA ==============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvCameraWrapper::MjWrapper()
+    : WrapperBase([]() {
+        raw::MjvCamera* const cam = new raw::MjvCamera;
+        mjv_defaultCamera(cam);
+        return cam;
+      }()),
+      X(lookat) {}
+#undef X
+
+MjvCameraWrapper::MjWrapper(const MjvCameraWrapper& other)
+    : MjvCameraWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVGLCAMERA ============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvGLCameraWrapper::MjWrapper()
+    : WrapperBase(new raw::MjvGLCamera{}), X(pos), X(forward), X(up) {}
+
+MjvGLCameraWrapper::MjWrapper(raw::MjvGLCamera* ptr, py::handle owner)
+    : WrapperBase(ptr, owner), X(pos), X(forward), X(up) {}
+#undef X
+
+MjvGLCameraWrapper::MjWrapper(raw::MjvGLCamera&& other) : MjvGLCameraWrapper() {
+  *this->ptr_ = other;
+}
+
+MjvGLCameraWrapper::MjWrapper(const MjvGLCameraWrapper& other)
+    : MjvGLCameraWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVGEOM ================================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvGeomWrapper::MjWrapper()
+    : WrapperBase(new raw::MjvGeom{}),
+      X(size),
+      X(pos),
+      mat([this]() {
+        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0]) * 9);
+        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
+      }()),
+      X(rgba) {
+  mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
+}
+
+MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
+    : WrapperBase(ptr, owner),
+      X(size),
+      X(pos),
+      mat([this]() {
+        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0]) * 9);
+        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
+      }()),
+      X(rgba) {}
+#undef X
+
+MjvGeomWrapper::MjWrapper(const MjvGeomWrapper& other) : MjvGeomWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVLIGHT ===============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvLightWrapper::MjWrapper()
+    : WrapperBase(new raw::MjvLight{}),
+      X(pos),
+      X(dir),
+      X(attenuation),
+      X(ambient),
+      X(diffuse),
+      X(specular) {}
+
+MjvLightWrapper::MjWrapper(raw::MjvLight* ptr, py::handle owner)
+    : WrapperBase(ptr, owner),
+      X(pos),
+      X(dir),
+      X(attenuation),
+      X(ambient),
+      X(diffuse),
+      X(specular) {}
+#undef X
+
+MjvLightWrapper::MjWrapper(const MjvLightWrapper& other) : MjvLightWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVOPTION ==============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvOptionWrapper::MjWrapper()
+    : WrapperBase([]() {
+        raw::MjvOption* const opt = new raw::MjvOption;
+        mjv_defaultOption(opt);
+        return opt;
+      }()),
+      X(geomgroup),
+      X(sitegroup),
+      X(jointgroup),
+      X(tendongroup),
+      X(actuatorgroup),
+      X(flexgroup),
+      X(skingroup),
+      X(flags) {}
+#undef X
+
+MjvOptionWrapper::MjWrapper(const MjvOptionWrapper& other)
+    : MjvOptionWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+// ==================== MJVSCENE ===============================================
+static void MjvSceneCapsuleDestructor(PyObject* pyobj) {
+  py::gil_scoped_acquire gil;
+  auto* scn = static_cast<raw::MjvScene*>(PyCapsule_GetPointer(pyobj, nullptr));
+  if (scn) {
+    mjv_freeScene(scn);
+    delete scn;
+  }
+}
+
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+#define XN(var, n) var(InitPyArray(std::array{n}, ptr_->var, owner_))
+MjvSceneWrapper::MjWrapper()
+    : WrapperBase(
+          []() {
+            raw::MjvScene* const scn = new raw::MjvScene;
+            mjv_defaultScene(scn);
+            InterceptMjErrors(mjv_makeScene)(nullptr, scn, 0);
+            return scn;
+          }(),
+          &MjvSceneCapsuleDestructor),
+      nskinvert(0),
+      XN(geoms, 0),
+      XN(geomorder, 0),
+      XN(flexedgeadr, 0),
+      XN(flexedgenum, 0),
+      XN(flexvertadr, 0),
+      XN(flexvertnum, 0),
+      XN(flexfaceadr, 0),
+      XN(flexfacenum, 0),
+      XN(flexfaceused, 0),
+      XN(flexedge, 0),
+      XN(flexvert, 0),
+      XN(flexface, 0),
+      XN(flexnormal, 0),
+      XN(flextexcoord, 0),
+      XN(skinfacenum, 0),
+      XN(skinvertadr, 0),
+      XN(skinvertnum, 0),
+      XN(skinvert, 0),
+      XN(skinnormal, 0),
+      X(lights),
+      X(camera),
+      X(translate),
+      X(rotate),
+      X(flags),
+      X(framergb) {}
+
+#define XN(var, n) var(InitPyArray(std::array{n}, ptr_->var, owner_))
+MjvSceneWrapper::MjWrapper(const MjModelWrapper& model, int maxgeom)
+    : WrapperBase(
+          [maxgeom](const raw::MjModel* m) {
+            raw::MjvScene* const scn = new raw::MjvScene;
+            mjv_defaultScene(scn);
+            InterceptMjErrors(mjv_makeScene)(m, scn, maxgeom);
+            return scn;
+          }(model.get()),
+          &MjvSceneCapsuleDestructor),
+      nskinvert([](const raw::MjModel* m) {
+        int nskinvert = 0;
+        for (int i = 0; i < m->nskin; ++i) {
+          nskinvert += m->skin_vertnum[i];
+        }
+        return nskinvert;
+      }(model.get())),
+      nflexface([](const raw::MjModel* m) {
+        int nflexface = 0;
+        int flexfacenum = 0;
+        for (int f = 0; f < m->nflex; f++) {
+          if (m->flex_dim[f] == 0) {
+            // 1D : 0
+            flexfacenum = 0;
+          } else if (m->flex_dim[f] == 2) {
+            // 2D: 2*fragments + 2*elements
+            flexfacenum = 2 * m->flex_shellnum[f] + 2 * m->flex_elemnum[f];
+          } else {
+            // 3D: max(fragments, 4*maxlayer)
+            // find number of elements in biggest layer
+            int maxlayer = 0, layer = 0, nlayer = 1;
+            while (nlayer) {
+              nlayer = 0;
+              for (int e = 0; e < m->flex_elemnum[f]; e++) {
+                if (m->flex_elemlayer[m->flex_elemadr[f] + e] == layer) {
+                  nlayer++;
+                }
+              }
+              maxlayer = mjMAX(maxlayer, nlayer);
+              layer++;
+            }
+            flexfacenum = mjMAX(m->flex_shellnum[f], 4 * maxlayer);
+          }
+
+          // accumulate over flexes
+          nflexface += flexfacenum;
+        }
+        return nflexface;
+      }(model.get())),
+      nflexedge(model.get()->nflexedge),
+      nflexvert(model.get()->nflexvert),
+      XN(geoms, ptr_->maxgeom),
+      XN(geomorder, ptr_->maxgeom),
+      XN(flexedgeadr, ptr_->nflex),
+      XN(flexedgenum, ptr_->nflex),
+      XN(flexvertadr, ptr_->nflex),
+      XN(flexvertnum, ptr_->nflex),
+      XN(flexfaceadr, ptr_->nflex),
+      XN(flexfacenum, ptr_->nflex),
+      XN(flexfaceused, ptr_->nflex),
+      XN(flexedge, 2 * nflexedge),
+      XN(flexvert, 3 * nflexvert),
+      XN(flexface, 9 * nflexface),
+      XN(flexnormal, 9 * nflexface),
+      XN(flextexcoord, 6 * nflexface),
+      XN(skinfacenum, ptr_->nskin),
+      XN(skinvertadr, ptr_->nskin),
+      XN(skinvertnum, ptr_->nskin),
+      XN(skinvert, 3 * nskinvert),
+      XN(skinnormal, 3 * nskinvert),
+      X(lights),
+      X(camera),
+      X(translate),
+      X(rotate),
+      X(flags),
+      X(framergb) {}
+#undef X
+#undef XN
+
+template <typename T>
+static T* MallocAndCopy(const T* src, int count) {
+  if (src) {
+    T* out = static_cast<T*>(mju_malloc(count * sizeof(T)));
+    std::memcpy(out, src, count * sizeof(T));
+    return out;
+  } else {
+    return nullptr;
+  }
+}
+
+MjvSceneWrapper::MjWrapper(const MjvSceneWrapper& other) : MjvSceneWrapper() {
+  mjv_freeScene(ptr_);
+  *ptr_ = *other.ptr_;
+
+#define XN(var, n)                               \
+  ptr_->var = MallocAndCopy(other.ptr_->var, n); \
+  var = InitPyArray(std::array{n}, ptr_->var, owner_);
+
+  XN(geoms, ptr_->ngeom);
+  XN(geomorder, ptr_->ngeom);
+  XN(flexedgeadr, ptr_->nflex);
+  XN(flexedgenum, ptr_->nflex);
+  XN(flexvertadr, ptr_->nflex);
+  XN(flexvertnum, ptr_->nflex);
+  XN(flexfaceadr, ptr_->nflex);
+  XN(flexfacenum, ptr_->nflex);
+  XN(flexfaceused, ptr_->nflex);
+  XN(flexedge, 2 * nflexedge);
+  XN(flexvert, 3 * nflexvert);
+  XN(flexface, 9 * nflexface);
+  XN(flexnormal, 9 * nflexface);
+  XN(flextexcoord, 6 * nflexface);
+  XN(skinfacenum, ptr_->nskin);
+  XN(skinvertadr, ptr_->nskin);
+  XN(skinvertnum, ptr_->nskin);
+  XN(skinvert, 3 * nskinvert);
+  XN(skinnormal, 3 * nskinvert);
+
+#undef XN
+}
+
+// ==================== MJVFIGURE ==============================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjvFigureWrapper::MjWrapper()
+    : WrapperBase([]() {
+        raw::MjvFigure* const fig = new raw::MjvFigure;
+        mjv_defaultFigure(fig);
+        return fig;
+      }()),
+      X(flg_ticklabel),
+      X(gridsize),
+      X(gridrgb),
+      X(figurergba),
+      X(panergba),
+      X(legendrgba),
+      X(textrgb),
+      X(linergb),
+      X(range),
+      X(highlight),
+      X(linepnt),
+      X(linedata),
+      X(xaxispixel),
+      X(yaxispixel),
+      X(xaxisdata),
+      X(yaxisdata),
+#undef X
+
+      linename([](raw::MjvFigure* ptr, py::handle owner) {
+// Use a macro to help us static_assert that the array extents here are kept
+// in sync with mjVisualize.h.
+#define MAKE_STR_ARRAY(N1, N2)                                           \
+  static_assert(                                                         \
+      std::is_same_v<decltype(raw::MjvFigure::linename), char[N1][N2]>); \
+  return py::array(py::dtype("|S" #N2), N1, ptr->linename, owner);
+        MAKE_STR_ARRAY(mjMAXLINE, 100);
+
+#undef MAKE_STR_ARRAY
+      }(ptr_, owner_)) {
+}
+
+MjvFigureWrapper::MjWrapper(const MjvFigureWrapper& other)
+    : MjvFigureWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
+}  // namespace mujoco::python::_impl

From 3429a4881a3062d16a97e097c9f4650cde5ea1c0 Mon Sep 17 00:00:00 2001
From: Mohammad Hamid <mohammadhamid@google.com>
Date: Thu, 10 Apr 2025 04:14:34 -0700
Subject: [PATCH 055/191] Detect mismatch between maxNodes and Nodes in a gmsh
 block. Fixes #2342

PiperOrigin-RevId: 745967745
Change-Id: If1b5fcd71079a0e6a6def9b442758678e31a5828
---
 src/user/user_flexcomp.cc                     |  5 ++
 ...h_between_max_nodes_and_nodes_in_block.msh | 67 +++++++++++++++++++
 ...h_between_max_nodes_and_nodes_in_block.xml | 27 ++++++++
 test/user/user_flex_test.cc                   | 12 ++++
 4 files changed, 111 insertions(+)
 create mode 100644 test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh
 create mode 100644 test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml

diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 50c12d68..1d0dbece 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -1167,6 +1167,11 @@ void mjCFlexcomp::LoadGMSH41(char* buffer, int binary, int nodeend,
       throw mjCError(NULL, "All nodes must be in single block");
     }
 
+    // require maximum number of nodes be equal to maximum number of nodes in a block
+    if (maxNodeTag != numNodesInBlock){
+      throw mjCError(NULL, "Maximum number of nodes must be equal to number of nodes in a block");
+    }
+
     // check dimensionality and save
     if (entityDim < 1 || entityDim > 3) {
       throw mjCError(NULL, "Entity must be 1D, 2D or 3D");
diff --git a/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh b/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh
new file mode 100644
index 00000000..7f88379f
--- /dev/null
+++ b/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh
@@ -0,0 +1,67 @@
+$MeshFormat
+4.1 0 8
+$EndMeshFormat
+$Entities
+0 0 0 1
+1 -0.5 -0.5 0 0.5 0.5 1 0 0
+$EndEntities
+$Nodes
+1 14 1 100
+3 1 0 14
+1
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11
+12
+13
+14
+-0.5 -0.5 0
+0.5 -0.5 0
+0.5 0.5 0
+-0.5 0.5 0
+-0.5 -0.5 1
+0.5 -0.5 1
+0.5 0.5 1
+-0.5 0.5 1
+0 0 0
+0 -0.5 0.5
+0.5 0 0.5
+0 0.5 0.5
+-0.5 0 0.5
+0 0 1
+$EndNodes
+$Elements
+1 24 1 24
+3 1 4 24
+1 10 9 12 11
+2 10 12 13 14
+3 9 10 12 13
+4 10 12 14 11
+5 9 10 1 2
+6 7 11 12 3
+7 4 1 9 13
+8 13 12 4 8
+9 1 10 13 5
+10 13 8 5 14
+11 12 8 14 7
+12 14 5 10 6
+13 14 6 11 7
+14 9 4 12 3
+15 3 11 9 2
+16 11 6 10 2
+17 6 10 14 11
+18 1 10 9 13
+19 12 4 9 13
+20 5 10 13 14
+21 8 13 12 14
+22 12 14 11 7
+23 9 12 11 3
+24 10 9 11 2
+$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml b/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml
new file mode 100644
index 00000000..1e179a81
--- /dev/null
+++ b/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml
@@ -0,0 +1,27 @@
+<mujoco model="gmsh">
+  <option timestep="0.01" integrator="implicitfast" solver="CG" />
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
+      rgb2=".2 .3 .4" />
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
+  </asset>
+
+  <visual>
+    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
+    <map force="0.1" zfar="30" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <quality shadowsize="4096" />
+    <global offwidth="800" offheight="800" />
+  </visual>
+
+  <worldbody>
+    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
+    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
+    <flexcomp name="cube" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
+              scale="1 1 1" file="malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh">
+      <edge equality="true" />
+    </flexcomp>
+  </worldbody>
+</mujoco>
diff --git a/test/user/user_flex_test.cc b/test/user/user_flex_test.cc
index 67dfb8f6..a43b93f0 100644
--- a/test/user/user_flex_test.cc
+++ b/test/user/user_flex_test.cc
@@ -697,6 +697,18 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
   mj_deleteModel(m);
 }
 
+TEST_F(UserFlexTest,
+       LoadMSHASCII_41_MismatchBetweenMaxNodesAndNodesInBlock_Fail) {
+  const std::string xml_path =
+      GetTestDataFilePath(
+          "user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml");
+  std::array<char, 1024> error;
+  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  EXPECT_THAT(error.data(), HasSubstr(
+        "XML Error: Error: Maximum number of nodes must be equal to number of nodes in a block\nElement 'flexcomp', line 22\n"));
+  mj_deleteModel(m);
+}
+
 TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
   const std::string xml_path =
       GetTestDataFilePath(

From d3664b5d0192ed81b8a62c458a6e29c63b9a0c72 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 10 Apr 2025 04:40:21 -0700
Subject: [PATCH 056/191] Avoid square root in mju_makeFrame

PiperOrigin-RevId: 745974380
Change-Id: I90879fac05e62daf60acd2223f814e833634b242
---
 src/engine/engine_util_spatial.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_util_spatial.c b/src/engine/engine_util_spatial.c
index c170d923..dda47cf6 100644
--- a/src/engine/engine_util_spatial.c
+++ b/src/engine/engine_util_spatial.c
@@ -532,7 +532,7 @@ void mju_makeFrame(mjtNum frame[9]) {
   }
 
   // if yaxis undefined, set yaxis to (0,1,0) if possible, otherwise (0,0,1)
-  if (mju_norm3(frame+3) < 0.5) {
+  if (mju_dot3(frame+3, frame+3) < 0.25) {
     mju_zero3(frame+3);
 
     if (frame[1] < 0.5 && frame[1] > -0.5) {

From 51c489fc3025661f33d5e2e25b13e42a872cb53a Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Thu, 10 Apr 2025 06:07:23 -0700
Subject: [PATCH 057/191] Add inverse dynamics to MJX.

PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
---
 doc/changelog.rst                   |   8 ++
 doc/mjx.rst                         |   4 +-
 mjx/mujoco/mjx/__init__.py          |   2 +
 mjx/mujoco/mjx/_src/derivative.py   |  59 +++++++++++++
 mjx/mujoco/mjx/_src/forward.py      |  25 +-----
 mjx/mujoco/mjx/_src/inverse.py      | 106 ++++++++++++++++++++++
 mjx/mujoco/mjx/_src/inverse_test.py | 131 ++++++++++++++++++++++++++++
 mjx/mujoco/mjx/_src/io.py           |   5 +-
 mjx/mujoco/mjx/_src/smooth.py       |  17 +++-
 mjx/mujoco/mjx/_src/smooth_test.py  |   7 ++
 mjx/mujoco/mjx/_src/solver.py       |  24 ++---
 mjx/mujoco/mjx/_src/solver_test.py  |   2 +-
 mjx/mujoco/mjx/_src/types.py        |  11 +++
 13 files changed, 357 insertions(+), 44 deletions(-)
 create mode 100644 mjx/mujoco/mjx/_src/derivative.py
 create mode 100644 mjx/mujoco/mjx/_src/inverse.py
 create mode 100644 mjx/mujoco/mjx/_src/inverse_test.py

diff --git a/doc/changelog.rst b/doc/changelog.rst
index fa30391f..d094094e 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -1,6 +1,14 @@
 =========
 Changelog
 =========
+
+Upcoming version (not yet release)
+----------------------------------
+
+MJX
+^^^
+- Added inverse dynamics.
+
 Version 3.3.1 (Apr 9, 2025)
 ----------------------------
 
diff --git a/doc/mjx.rst b/doc/mjx.rst
index 98fb36b3..0c00525f 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -235,6 +235,8 @@ The following features are **fully supported** in MJX:
      - 1, 3, 4, 6 (1 is not supported with ``ELLIPTIC``)
    * - :ref:`Solver <mjtSolver>`
      - ``CG``, ``NEWTON``
+   * - Dynamics
+     - :ref:`Inverse <mj_inverse>`
    * - Fluid Model
      - :ref:`flInertia`
    * - :ref:`Tendons <tendon>`
@@ -262,8 +264,6 @@ The following features are **in development** and coming soon:
        (``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
    * - :ref:`Integrator <mjtIntegrator>`
      - ``IMPLICIT``
-   * - Dynamics
-     - :ref:`Inverse <mj_inverse>`
    * - Fluid Model
      - :ref:`flEllipsoid`
    * - :ref:`Sensors <mjtSensor>`
diff --git a/mjx/mujoco/mjx/__init__.py b/mjx/mujoco/mjx/__init__.py
index 6a031b57..c60c785c 100644
--- a/mjx/mujoco/mjx/__init__.py
+++ b/mjx/mujoco/mjx/__init__.py
@@ -17,6 +17,7 @@
 # pylint:disable=g-importing-member
 from mujoco.mjx._src.collision_driver import collision
 from mujoco.mjx._src.constraint import make_constraint
+from mujoco.mjx._src.derivative import deriv_smooth_vel
 from mujoco.mjx._src.forward import euler
 from mujoco.mjx._src.forward import forward
 from mujoco.mjx._src.forward import fwd_acceleration
@@ -26,6 +27,7 @@ from mujoco.mjx._src.forward import fwd_velocity
 from mujoco.mjx._src.forward import implicit
 from mujoco.mjx._src.forward import rungekutta4
 from mujoco.mjx._src.forward import step
+from mujoco.mjx._src.inverse import inverse
 from mujoco.mjx._src.io import get_data
 from mujoco.mjx._src.io import get_data_into
 from mujoco.mjx._src.io import make_data
diff --git a/mjx/mujoco/mjx/_src/derivative.py b/mjx/mujoco/mjx/_src/derivative.py
new file mode 100644
index 00000000..b0fc65f7
--- /dev/null
+++ b/mjx/mujoco/mjx/_src/derivative.py
@@ -0,0 +1,59 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Derivative functions."""
+
+from typing import Optional
+
+import jax
+from jax import numpy as jp
+# pylint: disable=g-importing-member
+from mujoco.mjx._src.types import BiasType
+from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DisableBit
+from mujoco.mjx._src.types import DynType
+from mujoco.mjx._src.types import GainType
+from mujoco.mjx._src.types import Model
+
+
+def deriv_smooth_vel(m: Model, d: Data) -> Optional[jax.Array]:
+  """Analytical derivative of smooth forces w.r.t velocities."""
+
+  qderiv = None
+
+  # qDeriv += d qfrc_actuator / d qvel
+  if not m.opt.disableflags & DisableBit.ACTUATION:
+    affine_bias = m.actuator_biastype == BiasType.AFFINE
+    bias_vel = m.actuator_biasprm[:, 2] * affine_bias
+    affine_gain = m.actuator_gaintype == GainType.AFFINE
+    gain_vel = m.actuator_gainprm[:, 2] * affine_gain
+    ctrl = d.ctrl.at[m.actuator_dyntype != DynType.NONE].set(d.act)
+    vel = bias_vel + gain_vel * ctrl
+    qderiv = d.actuator_moment.T @ jax.vmap(jp.multiply)(d.actuator_moment, vel)
+
+  # qDeriv += d qfrc_passive / d qvel
+  if not m.opt.disableflags & DisableBit.PASSIVE:
+    if qderiv is None:
+      qderiv = -jp.diag(m.dof_damping)
+    else:
+      qderiv -= jp.diag(m.dof_damping)
+    if m.ntendon:
+      qderiv -= d.ten_J.T @ jp.diag(m.tendon_damping) @ d.ten_J
+    # TODO(robotics-simulation): fluid drag model
+    if m.opt.has_fluid_params:
+      raise NotImplementedError('fluid drag not supported for implicitfast')
+
+  # TODO(team): rne derivative
+
+  return qderiv
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 6ad1ae71..967aa639 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -22,6 +22,7 @@ from jax import numpy as jp
 import mujoco
 from mujoco.mjx._src import collision_driver
 from mujoco.mjx._src import constraint
+from mujoco.mjx._src import derivative
 from mujoco.mjx._src import math
 from mujoco.mjx._src import passive
 from mujoco.mjx._src import scan
@@ -392,29 +393,7 @@ def rungekutta4(m: Model, d: Data) -> Data:
 def implicit(m: Model, d: Data) -> Data:
   """Integrates fully implicit in velocity."""
 
-  qderiv = None
-
-  # qDeriv += d qfrc_actuator / d qvel
-  if not m.opt.disableflags & DisableBit.ACTUATION:
-    affine_bias = m.actuator_biastype == BiasType.AFFINE
-    bias_vel = m.actuator_biasprm[:, 2] * affine_bias
-    affine_gain = m.actuator_gaintype == GainType.AFFINE
-    gain_vel = m.actuator_gainprm[:, 2] * affine_gain
-    ctrl = d.ctrl.at[m.actuator_dyntype != DynType.NONE].set(d.act)
-    vel = bias_vel + gain_vel * ctrl
-    qderiv = d.actuator_moment.T @ jp.diag(vel) @ d.actuator_moment
-
-  # qDeriv += d qfrc_passive / d qvel
-  if not m.opt.disableflags & DisableBit.PASSIVE:
-    if qderiv is None:
-      qderiv = -jp.diag(m.dof_damping)
-    else:
-      qderiv -= jp.diag(m.dof_damping)
-    if m.ntendon:
-      qderiv -= d.ten_J.T @ jp.diag(m.tendon_damping) @ d.ten_J
-    # TODO(robotics-simulation): fluid drag model
-    if m.opt.has_fluid_params:
-      raise NotImplementedError('fluid drag not supported for implicitfast')
+  qderiv = derivative.deriv_smooth_vel(m, d)
 
   qacc = d.qacc
   if qderiv is not None:
diff --git a/mjx/mujoco/mjx/_src/inverse.py b/mjx/mujoco/mjx/_src/inverse.py
new file mode 100644
index 00000000..5ad3e1ad
--- /dev/null
+++ b/mjx/mujoco/mjx/_src/inverse.py
@@ -0,0 +1,106 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Inverse dynamics functions."""
+
+from jax import numpy as jp
+from mujoco.mjx._src import derivative
+from mujoco.mjx._src import forward
+from mujoco.mjx._src import sensor
+from mujoco.mjx._src import smooth
+from mujoco.mjx._src import solver
+from mujoco.mjx._src import support
+# pylint: disable=g-importing-member
+from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DisableBit
+from mujoco.mjx._src.types import EnableBit
+from mujoco.mjx._src.types import IntegratorType
+from mujoco.mjx._src.types import Model
+
+
+def discrete_acc(m: Model, d: Data) -> Data:
+  """Convert discrete-time qacc to continuous-time qacc."""
+
+  if m.opt.integrator == IntegratorType.RK4:
+    raise RuntimeError(
+        'discrete inverse dynamics is not supported by RK4 integrator'
+    )
+  elif m.opt.integrator == IntegratorType.EULER:
+    dsbl_eulerdamp = m.opt.disableflags & DisableBit.EULERDAMP
+    no_dof_damping = (m.dof_damping == 0).all()
+    if dsbl_eulerdamp or no_dof_damping:
+      return d
+
+    # set qfrc = (M + h*diag(B)) * qacc
+    qfrc = support.mul_m(m, d, d.qacc)
+    qfrc += m.opt.timestep * m.dof_damping * d.qacc
+  elif m.opt.integrator == IntegratorType.IMPLICITFAST:
+    qm = support.full_m(m, d)
+
+    # compute analytical derivative qDeriv; skip rne derivative
+    qderiv = derivative.deriv_smooth_vel(m, d)
+    if qderiv is not None:
+      # M = M - dt*qDeriv
+      qm -= m.opt.timestep * qderiv
+
+    # set qfrc = (M - dt*qDeriv) * qacc
+    qfrc = qm @ d.qacc
+  else:
+    raise NotImplementedError(f'integrator {m.opt.integrator} not implemented.')
+
+  # solve for qacc: qfrc = M * qacc
+  qacc = smooth.solve_m(m, d, qfrc)
+
+  return d.replace(qacc=qacc)
+
+
+def inv_constraint(m: Model, d: Data) -> Data:
+  """Inverse constraint solver."""
+
+  # no constraints
+  if d.efc_J.size == 0:
+    return d.replace(qfrc_constraint=jp.zeros(m.nv))
+
+  # update
+  ctx = solver.Context.create(m, d, grad=False)
+
+  return d.replace(
+      qfrc_constraint=ctx.qfrc_constraint,
+      efc_force=ctx.efc_force,
+  )
+
+
+def inverse(m: Model, d: Data) -> Data:
+  """Inverse dynamics."""
+  d = forward.fwd_position(m, d)
+  d = sensor.sensor_pos(m, d)
+  d = forward.fwd_velocity(m, d)
+  d = sensor.sensor_vel(m, d)
+
+  qacc = d.qacc
+  if m.opt.enableflags & EnableBit.INVDISCRETE:
+    d = discrete_acc(m, d)
+
+  d = inv_constraint(m, d)
+  d = smooth.rne(m, d, flg_acc=True)
+  d = sensor.sensor_acc(m, d)
+
+  qfrc_inverse = (
+      d.qfrc_bias + m.dof_armature * d.qacc - d.qfrc_passive - d.qfrc_constraint
+  )
+
+  if m.opt.enableflags & EnableBit.INVDISCRETE:
+    return d.replace(qfrc_inverse=qfrc_inverse, qacc=qacc)
+  else:
+    return d.replace(qfrc_inverse=qfrc_inverse)
diff --git a/mjx/mujoco/mjx/_src/inverse_test.py b/mjx/mujoco/mjx/_src/inverse_test.py
new file mode 100644
index 00000000..19a5deef
--- /dev/null
+++ b/mjx/mujoco/mjx/_src/inverse_test.py
@@ -0,0 +1,131 @@
+# Copyright 2023 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Tests for inverse dynamics functions."""
+from absl.testing import absltest
+from absl.testing import parameterized
+import jax
+from jax import numpy as jp
+import mujoco
+from mujoco import mjx
+from mujoco.mjx._src import support
+from mujoco.mjx._src import test_util
+import numpy as np
+
+# tolerance for difference between MuJoCo and MJX calculations - mostly
+# due to float precision
+_TOLERANCE = 1e-5
+
+
+def _assert_eq(a, b, name, tol=_TOLERANCE):
+  tol = tol * 10  # avoid test noise
+  err_msg = f'mismatch: {name}'
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
+
+
+class InverseTest(parameterized.TestCase):
+
+  @parameterized.parameters(
+      (mujoco.mjtIntegrator.mjINT_EULER, False, False),
+      (mujoco.mjtIntegrator.mjINT_EULER, False, True),
+      (mujoco.mjtIntegrator.mjINT_EULER, True, False),
+      (mujoco.mjtIntegrator.mjINT_EULER, True, True),
+      (mujoco.mjtIntegrator.mjINT_IMPLICITFAST, False, False),
+      (mujoco.mjtIntegrator.mjINT_IMPLICITFAST, True, False),
+  )
+  def test_forward_inverse_match(self, integrator, invdiscrete, eulerdamp):
+    m = mujoco.MjModel.from_xml_string("""
+      <mujoco>
+        <option timestep=".005" gravity="-1 -1 -10"/>
+        <worldbody>
+          <geom type="plane" size="10 10 .001"/>
+          <body pos="0 0 1">
+            <geom type="sphere" size=".1" pos=".1 .2 .3"/>
+            <joint name="jnt1" type="hinge" axis="0 1 0" stiffness=".25" damping=".125"/>
+            <body pos="0 0 1">
+              <geom type="sphere" size=".1" pos=".1 .2 .3"/>
+              <joint name="jnt2" type="hinge" axis="0 1 0" stiffness=".6" damping=".3"/>
+            </body>
+          </body>
+        </worldbody>
+        <actuator>
+          <motor joint="jnt1"/>
+        </actuator>
+        <equality>
+          <joint joint1="jnt1" joint2="jnt2"/>
+        </equality>
+      </mujoco>
+    """)
+    m.opt.integrator = integrator
+    if invdiscrete:
+      m.opt.enableflags |= mujoco.mjtEnableBit.mjENBL_INVDISCRETE
+    if not eulerdamp:
+      m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_EULERDAMP
+
+    d = mujoco.MjData(m)
+    d.qvel = np.random.uniform(low=-0.01, high=0.01, size=d.qvel.shape)
+    d.ctrl = np.random.uniform(low=-0.01, high=0.01, size=d.ctrl.shape)
+    d.qfrc_applied = np.random.uniform(
+        low=-0.01, high=0.01, size=d.qfrc_applied.shape
+    )
+    d.xfrc_applied = np.random.uniform(
+        low=-0.01, high=0.01, size=d.xfrc_applied.shape
+    )
+    mujoco.mj_step(m, d, 100)
+
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+    dx_next = mjx.step(mx, dx)
+    qacc_fd = (dx_next.qvel - dx.qvel) / mx.opt.timestep
+
+    dx = mjx.forward(mx, dx)
+
+    if invdiscrete:
+      dx = dx.replace(qacc=qacc_fd)
+
+    dxinv = mjx.inverse(mx, dx)
+
+    fwdinv0 = jp.linalg.norm(
+        dxinv.qfrc_constraint - dx.qfrc_constraint, ord=np.inf
+    )
+    fwdinv1 = jp.linalg.norm(
+        dxinv.qfrc_inverse
+        - (
+            dx.qfrc_applied + dx.qfrc_actuator + support.xfrc_accumulate(mx, dx)
+        ),
+        ord=np.inf,
+    )
+
+    self.assertLess(fwdinv0, 1.0e-3)
+    self.assertLess(fwdinv1, 1.0e-3)
+    _assert_eq(dxinv.qacc, dx.qacc, 'qacc')
+
+  def test_tendon_force_clamp(self):
+    m = test_util.load_test_file('actuator/tendon_force_clamp.xml')
+    d = mujoco.MjData(m)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+
+    dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -20.0, 5.0, -5.0]))
+    dx = mjx.forward(mx, dx)
+
+    _assert_eq(
+        dx.actuator_force,
+        jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -10.0, 5.0, -5.0]),
+        'actuator_force',
+    )
+
+
+if __name__ == '__main__':
+  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index aac18731..54ac3dac 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -56,8 +56,8 @@ def _make_option(
       raise NotImplementedError(f'{mujoco.mjtSolver(o.solver)}')
 
     for i in range(mujoco.mjtEnableBit.mjNENABLE):
-      if o.enableflags & 2**i:
-        raise NotImplementedError(f'{mujoco.mjtEnableBit(2 ** i)}')
+      if o.enableflags & 2**i and 2**i not in set(types.EnableBit):
+        raise NotImplementedError(f'{mujoco.mjtEnableBit(2**i)}')
 
   has_fluid_params = o.density > 0 or o.viscosity > 0 or o.wind.any()
   implicitfast = o.integrator == mujoco.mjtIntegrator.mjINT_IMPLICITFAST
@@ -72,6 +72,7 @@ def _make_option(
   fields['solver'] = types.SolverType(o.solver)
   fields['disableflags'] = types.DisableBit(o.disableflags)
   fields['has_fluid_params'] = has_fluid_params
+  fields['enableflags'] = types.EnableBit(o.enableflags)
 
   return types.Option(**fields)
 
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 87750c04..92e46702 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -532,11 +532,14 @@ def subtree_vel(m: Model, d: Data) -> Data:
   return d.replace(subtree_linvel=subtree_linvel, subtree_angmom=subtree_angmom)
 
 
-def rne(m: Model, d: Data) -> Data:
-  """Computes inverse dynamics using the recursive Newton-Euler algorithm."""
+def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
+  """Computes inverse dynamics using the recursive Newton-Euler algorithm.
+
+  flg_acc=False removes inertial term.
+  """
 
   # forward scan over tree: accumulate link center of mass acceleration
-  def cacc_fn(cacc, cdof_dot, qvel):
+  def cacc_fn(cacc, cdof_dot, qvel, cdof, qacc):
     if cacc is None:
       if m.opt.disableflags & DisableBit.GRAVITY:
         cacc = jp.zeros((6,))
@@ -545,9 +548,15 @@ def rne(m: Model, d: Data) -> Data:
 
     cacc += jp.sum(jax.vmap(jp.multiply)(cdof_dot, qvel), axis=0)
 
+    # cacc += cdof * qacc
+    if flg_acc:
+      cacc += jp.sum(jax.vmap(jp.multiply)(cdof, qacc), axis=0)
+
     return cacc
 
-  cacc = scan.body_tree(m, cacc_fn, 'vv', 'b', d.cdof_dot, d.qvel)
+  cacc = scan.body_tree(
+      m, cacc_fn, 'vvvv', 'b', d.cdof_dot, d.qvel, d.cdof, d.qacc
+  )
 
   def frc(cinert, cacc, cvel):
     frc = math.inert_mul(cinert, cacc)
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 01ce8abb..eca05068 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -105,6 +105,13 @@ class SmoothTest(absltest.TestCase):
     # rne
     dx = jax.jit(mjx.rne)(mx, mjx.put_data(m, d))
     _assert_attr_eq(d, dx, 'qfrc_bias')
+    # rne (flg_acc=True)
+    qfrc_bias = np.zeros(m.nv)
+    mujoco.mj_rne(m, d, 1, qfrc_bias)
+    dx = jax.jit(mjx.rne, static_argnums=(2,))(
+        mx, mjx.put_data(m, d), flg_acc=True
+    )
+    _assert_eq(dx.qfrc_bias, qfrc_bias, 'qfrc_bias')
 
     # set dense jacobian for tendon:
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
index 6d3d4f21..efb58c41 100644
--- a/mjx/mujoco/mjx/_src/solver.py
+++ b/mjx/mujoco/mjx/_src/solver.py
@@ -30,7 +30,7 @@ from mujoco.mjx._src.types import SolverType
 # pylint: enable=g-importing-member
 
 
-class _Context(PyTreeNode):
+class Context(PyTreeNode):
   """Data updated during each solver iteration.
 
   Attributes:
@@ -72,7 +72,7 @@ class _Context(PyTreeNode):
   h: jax.Array
 
   @classmethod
-  def create(cls, m: Model, d: Data, grad: bool = True) -> '_Context':
+  def create(cls, m: Model, d: Data, grad: bool = True) -> 'Context':
     jaref = d.efc_J @ d.qacc - d.efc_aref
     # TODO(robotics-team): determine nv at which sparse mul is faster
     ma = support.mul_m(m, d, d.qacc)
@@ -86,7 +86,7 @@ class _Context(PyTreeNode):
       for condim in (3, 4, 6):
         fri = fri.at[dim == condim, condim:].set(0)
 
-    ctx = _Context(
+    ctx = Context(
         qacc=d.qacc,
         qfrc_constraint=d.qfrc_constraint,
         Jaref=jaref,
@@ -133,7 +133,7 @@ class _LSPoint(PyTreeNode):
       cls,
       m: Model,
       d: Data,
-      ctx: _Context,
+      ctx: Context,
       alpha: jax.Array,
       jv: jax.Array,
       quad: jax.Array,
@@ -241,7 +241,7 @@ def _while_loop_scan(cond_fun, body_fun, init_val, max_iter):
   return jax.lax.scan(_fun, init, None, length=max_iter)[0][0]
 
 
-def _update_constraint(m: Model, d: Data, ctx: _Context) -> _Context:
+def _update_constraint(m: Model, d: Data, ctx: Context) -> Context:
   """Updates constraint force and resulting cost given last solver iteration.
 
   Corresponds to CGupdateConstraint in mujoco/src/engine/engine_solver.c
@@ -356,7 +356,7 @@ def _update_constraint(m: Model, d: Data, ctx: _Context) -> _Context:
   return ctx
 
 
-def _update_gradient(m: Model, d: Data, ctx: _Context) -> _Context:
+def _update_gradient(m: Model, d: Data, ctx: Context) -> Context:
   """Updates grad and M / grad given latest solver iteration.
 
   Corresponds to CGupdateGradient in mujoco/src/engine/engine_solver.c
@@ -403,7 +403,7 @@ def _rescale(m: Model, value: jax.Array) -> jax.Array:
   return value / (m.stat.meaninertia * max(1, m.nv))
 
 
-def _linesearch(m: Model, d: Data, ctx: _Context) -> _Context:
+def _linesearch(m: Model, d: Data, ctx: Context) -> Context:
   """Performs a zoom linesearch to find optimal search step size.
 
   Args:
@@ -529,7 +529,7 @@ def _linesearch(m: Model, d: Data, ctx: _Context) -> _Context:
 def solve(m: Model, d: Data) -> Data:
   """Finds forces that satisfy constraints using conjugate gradient descent."""
 
-  def cond(ctx: _Context) -> jax.Array:
+  def cond(ctx: Context) -> jax.Array:
     improvement = _rescale(m, ctx.prev_cost - ctx.cost)
     gradient = _rescale(m, math.norm(ctx.grad))
 
@@ -539,7 +539,7 @@ def solve(m: Model, d: Data) -> Data:
 
     return ~done
 
-  def body(ctx: _Context) -> _Context:
+  def body(ctx: Context) -> Context:
     ctx = _linesearch(m, d, ctx)
     prev_grad, prev_Mgrad = ctx.grad, ctx.Mgrad  # pylint: disable=invalid-name
     ctx = _update_constraint(m, d, ctx)
@@ -560,12 +560,12 @@ def solve(m: Model, d: Data) -> Data:
   # warmstart:
   qacc = d.qacc_smooth
   if not m.opt.disableflags & DisableBit.WARMSTART:
-    warm = _Context.create(m, d.replace(qacc=d.qacc_warmstart), grad=False)
-    smth = _Context.create(m, d.replace(qacc=d.qacc_smooth), grad=False)
+    warm = Context.create(m, d.replace(qacc=d.qacc_warmstart), grad=False)
+    smth = Context.create(m, d.replace(qacc=d.qacc_smooth), grad=False)
     qacc = jp.where(warm.cost < smth.cost, d.qacc_warmstart, d.qacc_smooth)
   d = d.replace(qacc=qacc)
 
-  ctx = _Context.create(m, d)
+  ctx = Context.create(m, d)
   if m.opt.iterations == 1:
     ctx = body(ctx)
   else:
diff --git a/mjx/mujoco/mjx/_src/solver_test.py b/mjx/mujoco/mjx/_src/solver_test.py
index 57d4a116..6da06526 100644
--- a/mjx/mujoco/mjx/_src/solver_test.py
+++ b/mjx/mujoco/mjx/_src/solver_test.py
@@ -74,7 +74,7 @@ class SolverTest(parameterized.TestCase):
 
       # compare costs
       mj_cost = cost(d.qacc)
-      ctx = solver._Context.create(mjx.put_model(m), mjx.put_data(m, d))
+      ctx = solver.Context.create(mjx.put_model(m), mjx.put_data(m, d))
       mjx_cost = ctx.cost - ctx.gauss
       _assert_eq(mj_cost, mjx_cost, 'cost')
 
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 3ee10499..94587478 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -65,6 +65,17 @@ class DisableBit(enum.IntFlag):
   # unsupported: MIDPHASE
 
 
+class EnableBit(enum.IntFlag):
+  """Enable optional feature bitflags.
+
+  Members:
+    INVDISCRETE: discrete-time inverse dynamics
+  """
+
+  INVDISCRETE = mujoco.mjtEnableBit.mjENBL_INVDISCRETE
+  # unsupported: OVERRIDE, ENERGY, FWDINV, MULTICCD, ISLAND
+
+
 class JointType(enum.IntEnum):
   """Type of degree of freedom.
 

From 3c530976e3dbf461c8b43f3b0ee3467682a4a3ec Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Thu, 10 Apr 2025 06:47:39 -0700
Subject: [PATCH 058/191] Add `rne_postconstraint` dependence for `FRAMELINACC`
 and `FRAMEANGACC` sensors to MJX.

PiperOrigin-RevId: 746009774
Change-Id: Ide45298b463f1ad04f1ffa7f60a7a8aeaf18f063
---
 mjx/mujoco/mjx/_src/io.py     | 2 ++
 mjx/mujoco/mjx/_src/sensor.py | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 54ac3dac..01815012 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -129,6 +129,8 @@ def put_model(
       np.any(m.sensor_type == types.SensorType.ACCELEROMETER)
       | np.any(m.sensor_type == types.SensorType.FORCE)
       | np.any(m.sensor_type == types.SensorType.TORQUE)
+      | np.any(m.sensor_type == types.SensorType.FRAMELINACC)
+      | np.any(m.sensor_type == types.SensorType.FRAMEANGACC)
   )
   eq_connect_weld = np.any(m.eq_type == types.EqType.CONNECT) | np.any(
       m.eq_type == types.EqType.WELD
diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py
index 5d040052..7c3a5c87 100644
--- a/mjx/mujoco/mjx/_src/sensor.py
+++ b/mjx/mujoco/mjx/_src/sensor.py
@@ -441,6 +441,8 @@ def sensor_acc(m: Model, d: Data) -> Data:
       SensorType.ACCELEROMETER,
       SensorType.FORCE,
       SensorType.TORQUE,
+      SensorType.FRAMELINACC,
+      SensorType.FRAMEANGACC,
   }:
     d = smooth.rne_postconstraint(m, d)
 

From 25126e88c7a0b1660c88cb826a948ec259cc0c1a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 10 Apr 2025 06:55:37 -0700
Subject: [PATCH 059/191] Move mju_cholFactorCount to engine_util_solve.

PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
---
 src/engine/engine_util_solve.c         |  54 +++++++++++++
 src/engine/engine_util_solve.h         |   4 +
 src/engine/engine_util_sparse.c        |  52 ------------
 src/engine/engine_util_sparse.h        |   3 -
 test/engine/engine_util_solve_test.cc  |  76 ++++++++++++++++-
 test/engine/engine_util_sparse_test.cc | 108 ++++---------------------
 test/fixture.h                         |   5 +-
 7 files changed, 150 insertions(+), 152 deletions(-)

diff --git a/src/engine/engine_util_solve.c b/src/engine/engine_util_solve.c
index 83fdb634..11889667 100644
--- a/src/engine/engine_util_solve.c
+++ b/src/engine/engine_util_solve.c
@@ -191,6 +191,60 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
 
 
 
+// precount row non-zeros of reverse-Cholesky factor L, return total non-zeros
+//  based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
+//  reads pattern from upper triangle
+int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr, const int* colind,
+                        int n, mjData* d) {
+  mj_markStack(d);
+  int* parent = mjSTACKALLOC(d, n, int);
+  int* flag = mjSTACKALLOC(d, n, int);
+
+  // loop over rows in reverse order
+  for (int r = n - 1; r >= 0; r--) {
+    parent[r] = -1;
+    flag[r] = r;
+    L_rownnz[r] = 1;  // start with 1 for diagonal
+
+    // loop over non-zero columns of upper triangle
+    int start = rowadr[r];
+    int end = start + rownnz[r];
+    for (int c = start; c < end; c++) {
+      int i = colind[c];
+
+      // skip lower triangle
+      if (i <= r) {
+        continue;
+      }
+
+      // traverse from i to ancestor, stop when row is flagged
+      while (flag[i] != r) {
+        // if not yet set, set parent to current row
+        if (parent[i] == -1) {
+          parent[i] = r;
+        }
+
+        // increment non-zeros, flag row i, advance to parent
+        L_rownnz[i]++;
+        flag[i] = r;
+        i = parent[i];
+      }
+    }
+  }
+
+  mj_freeStack(d);
+
+  // sum up all row non-zeros
+  int nnz = 0;
+  for (int r = 0; r < n; r++) {
+    nnz += L_rownnz[r];
+  }
+
+  return nnz;
+}
+
+
+
 // sparse reverse-order Cholesky solve
 void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
                          const int* rownnz, const int* rowadr, const int* colind) {
diff --git a/src/engine/engine_util_solve.h b/src/engine/engine_util_solve.h
index 6bbdc6bb..6a772e2c 100644
--- a/src/engine/engine_util_solve.h
+++ b/src/engine/engine_util_solve.h
@@ -38,6 +38,10 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
                          int* rownnz, const int* rowadr, int* colind,
                          mjData* d);
 
+// precount row non-zeros of reverse-Cholesky factor L, return total
+MJAPI int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr,
+                              const int* colind, int n, mjData* d);
+
 // sparse reverse-order Cholesky solve
 void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
                          const int* rownnz, const int* rowadr, const int* colind);
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index abb95be0..d72a9fca 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -795,55 +795,3 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
 
   mj_freeStack(d);
 }
-
-// precount row non-zeros of reverse-Cholesky factor L, return total non-zeros
-//  based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
-//  reads pattern from upper triangle
-int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr, const int* colind,
-                        int n, mjData* d) {
-  mj_markStack(d);
-  int* parent = mjSTACKALLOC(d, n, int);
-  int* flag = mjSTACKALLOC(d, n, int);
-
-  // loop over rows in reverse order
-  for (int r = n - 1; r >= 0; r--) {
-    parent[r] = -1;
-    flag[r] = r;
-    L_rownnz[r] = 1;  // start with 1 for diagonal
-
-    // loop over non-zero columns of upper triangle
-    int start = rowadr[r];
-    int end = start + rownnz[r];
-    for (int c = start; c < end; c++) {
-      int i = colind[c];
-
-      // skip lower triangle
-      if (i <= r) {
-        continue;
-      }
-
-      // traverse from i to ancestor, stop when row is flagged
-      while (flag[i] != r) {
-        // if not yet set, set parent to current row
-        if (parent[i] == -1) {
-          parent[i] = r;
-        }
-
-        // increment non-zeros, flag row i, advance to parent
-        L_rownnz[i]++;
-        flag[i] = r;
-        i = parent[i];
-      }
-    }
-  }
-
-  mj_freeStack(d);
-
-  // sum up all row non-zeros
-  int nnz = 0;
-  for (int r = 0; r < n; r++) {
-    nnz += L_rownnz[r];
-  }
-
-  return nnz;
-}
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index 92c2dad0..08a663b2 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -103,9 +103,6 @@ MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
 // precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
 MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
 
-// precount row non-zeros of reverse-Cholesky factor L, return total
-MJAPI int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr,
-                              const int* colind, int n, mjData* d);
 
 // ------------------------------ inlined functions ------------------------------------------------
 
diff --git a/test/engine/engine_util_solve_test.cc b/test/engine/engine_util_solve_test.cc
index d4bea9a1..aad5b421 100644
--- a/test/engine/engine_util_solve_test.cc
+++ b/test/engine/engine_util_solve_test.cc
@@ -21,7 +21,6 @@
 #include <random>
 #include <iomanip>
 #include <string>
-#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -36,6 +35,7 @@ namespace {
 using ::testing::DoubleEq;
 using ::testing::Pointwise;
 using ::testing::DoubleNear;
+using ::testing::ElementsAre;
 using ::std::string;
 using ::std::setw;
 using QCQP2Test = MujocoTest;
@@ -649,5 +649,79 @@ TEST_F(BandMatrixTest, Solve) {
   }
 }
 
+using EngineUtilSolveTest = MujocoTest;
+
+TEST_F(EngineUtilSolveTest, MjuCholFactorNNZ) {
+  mjModel* model = LoadModelFromString("<mujoco/>");
+  mjData* d = mj_makeData(model);
+
+  int nA = 2;
+  mjtNum matA[4] = {1, 0,
+                    0, 1};
+  mjtNum sparseA[4];
+  int rownnzA[2];
+  int rowadrA[2];
+  int colindA[4];
+  int rownnzA_factor[2];
+  mju_dense2sparse(sparseA, matA, nA, nA, rownnzA, rowadrA, colindA, 4);
+  int nnzA = mju_cholFactorCount(rownnzA_factor,
+                                 rownnzA, rowadrA, colindA, nA, d);
+
+  EXPECT_EQ(nnzA, 2);
+  EXPECT_THAT(AsVector(rownnzA_factor, 2), ElementsAre(1, 1));
+
+  int nB = 3;
+  mjtNum matB[9] = {10, 1, 0,
+                    0, 10, 1,
+                    0, 0, 10};
+  mjtNum sparseB[9];
+  int rownnzB[3];
+  int rowadrB[3];
+  int colindB[9];
+  int rownnzB_factor[3];
+  mju_dense2sparse(sparseB, matB, nB, nB, rownnzB, rowadrB, colindB, 9);
+  int nnzB = mju_cholFactorCount(rownnzB_factor,
+                                 rownnzB, rowadrB, colindB, nB, d);
+
+  EXPECT_EQ(nnzB, 5);
+  EXPECT_THAT(AsVector(rownnzB_factor, 3), ElementsAre(1, 2, 2));
+
+  int nC = 3;
+  mjtNum matC[9] = {10, 1, 0,
+                    0, 10, 0,
+                    0, 0, 10};
+  mjtNum sparseC[9];
+  int rownnzC[3];
+  int rowadrC[3];
+  int colindC[9];
+  int rownnzC_factor[3];
+  mju_dense2sparse(sparseC, matC, nC, nC, rownnzC, rowadrC, colindC, 9);
+  int nnzC = mju_cholFactorCount(rownnzC_factor,
+                                 rownnzC, rowadrC, colindC, nC, d);
+
+  EXPECT_EQ(nnzC, 4);
+  EXPECT_THAT(AsVector(rownnzC_factor, 3), ElementsAre(1, 2, 1));
+
+  int nD = 4;
+  mjtNum matD[16] = {10, 1, 2, 3,
+                     0, 10, 0, 0,
+                     0, 0, 10, 1,
+                     0, 0, 0, 10};
+  mjtNum sparseD[16];
+  int rownnzD[4];
+  int rowadrD[4];
+  int colindD[16];
+  int rownnzD_factor[4];
+  mju_dense2sparse(sparseD, matD, nD, nD, rownnzD, rowadrD, colindD, 16);
+  int nnzD = mju_cholFactorCount(rownnzD_factor,
+                                 rownnzD, rowadrD, colindD, nD, d);
+
+  EXPECT_EQ(nnzD, 8);
+  EXPECT_THAT(AsVector(rownnzD_factor, 4), ElementsAre(1, 2, 2, 3));
+
+  mj_deleteData(d);
+  mj_deleteModel(model);
+}
+
 }  // namespace
 }  // namespace mujoco
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index c1b7cb65..94da0d5d 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -15,7 +15,6 @@
 // Tests for engine/engine_util_sparse.c
 
 #include <array>
-#include <vector>
 
 #include "src/engine/engine_util_sparse.h"
 
@@ -30,11 +29,6 @@ namespace {
 using ::testing::ElementsAre;
 using EngineUtilSparseTest = MujocoTest;
 
-template <typename T>
-std::vector<T> AsVector(const T* array, int n) {
-  return std::vector<T>(array, array + n);
-}
-
 TEST_F(EngineUtilSparseTest, MjuDot) {
   mjtNum a[] = {2,    3,       4,          5,          6,       7,    8};
   mjtNum u[] = {2, 1, 3, 1, 1, 4, 1, 1, 1, 5, 1, 1, 1, 6, 1, 1, 7, 1, 8};
@@ -335,14 +329,12 @@ TEST_F(EngineUtilSparseTest, MjuCompressSparse) {
   EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected_minval1, 6));
 }
 
-static constexpr char modelStr[] = R"(<mujoco/>)";
-
 TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
   //       0 0 0
   // M  =  0 0 0
   //       0 0 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -388,7 +380,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
   // M = 1  2 -1
   //     2  2  3
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
@@ -435,7 +427,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
   // M = 0 3 0
   //     4 0 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 2, 3, 4};
@@ -483,7 +475,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
   // M = 0 0 3
   //     4 0 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 2, 3, 4};
@@ -532,7 +524,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) {
   // M = 0 0 0
   //     2 3 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 4, 2, 3};
@@ -579,7 +571,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) {
   // M = 0 2 0
   //     0 0 3
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 2, 2, 3};
@@ -626,7 +618,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
   // M = 0 3
   //     4 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 2, 3, 4};
@@ -673,7 +665,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) {
   // M = 1 0 4
   //     2 3 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 4, 2, 3};
@@ -721,7 +713,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
   // M = 1 3 4
   //     4 4 4
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 2, 2, 1, 3, 4, 4, 4, 4};
@@ -769,7 +761,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
   // M = 2 2 2
   //     3 3 3
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 1, 1, 2, 2, 2, 3, 3, 3};
@@ -818,7 +810,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
   // M = 0 0 0
   //     0 3 3
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 1, 1, 3, 3};
@@ -867,7 +859,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
   // M = 0 0 0 0
   //     0 0 3 3
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 1, 1, 1, 3, 3};
@@ -918,7 +910,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
   // M = 1 1 0 0 0
   //     1 1 0 0 0
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 1, 1, 1, 1, 1};
@@ -969,7 +961,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
 TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
   // M = 1 1 1 1 2 2 2
 
-  mjModel* model = LoadModelFromString(modelStr);
+  mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
   mjtNum mat[] = {1, 1, 1, 1, 2, 2, 2};
@@ -1022,78 +1014,6 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
   mj_deleteModel(model);
 }
 
-TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
-  mjModel* model = LoadModelFromString(modelStr);
-  mjData* d = mj_makeData(model);
-
-  int nA = 2;
-  mjtNum matA[4] = {1, 0,
-                    0, 1};
-  mjtNum sparseA[4];
-  int rownnzA[2];
-  int rowadrA[2];
-  int colindA[4];
-  int rownnzA_factor[2];
-  mju_dense2sparse(sparseA, matA, nA, nA, rownnzA, rowadrA, colindA, 4);
-  int nnzA = mju_cholFactorCount(rownnzA_factor,
-                                 rownnzA, rowadrA, colindA, nA, d);
-
-  EXPECT_EQ(nnzA, 2);
-  EXPECT_THAT(AsVector(rownnzA_factor, 2), ElementsAre(1, 1));
-
-  int nB = 3;
-  mjtNum matB[9] = {10, 1, 0,
-                    0, 10, 1,
-                    0, 0, 10};
-  mjtNum sparseB[9];
-  int rownnzB[3];
-  int rowadrB[3];
-  int colindB[9];
-  int rownnzB_factor[3];
-  mju_dense2sparse(sparseB, matB, nB, nB, rownnzB, rowadrB, colindB, 9);
-  int nnzB = mju_cholFactorCount(rownnzB_factor,
-                                 rownnzB, rowadrB, colindB, nB, d);
-
-  EXPECT_EQ(nnzB, 5);
-  EXPECT_THAT(AsVector(rownnzB_factor, 3), ElementsAre(1, 2, 2));
-
-  int nC = 3;
-  mjtNum matC[9] = {10, 1, 0,
-                    0, 10, 0,
-                    0, 0, 10};
-  mjtNum sparseC[9];
-  int rownnzC[3];
-  int rowadrC[3];
-  int colindC[9];
-  int rownnzC_factor[3];
-  mju_dense2sparse(sparseC, matC, nC, nC, rownnzC, rowadrC, colindC, 9);
-  int nnzC = mju_cholFactorCount(rownnzC_factor,
-                                 rownnzC, rowadrC, colindC, nC, d);
-
-  EXPECT_EQ(nnzC, 4);
-  EXPECT_THAT(AsVector(rownnzC_factor, 3), ElementsAre(1, 2, 1));
-
-  int nD = 4;
-  mjtNum matD[16] = {10, 1, 2, 3,
-                     0, 10, 0, 0,
-                     0, 0, 10, 1,
-                     0, 0, 0, 10};
-  mjtNum sparseD[16];
-  int rownnzD[4];
-  int rowadrD[4];
-  int colindD[16];
-  int rownnzD_factor[4];
-  mju_dense2sparse(sparseD, matD, nD, nD, rownnzD, rowadrD, colindD, 16);
-  int nnzD = mju_cholFactorCount(rownnzD_factor,
-                                 rownnzD, rowadrD, colindD, nD, d);
-
-  EXPECT_EQ(nnzD, 8);
-  EXPECT_THAT(AsVector(rownnzD_factor, 4), ElementsAre(1, 2, 2, 3));
-
-  mj_deleteData(d);
-  mj_deleteModel(model);
-}
-
 TEST_F(EngineUtilSparseTest, MjuMulMatTVec) {
   int nr = 2;
   int nc = 3;
diff --git a/test/fixture.h b/test/fixture.h
index df568943..cbb71d5f 100644
--- a/test/fixture.h
+++ b/test/fixture.h
@@ -108,8 +108,9 @@ std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
 mjtNum CompareModel(const mjModel* m1, const mjModel* m2, std::string& field);
 
 // Returns a vector containing the elements of the array.
-inline std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
-  return std::vector<mjtNum>(array, array + n);
+template <typename T>
+std::vector<T> AsVector(const T* array, int n) {
+  return std::vector<T>(array, array + n);
 }
 
 // Prints a matrix to stderr, useful for debugging.

From b1f8d444f2c660ca7d88218f6e4f306d1b24b131 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Thu, 10 Apr 2025 07:03:23 -0700
Subject: [PATCH 060/191] Fix bug in replaceSimplex3 in nativeccd.

PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
---
 src/engine/engine_collision_gjk.c             | 18 ++---
 test/engine/engine_collision_gjk_test.cc      | 68 +++++++++++++++++++
 .../engine/testdata/collision_convex/dice.xml |  4 +-
 .../collision_convex/dice_boxmesh.xml         | 47 +++++++++++++
 4 files changed, 123 insertions(+), 14 deletions(-)
 create mode 100644 test/engine/testdata/collision_convex/dice_boxmesh.xml

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index cb58530d..3c2df6c3 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -834,22 +834,16 @@ static void S1D(mjtNum lambda[2], const mjtNum s1[3], const mjtNum s2[3]) {
 
 // replace a 3-simplex with one of its faces
 static inline void replaceSimplex3(Polytope* pt, mjCCDStatus* status, int v1, int v2, int v3) {
+  // reset status simplex
   status->nsimplex = 3;
-  Vertex* v = pt->verts;
-  copy3(status->simplex[0].vert1, v[v1].vert1);
-  copy3(status->simplex[1].vert1, v[v2].vert1);
-  copy3(status->simplex[2].vert1, v[v3].vert1);
-
-  copy3(status->simplex[0].vert2, v[v1].vert2);
-  copy3(status->simplex[1].vert2, v[v2].vert2);
-  copy3(status->simplex[2].vert2, v[v3].vert2);
-
-  copy3(status->simplex[0].vert, v[v1].vert);
-  copy3(status->simplex[1].vert, v[v2].vert);
-  copy3(status->simplex[2].vert, v[v3].vert);
+  status->simplex[0] = pt->verts[v1];
+  status->simplex[1] = pt->verts[v2];
+  status->simplex[2] = pt->verts[v3];
 
+  // reset polytope
   pt->nfaces = 0;
   pt->nverts = 0;
+  pt->nmap = 0;
 }
 
 
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 934a034e..5eb5f6df 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -1152,6 +1152,74 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjGjkTest, BoxBoxMultiCCD13) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom name="geom1" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
+      <geom name="geom2" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
+    </worldbody>
+  </mujoco>)";
+
+  std::array<char, 1000> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  mjtNum* xpos = data->geom_xpos;
+  mjtNum* xmat = data->geom_xmat;
+
+  xmat[0] = 1.0000000000000000000000000000000000000000;
+  xmat[1] = -0.0000000000000000000000000000001366192847;
+  xmat[2] = -0.0000000000000002451235402041944571528177;
+  xmat[3] = 0.0000000000000000000000000000001366707863;
+  xmat[4] = 1.0000000000000000000000000000000000000000;
+  xmat[5] = 0.0000000000000000002101047324941978855126;
+  xmat[6] = 0.0000000000000002451235402041944571528177;
+  xmat[7] = -0.0000000000000000002101047324941978855126;
+  xmat[8] = 1.0000000000000000000000000000000000000000;
+
+  xpos[0] = -0.1000000000000000055511151231257827021182;
+  xpos[1] = -0.2000000000000000111022302462515654042363;
+  xpos[2] = -0.0809921810760001470441693527391180396080;
+
+  xpos = data->geom_xpos + 3;
+  xmat = data->geom_xmat + 9;
+
+  xmat[0] = 1.0000000000000000000000000000000000000000;
+  xmat[1] = -0.0000000000000000000000000000000740327228;
+  xmat[2] = -0.0000000000000002557259745463766308177658;
+  xmat[3] = 0.0000000000000000000000000000000775428823;
+  xmat[4] = 1.0000000000000000000000000000000000000000;
+  xmat[5] = 0.0000000000000000137262533997081760161613;
+  xmat[6] = 0.0000000000000002557259745463766308177658;
+  xmat[7] = -0.0000000000000000137262533997081760161613;
+  xmat[8] = 1.0000000000000000000000000000000000000000;
+
+  xpos[0] = -0.1000000000000000055511151231257827021182;
+  xpos[1] = -0.2000000000000000111022302462515654042363;
+  xpos[2] = -0.0418396695286432432348000531874276930466;
+
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
+  std::vector<mjtNum> dir, pos;
+  mjtNum dist;
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
+
+  EXPECT_EQ(ncons, 4);
+
+  EXPECT_NEAR(dir[0], 0, kTolerance);
+  EXPECT_NEAR(dir[1], 0, kTolerance);
+  EXPECT_NEAR(dir[2], 1, kTolerance);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(MjGjkTest, SmallBoxMesh) {
   static constexpr char xml[] = R"(
   <mujoco>
diff --git a/test/engine/testdata/collision_convex/dice.xml b/test/engine/testdata/collision_convex/dice.xml
index 2a3b6880..5f077f4c 100644
--- a/test/engine/testdata/collision_convex/dice.xml
+++ b/test/engine/testdata/collision_convex/dice.xml
@@ -25,7 +25,7 @@
   <worldbody>
     <light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
      <body name="container" pos="0 0 -0.11">
-      <geom class="floor" size="0.27 0.27 0.01"/>>
+      <geom class="floor" size="0.27 0.27 0.01"/>
       <geom class="wall"  size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
       <geom class="wall"  size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
       <geom class="wall"  size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
@@ -37,7 +37,7 @@
         <replicate count="4" offset="0 0 .1">
           <body pos="-.2 -.2 0.15">
             <freejoint/>
-            <geom size=".02 .02 .02" type="mesh" mesh="die"/>
+            <geom type="mesh" mesh="die"/>
           </body>
         </replicate>
       </replicate>
diff --git a/test/engine/testdata/collision_convex/dice_boxmesh.xml b/test/engine/testdata/collision_convex/dice_boxmesh.xml
new file mode 100644
index 00000000..cfd3ae86
--- /dev/null
+++ b/test/engine/testdata/collision_convex/dice_boxmesh.xml
@@ -0,0 +1,47 @@
+<mujoco>
+  <option>
+    <flag multiccd="enable"/>
+  </option>
+
+  <visual>
+    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
+    <map force="0.1"/>
+  </visual>
+
+  <asset>
+    <mesh name="boxmesh" scale=".02 .02 .02"
+          vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"/>
+  </asset>
+
+  <default>
+    <geom condim="1" type="mesh" solref="2e-5 1"/>
+    <default class="wall">
+      <geom type="box" rgba="0.1 0.2 1 .2"/>
+    </default>
+    <default class="floor">
+      <geom type="box" rgba="0.1 0.2 1 1"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
+     <body name="container" pos="0 0 -0.11">
+      <geom class="floor" size="0.27 0.27 0.01"/>
+      <geom class="wall"  size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
+      <geom class="wall"  size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
+      <geom class="wall"  size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
+      <geom class="wall"  size="0.01 0.26 0.10" pos="-0.26 0.01 0.11"/>
+    </body>
+
+    <replicate count="5" offset=".1 0 0">
+      <replicate count="5" offset="0 .1 0">
+        <replicate count="4" offset="0 0 .1">
+          <body pos="-.2 -.2 0.15">
+            <freejoint/>
+            <geom type="mesh" mesh="boxmesh"/>
+          </body>
+        </replicate>
+      </replicate>
+    </replicate>
+  </worldbody>
+</mujoco>

From a209134315dda126a714529bfa80f7478902644d Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 10 Apr 2025 09:12:24 -0700
Subject: [PATCH 061/191] Enable procedural plugin activation in Python
 bindings.

PiperOrigin-RevId: 746055614
Change-Id: Idcc2f62fdfeccdca356e3d1acadf168b46a98881
---
 .../mujoco/codegen/generate_spec_bindings.py  |  3 ++-
 python/mujoco/specs.cc                        |  7 +++++++
 python/mujoco/specs_test.py                   | 21 ++++++++-----------
 3 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
index bb52643d..1db57b3c 100644
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ b/python/mujoco/codegen/generate_spec_bindings.py
@@ -84,6 +84,7 @@ def _value_binding_code(
   fulltype = fulltype.replace('mjOption', 'raw::MjOption')
   fulltype = fulltype.replace('mjVisual', 'raw::MjVisual')
   fulltype = fulltype.replace('mjStatistic', 'raw::MjStatistic')
+  element = '.element' if fullvarname == 'plugin' else ''
 
   def_property_args = (
       f'"{varname}"',
@@ -91,7 +92,7 @@ def _value_binding_code(
         return self.{fullvarname};
       }}""",
       f"""[]({rawclassname}& self, {fulltype} {varname}) {{
-        self.{fullvarname} = {varname};
+        self.{fullvarname}{element} = {varname}{element};
       }}""",
   )
 
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index ec444f52..313de159 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -483,6 +483,13 @@ PYBIND11_MODULE(_specs, m) {
       py::arg("suffix") = py::none(), py::arg("site") = py::none(),
       py::arg("frame") = py::none(),
       py::return_value_policy::reference_internal);
+  mjSpec.def(
+    "activate_plugin",
+      [](MjSpec& self, std::string& name) {
+        mjs_activatePlugin(self.ptr, name.c_str());
+      },
+      py::arg("name"),
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSBODY =====================================
   mjsBody.def(
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index bfefd71f..1b46bd4b 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -835,22 +835,19 @@ class SpecsTest(absltest.TestCase):
     self.assertEqual(model.nsensor, 9)
 
   def test_plugin(self):
-    xml = """
-    <mujoco>
-      <extension>
-        <plugin plugin="mujoco.elasticity.cable"/>
-      </extension>
-    </mujoco>
-    """
-
-    spec = mujoco.MjSpec.from_string(xml)
-    self.assertIsNotNone(spec.worldbody)
+    spec = mujoco.MjSpec()
+    spec.activate_plugin('mujoco.elasticity.cable')
+    plugin = spec.add_plugin(
+        name='instance_name',
+        plugin_name='mujoco.elasticity.cable',
+        active=True,
+        info='info',
+    )
 
     body = spec.worldbody.add_body()
+    body.plugin = plugin
     body.plugin.plugin_name = 'mujoco.elasticity.cable'
-    body.plugin.id = spec.add_plugin()
     body.plugin.active = True
-    self.assertEqual(body.plugin.id, 0)
 
     geom = body.add_geom()
     geom.type = mujoco.mjtGeom.mjGEOM_BOX

From 440ce5eb7a12d401cfd4f0a06f35fdcd5a45ae35 Mon Sep 17 00:00:00 2001
From: Gabe Oppenheimer <goppenheimer@google.com>
Date: Thu, 10 Apr 2025 13:16:35 -0700
Subject: [PATCH 062/191] Update the version number to 3.3.2 following the
 3.3.1 release.

PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
---
 CMakeLists.txt                                 | 2 +-
 dist/mujoco.rc                                 | 8 ++++----
 dist/simulate.rc                               | 8 ++++----
 doc/APIreference/APIglobals.rst                | 2 +-
 doc/unity.rst                                  | 4 ++--
 include/mujoco/mujoco.h                        | 2 +-
 mjx/pyproject.toml                             | 8 ++++----
 python/mujoco/CMakeLists.txt                   | 4 ++--
 python/mujoco/mjpython/Info.plist              | 8 ++++----
 python/pyproject.toml                          | 6 +++---
 sample/CMakeLists.txt                          | 2 +-
 simulate/CMakeLists.txt                        | 2 +-
 src/engine/engine_support.c                    | 4 ++--
 unity/Editor/Bindings/MujocoBinaryRetriever.cs | 4 ++--
 unity/Runtime/Bindings/MjBindings.cs           | 2 +-
 unity/package.json                             | 2 +-
 16 files changed, 34 insertions(+), 34 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 62a396ea..bbea8706 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.3.1
+  VERSION 3.3.2
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/dist/mujoco.rc b/dist/mujoco.rc
index 171b9810..08a3699d 100644
--- a/dist/mujoco.rc
+++ b/dist/mujoco.rc
@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,3,1,0
-PRODUCTVERSION 3,3,1,0
+FILEVERSION 3,3,2,0
+PRODUCTVERSION 3,3,2,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.1"
+      VALUE "ProductVersion", "3.3.2"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.1"
+      VALUE "FileVersion", "3.3.2"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/dist/simulate.rc b/dist/simulate.rc
index 7a2492ad..46e3c6de 100644
--- a/dist/simulate.rc
+++ b/dist/simulate.rc
@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,3,1,0
-PRODUCTVERSION 3,3,1,0
+FILEVERSION 3,3,2,0
+PRODUCTVERSION 3,3,2,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.1"
+      VALUE "ProductVersion", "3.3.2"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.1"
+      VALUE "FileVersion", "3.3.2"
       VALUE "InternalName", "simulate.exe"
       VALUE "OriginalFilename", "simulate.exe"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst
index c116257a..64aa21f3 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -517,7 +517,7 @@ 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``
-     - 331
+     - 332
      - 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.
diff --git a/doc/unity.rst b/doc/unity.rst
index 1f499b8f..5f73281f 100644
--- a/doc/unity.rst
+++ b/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.3.3.1.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.3.2.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-3.3.1/lib/libmujoco.so.3.3.1`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.3.2/lib/libmujoco.so.3.3.2`` and rename it as ``libmujoco.so``.
 
 Windows
 _______
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index c17c7e47..b23f5d94 100644
--- a/include/mujoco/mujoco.h
+++ b/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 331
+#define mjVERSION_HEADER 332
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index 1d102175..529fc068 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.3.1"
+version = "3.3.2"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -30,7 +30,7 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.3.1.dev0",
+    "mujoco>=3.3.2.dev0",
     "scipy",
     "trimesh",
 ]
@@ -41,9 +41,9 @@ mjx-viewer = "mujoco.mjx.viewer:main"
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.3.1"
+Documentation = "https://mujoco.readthedocs.io/en/3.3.2"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.3.1/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.3.2/changelog.html"
 
 [tool.isort]
 force_single_line = true
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index ac15ccd5..faceca26 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/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.3.3.1.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.2.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.3.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.3.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
diff --git a/python/mujoco/mjpython/Info.plist b/python/mujoco/mjpython/Info.plist
index 4006fd6d..d7e0aa2f 100644
--- a/python/mujoco/mjpython/Info.plist
+++ b/python/mujoco/mjpython/Info.plist
@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.3.1</string>
+    <string>3.3.2</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.3.1</string>
+    <string>3.3.2</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.3.1</string>
+    <string>3.3.2</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.3.1</string>
+    <string>3.3.2</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 98fc970e..23b973dd 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.3.1"
+version = "3.3.2"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -35,9 +35,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.3.1"
+Documentation = "https://mujoco.readthedocs.io/en/3.3.2"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.3.1/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.3.2/changelog.html"
 
 [tool.setuptools]
 include-package-data = false
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index 8273ed11..b1789412 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.3.1
+  VERSION 3.3.2
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 1b9df797..ff64d734 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.3.1
+  VERSION 3.3.2
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 4f5d06af..b7fc4d7c 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -41,8 +41,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 331
-#define mjVERSIONSTRING "3.3.1"
+ #define mjVERSION 332
+#define mjVERSIONSTRING "3.3.2"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
index a1721d2f..ba697540 100644
--- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs
+++ b/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.3.3.1.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.3.2.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-3.3.1/lib/libmujoco.so.3.3.1",
+                "/.mujoco/mujoco-3.3.2/lib/libmujoco.so.3.3.2",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index ca702ca0..592ca0da 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -110,7 +110,7 @@ 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 = 331;
+public const int mjVERSION_HEADER = 332;
 
 
 // ------------------------------------Enums------------------------------------
diff --git a/unity/package.json b/unity/package.json
index 9c599fa3..95b769ec 100644
--- a/unity/package.json
+++ b/unity/package.json
@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.3.1",
+  "version": "3.3.2",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

From 446a8f1742543f44f6afae7623f3393defa38d6c Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 11 Apr 2025 05:26:59 -0700
Subject: [PATCH 063/191] Add basic site support to Mjcf SdfFileFormat plugin.

We will still need to tag these with a custom API schema to ease round-tripping but that will follow creation of such a schema.

PiperOrigin-RevId: 746421793
Change-Id: I2df2209b4bc90d763718fb4bea8158b8598755c6
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 191 +++++++++++++-----
 src/experimental/usd/plugins/mjcf/utils.cc    |   9 +
 src/experimental/usd/plugins/mjcf/utils.h     |   3 +
 test/experimental/usd/plugins/mjcf/fixture.h  |  14 ++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc |  52 +++++
 5 files changed, 214 insertions(+), 55 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index f1c8e5ee..44c8481f 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -122,6 +122,7 @@ using mujoco::usd::SetAttributeMetadata;
 using mujoco::usd::SetLayerMetadata;
 using mujoco::usd::SetPrimKind;
 using mujoco::usd::SetPrimMetadata;
+using mujoco::usd::SetPrimPurpose;
 
 pxr::GfMatrix4d MujocoPosQuatToTransform(double *pos, double *quat) {
   pxr::GfQuatd quaternion = pxr::GfQuatd::GetIdentity();
@@ -598,34 +599,57 @@ class ModelWriter {
     return subcomponent_path;
   }
 
-  pxr::SdfPath WriteBoxGeom(const mjsGeom *geom,
-                            const pxr::SdfPath &body_path) {
+  pxr::SdfPath WriteSiteGeom(const mjsSite *site,
+                             const pxr::SdfPath &body_path) {
     auto name =
-        GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Cube, body_path);
+        GetAvailablePrimName(*site->name, pxr::UsdGeomTokens->Cube, body_path);
+
+    int site_idx = mjs_getId(site->element);
+    const mjtNum *size = &model_->site_size[site_idx * 3];
+    pxr::SdfPath site_path;
+    switch (site->type) {
+      case mjGEOM_BOX:
+        site_path = WriteBox(name, size, body_path);
+        break;
+      case mjGEOM_SPHERE:
+        site_path = WriteSphere(name, size, body_path);
+        break;
+      case mjGEOM_CAPSULE:
+        site_path = WriteCapsule(name, size, body_path);
+        break;
+      case mjGEOM_CYLINDER:
+        site_path = WriteCylinder(name, size, body_path);
+        break;
+      case mjGEOM_ELLIPSOID:
+        site_path = WriteEllipsoid(name, size, body_path);
+        break;
+      default:
+        break;
+    }
+
+    return site_path;
+  }
+
+  pxr::SdfPath WriteBox(const pxr::TfToken &name, const mjtNum *size,
+                        const pxr::SdfPath &body_path) {
     pxr::SdfPath box_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cube);
-
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-
     // MuJoCo uses half sizes.
     pxr::SdfPath size_attr_path =
         CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->size,
                             pxr::SdfValueTypeNames->Float);
-    pxr::GfVec3f scale(static_cast<float>(geom_size[0]),
-                       static_cast<float>(geom_size[1]),
-                       static_cast<float>(geom_size[2]));
+    pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
+                       static_cast<float>(size[2]));
     SetAttributeDefault(data_, size_attr_path, 2.0);
 
     pxr::SdfPath extent_attr_path =
         CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->extent,
                             pxr::SdfValueTypeNames->Float3Array);
-    SetAttributeDefault(
-        data_, extent_attr_path,
-        pxr::VtArray<pxr::GfVec3f>({
-            pxr::GfVec3f(-geom_size[0], -geom_size[1], -geom_size[2]),
-            pxr::GfVec3f(geom_size[0], geom_size[1], geom_size[2]),
-        }));
+    SetAttributeDefault(data_, extent_attr_path,
+                        pxr::VtArray<pxr::GfVec3f>({
+                            pxr::GfVec3f(-size[0], -size[1], -size[2]),
+                            pxr::GfVec3f(size[0], size[1], size[2]),
+                        }));
 
     WriteScaleXformOp(box_path, scale);
     WriteXformOpOrder(box_path,
@@ -633,65 +657,80 @@ class ModelWriter {
     return box_path;
   }
 
-  pxr::SdfPath WriteCapsuleGeom(const mjsGeom *geom,
-                                const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Capsule,
-                                     body_path);
-    pxr::SdfPath capsule_path =
-        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Capsule);
+  pxr::SdfPath WriteBoxGeom(const mjsGeom *geom,
+                            const pxr::SdfPath &body_path) {
+    auto name =
+        GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Cube, body_path);
 
     int geom_idx = mjs_getId(geom->element);
     mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+    return WriteBox(name, geom_size, body_path);
+  }
+
+  pxr::SdfPath WriteCapsule(const pxr::TfToken name, const mjtNum *size,
+                            const pxr::SdfPath &body_path) {
+    pxr::SdfPath capsule_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Capsule);
 
     // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->radius,
                             pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, geom_size[0] * 2);
+    SetAttributeDefault(data_, radius_attr_path, size[0] * 2);
 
     pxr::SdfPath height_attr_path =
         CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->height,
                             pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, height_attr_path, geom_size[1] * 2);
+    SetAttributeDefault(data_, height_attr_path, size[1] * 2);
     return capsule_path;
   }
 
+  pxr::SdfPath WriteCapsuleGeom(const mjsGeom *geom,
+                                const pxr::SdfPath &body_path) {
+    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Capsule,
+                                     body_path);
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+
+    return WriteCapsule(name, geom_size, body_path);
+  }
+
+  pxr::SdfPath WriteCylinder(const pxr::TfToken name, const mjtNum *size,
+                             const pxr::SdfPath &body_path) {
+    pxr::SdfPath cylinder_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cylinder);
+
+    // MuJoCo uses half sizes.
+    pxr::SdfPath radius_attr_path =
+        CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->radius,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, radius_attr_path, size[0] * 2);
+
+    pxr::SdfPath height_attr_path =
+        CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->height,
+                            pxr::SdfValueTypeNames->Float);
+    SetAttributeDefault(data_, height_attr_path, size[1] * 2);
+    return cylinder_path;
+  }
+
   pxr::SdfPath WriteCylinderGeom(const mjsGeom *geom,
                                  const pxr::SdfPath &body_path) {
     auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Cylinder,
                                      body_path);
-    pxr::SdfPath cylinder_path =
-        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cylinder);
 
     int geom_idx = mjs_getId(geom->element);
     mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-
-    // MuJoCo uses half sizes.
-    pxr::SdfPath radius_attr_path =
-        CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, geom_size[0] * 2);
-
-    pxr::SdfPath height_attr_path =
-        CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->height,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, height_attr_path, geom_size[1] * 2);
-    return cylinder_path;
+    return WriteCylinder(name, geom_size, body_path);
   }
 
-  pxr::SdfPath WriteEllipsoidGeom(const mjsGeom *geom,
-                                  const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Sphere,
-                                     body_path);
+  pxr::SdfPath WriteEllipsoid(const pxr::TfToken name, const mjtNum *size,
+                              const pxr::SdfPath &body_path) {
     pxr::SdfPath ellipsoid_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
 
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-
-    pxr::GfVec3f scale = {static_cast<float>(geom_size[0] * 2),
-                          static_cast<float>(geom_size[1] * 2),
-                          static_cast<float>(geom_size[2] * 2)};
+    pxr::GfVec3f scale = {static_cast<float>(size[0] * 2),
+                          static_cast<float>(size[1] * 2),
+                          static_cast<float>(size[2] * 2)};
 
     // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
@@ -705,28 +744,61 @@ class ModelWriter {
     return ellipsoid_path;
   }
 
-  pxr::SdfPath WriteSphereGeom(const mjsGeom *geom,
-                               const pxr::SdfPath &body_path) {
+  pxr::SdfPath WriteEllipsoidGeom(const mjsGeom *geom,
+                                  const pxr::SdfPath &body_path) {
     auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Sphere,
                                      body_path);
-    pxr::SdfPath sphere_path =
-        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
-
     int geom_idx = mjs_getId(geom->element);
     mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
 
+    return WriteEllipsoid(name, geom_size, body_path);
+  }
+
+  pxr::SdfPath WriteSphere(const pxr::TfToken name, const mjtNum *size,
+                           const pxr::SdfPath &body_path) {
+    pxr::SdfPath sphere_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
+
     // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, sphere_path, pxr::UsdGeomTokens->radius,
                             pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, geom_size[0] * 2);
+    SetAttributeDefault(data_, radius_attr_path, size[0] * 2);
     return sphere_path;
   }
 
+  pxr::SdfPath WriteSphereGeom(const mjsGeom *geom,
+                               const pxr::SdfPath &body_path) {
+    auto name = GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Sphere,
+                                     body_path);
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+    return WriteSphere(name, geom_size, body_path);
+  }
+
+  void WriteSite(mjsSite *site, const mjsBody *body) {
+    const int body_id = mjs_getId(body->element);
+    const auto &body_path = body_paths_[body_id];
+    auto name =
+        GetAvailablePrimName(*site->name, pxr::UsdGeomTokens->Xform, body_path);
+
+    // Create a geom primitive and set its purpose to guide so it won't be
+    // rendered.
+    pxr::SdfPath site_path = WriteSiteGeom(site, body_path);
+    SetPrimPurpose(data_, site_path, pxr::UsdGeomTokens->guide);
+
+    int site_id = mjs_getId(site->element);
+    auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
+                                              &model_->site_quat[4 * site_id]);
+    WriteTransformXformOp(site_path, transform);
+
+    PrependToXformOpOrder(
+        site_path, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
+  }
+
   void WriteGeom(mjsGeom *geom, const mjsBody *body) {
     const int body_id = mjs_getId(body->element);
     const auto &body_path = body_paths_[body_id];
-    auto name = GetAvailablePrimName(*geom->name, kTokens->geom, body_path);
 
     pxr::SdfPath geom_path;
     int geom_id = mjs_getId(geom->element);
@@ -798,6 +870,14 @@ class ModelWriter {
         geom_path, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
   }
 
+  void WriteSites(mjsBody *body) {
+    mjsSite *site = mjs_asSite(mjs_firstChild(body, mjOBJ_SITE, false));
+    while (site) {
+      WriteSite(site, body);
+      site = mjs_asSite(mjs_nextChild(body, site->element, false));
+    }
+  }
+
   void WriteGeoms(mjsBody *body) {
     mjsGeom *geom = mjs_asGeom(mjs_firstChild(body, mjOBJ_GEOM, false));
     while (geom) {
@@ -957,6 +1037,7 @@ class ModelWriter {
       if (mjs_getId(body->element) != kWorldIndex) {
         WriteBody(body);
       }
+      WriteSites(body);
       WriteGeoms(body);
       WriteCameras(body);
       WriteLights(body);
diff --git a/src/experimental/usd/plugins/mjcf/utils.cc b/src/experimental/usd/plugins/mjcf/utils.cc
index 880cce55..e919a672 100644
--- a/src/experimental/usd/plugins/mjcf/utils.cc
+++ b/src/experimental/usd/plugins/mjcf/utils.cc
@@ -26,6 +26,7 @@
 #include <pxr/usd/sdf/types.h>
 #include <pxr/usd/sdf/valueTypeName.h>
 #include <pxr/usd/usd/tokens.h>
+#include <pxr/usd/usdGeom/tokens.h>
 namespace {
 
 template <typename T>
@@ -195,5 +196,13 @@ void SetPrimKind(pxr::SdfAbstractDataRefPtr& data,
   SetPrimMetadata(data, prim_path, pxr::TfToken("kind"), kind);
 }
 
+void SetPrimPurpose(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path, pxr::TfToken purpose) {
+  const pxr::SdfPath attr_path = CreateAttributeSpec(
+      data, prim_path, pxr::UsdGeomTokens->purpose,
+      pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+  SetAttributeDefault(data, attr_path, purpose);
+}
+
 }  // namespace usd
 }  // namespace mujoco
diff --git a/src/experimental/usd/plugins/mjcf/utils.h b/src/experimental/usd/plugins/mjcf/utils.h
index 4a2643ec..9f41a697 100644
--- a/src/experimental/usd/plugins/mjcf/utils.h
+++ b/src/experimental/usd/plugins/mjcf/utils.h
@@ -71,6 +71,9 @@ void ApplyApiSchema(pxr::SdfAbstractDataRefPtr& data,
 void SetPrimKind(pxr::SdfAbstractDataRefPtr& data,
                  const pxr::SdfPath& prim_path, pxr::TfToken kind);
 
+void SetPrimPurpose(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path, pxr::TfToken purpose);
+
 // Set the value specified by key on any field at field_path.
 template <typename T>
 void SetField(pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& field_path,
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
index 64985fae..adfddbc4 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -29,12 +29,26 @@
 #define EXPECT_PRIM_VALID(stage, path) \
   EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
 
+#define EXPECT_PRIM_IS_A(stage, path, type)                         \
+  {                                                                 \
+    EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
+  }
+
 #define EXPECT_PRIM_KIND(stage, path, kind)                          \
   {                                                                  \
     pxr::TfToken prim_kind;                                          \
     pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
     EXPECT_EQ(kind, prim_kind);                                      \
   }
+
+#define EXPECT_PRIM_PURPOSE(stage, path, purpose)    \
+  {                                                  \
+    pxr::TfToken prim_purpose;                       \
+    pxr::UsdGeomImageable::Get(stage, SdfPath(path)) \
+        .GetPurposeAttr()                            \
+        .Get(&prim_purpose);                         \
+    EXPECT_EQ(prim_purpose, purpose);                \
+  }
 namespace mujoco {
 
 pxr::SdfLayerRefPtr LoadLayer(const std::string& xml);
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 8ca9bdba..df04db21 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -36,9 +36,14 @@
 #include <pxr/usd/usd/modelAPI.h>
 #include <pxr/usd/usd/prim.h>
 #include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdGeom/capsule.h>
+#include <pxr/usd/usdGeom/cube.h>
+#include <pxr/usd/usdGeom/cylinder.h>
 #include <pxr/usd/usdGeom/mesh.h>
 #include <pxr/usd/usdGeom/primvar.h>
 #include <pxr/usd/usdGeom/primvarsAPI.h>
+#include <pxr/usd/usdGeom/sphere.h>
+#include <pxr/usd/usdGeom/tokens.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 // clang-format off
@@ -383,5 +388,52 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
   EXPECT_PRIM_KIND(stage, "/test/root/tet", pxr::KindTokens->subcomponent);
 }
 
+static constexpr char kSiteXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <site type="box" name="box_site"/>
+        <body name="ball">
+          <site type="sphere" name="sphere_site"/>
+          <site type="capsule" name="capsule_site"/>
+          <site type="cylinder" name="cylinder_site"/>
+          <site type="ellipsoid" name="ellipsoid_site"/>
+          <geom type="sphere" size="1 1 1"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
+  pxr::SdfLayerRefPtr layer = LoadLayer(kSiteXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_VALID(stage, "/test/box_site");
+  EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
+  EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere);
+  EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule);
+  EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site",
+                   pxr::UsdGeomCylinder);
+  EXPECT_PRIM_VALID(stage, "/test/ball/ball/ellipsoid_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/ellipsoid_site", pxr::UsdGeomSphere);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
+  pxr::SdfLayerRefPtr layer = LoadLayer(kSiteXml);
+
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_PRIM_PURPOSE(stage, "/test/box_site", pxr::UsdGeomTokens->guide);
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/sphere_site",
+                      pxr::UsdGeomTokens->guide);
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/capsule_site",
+                      pxr::UsdGeomTokens->guide);
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/cylinder_site",
+                      pxr::UsdGeomTokens->guide);
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site",
+                      pxr::UsdGeomTokens->guide);
+}
+
 }  // namespace
 }  // namespace mujoco

From 006c18b1d8822c41c1fedd2db8c349e23dd217fc Mon Sep 17 00:00:00 2001
From: Gabe Oppenheimer <goppenheimer@google.com>
Date: Fri, 11 Apr 2025 07:36:20 -0700
Subject: [PATCH 064/191] Update numbering in the 3.3.1 release notes to give
 MJX a numbered bullet in the docs.

PiperOrigin-RevId: 746455557
Change-Id: I04849ed1a5b97c0f6408d2333b13419e6cd35688
---
 doc/changelog.rst | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index d094094e..739cb30d 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -32,16 +32,16 @@ General
 
 MJX
 ^^^
-- Added tendon actuator force limits.
+7. Added tendon actuator force limits.
 
 Bug fixes
 ^^^^^^^^^
-7. :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
+8. :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
    which the Jacobian is computed, now fixed.
-8. Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an
+9. Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an
    mjSpec to a frame or a site.
-9. Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support ARB_clip_control.
-   Fixed in collaboration with :github:user:`aftersomemath`.
+10. Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support
+    ARB_clip_control. Fixed in collaboration with :github:user:`aftersomemath`.
 
 Python bindings
 ^^^^^^^^^^^^^^^
@@ -51,9 +51,9 @@ Python bindings
    :align: right
    :width: 240px
 
-10. Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab|
-11. Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section<PyMJCF>`
-    in the documentation.
+11. Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab|
+12. Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding
+    :ref:`section<PyMJCF>` in the documentation.
 
 .. |mjspec_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
                   :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb

From 8e7457d7c6c1cbda42ec39d2297d4f90b3396040 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Fri, 11 Apr 2025 08:18:11 -0700
Subject: [PATCH 065/191] Initial support for writing UsdPhysics data starting
 with UsdPhysicsRigidbodyAPI support. The SDF_FORMAT_ARGS
 `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not
 when converting. Off by default

PiperOrigin-RevId: 746467942
Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
---
 .../usd/plugins/mjcf/mjcf_file_format.cc      | 14 +++-
 .../usd/plugins/mjcf/mjcf_file_format.h       |  9 ++-
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 22 ++++--
 .../usd/plugins/mjcf/mujoco_to_usd.h          |  4 +-
 test/experimental/usd/plugins/mjcf/fixture.cc |  6 +-
 test/experimental/usd/plugins/mjcf/fixture.h  | 15 ++++-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 67 +++++++++++++++++++
 7 files changed, 122 insertions(+), 15 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
index 8c5858c9..904c84fd 100644
--- a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
+++ b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
@@ -26,6 +26,7 @@
 #include <pxr/base/tf/pathUtils.h>
 #include <pxr/base/tf/registryManager.h>
 #include <pxr/base/tf/staticTokens.h>
+#include <pxr/base/tf/stringUtils.h>
 #include <pxr/base/tf/type.h>
 #include <pxr/base/work/loops.h>
 #include <pxr/pxr.h>
@@ -145,9 +146,18 @@ bool UsdMjcfFileFormat::CanRead(const std::string &filePath) const {
 }
 
 bool UsdMjcfFileFormat::ReadImpl(pxr::SdfLayer *layer, mjSpec *spec) const {
-  auto data = InitData(layer->GetFileFormatArguments());
+  auto args = layer->GetFileFormatArguments();
 
-  auto success = mujoco::usd::WriteSpecToData(spec, data);
+  bool toggleUsdPhysics = false;
+  const auto it =
+      args.find(UsdMjcfFileFormatTokens->ToggleUsdPhysicsArg.GetString());
+  if (it != args.end()) {
+    toggleUsdPhysics = pxr::TfUnstringify<bool>(it->second);
+  }
+
+  auto data = InitData(args);
+
+  auto success = mujoco::usd::WriteSpecToData(spec, data, toggleUsdPhysics);
   mj_deleteSpec(spec);
   if (!success) {
     return false;
diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.h b/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
index c5776ec4..5bc72337 100644
--- a/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
+++ b/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
@@ -27,10 +27,15 @@
 
 PXR_NAMESPACE_OPEN_SCOPE
 
+// clang-format off
 // The Id should realistically be mjcf, but the id and extension need to match.
 // So near term it just assumes the only .xml file we would import is MJCF.
-#define USD_MJCF_FILE_FORMAT_TOKENS \
-  ((Id, "xml"))((Version, "1.0"))((Target, "usd"))
+#define USD_MJCF_FILE_FORMAT_TOKENS  \
+    ((Id, "xml"))                    \
+    ((Version, "1.0"))               \
+    ((Target, "usd"))                \
+    ((ToggleUsdPhysicsArg, "usdMjcfToggleUsdPhysics"))
+// clang-format on
 
 TF_DECLARE_PUBLIC_TOKENS(UsdMjcfFileFormatTokens, USD_MJCF_FILE_FORMAT_TOKENS);
 
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 44c8481f..effc26a3 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -49,6 +49,7 @@
 #include <pxr/usd/usdGeom/metrics.h>
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdLux/tokens.h>
+#include <pxr/usd/usdPhysics/tokens.h>
 #include <pxr/usd/usdShade/tokens.h>
 #include <pxr/usdImaging/usdImaging/tokens.h>
 
@@ -149,7 +150,7 @@ class ModelWriter {
   }
   ~ModelWriter() { mj_deleteModel(model_); }
 
-  void Write() {
+  void Write(bool write_physics) {
     // Create top level class holder.
     class_path_ = CreateClassSpec(data_, pxr::SdfPath::AbsoluteRootPath(),
                                   pxr::TfToken("__class__"));
@@ -173,7 +174,7 @@ class ModelWriter {
     // Author mesh scope + mesh prims to be referenced.
     WriteMeshes();
     WriteMaterials();
-    WriteBodies();
+    WriteBodies(write_physics);
   }
 
  private:
@@ -977,7 +978,7 @@ class ModelWriter {
     }
   }
 
-  void WriteBody(mjsBody *body) {
+  void WriteBody(mjsBody *body, bool write_physics) {
     int body_id = mjs_getId(body->element);
     pxr::SdfPath parent_path =
         CreateParentIfNotExists(body, body_paths_[kWorldIndex], data_);
@@ -990,6 +991,12 @@ class ModelWriter {
     // bodies subcomponents.
     SetPrimKind(data_, body_path, pxr::KindTokens->subcomponent);
 
+    // Apply the PhysicsRigidBodyAPI schema if we are writing physics.
+    if (write_physics) {
+      ApplyApiSchema(data_, body_path,
+                     pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
+    }
+
     // Create classes if necessary
     mjsDefault *spec_default = mjs_getDefault(body->element);
 
@@ -1028,14 +1035,14 @@ class ModelWriter {
     body_paths_[body_id] = body_path;
   }
 
-  void WriteBodies() {
+  void WriteBodies(bool write_physics) {
     mjsBody *body = mjs_asBody(mjs_firstElement(spec_, mjOBJ_BODY));
     while (body) {
       // Only write a rigidbody if we are not the world body.
       // We fall through since the world body might have static
       // geom children.
       if (mjs_getId(body->element) != kWorldIndex) {
-        WriteBody(body);
+        WriteBody(body, write_physics);
       }
       WriteSites(body);
       WriteGeoms(body);
@@ -1061,7 +1068,8 @@ class ModelWriter {
 namespace mujoco {
 namespace usd {
 
-bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data) {
+bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data,
+                     bool write_physics) {
   // Create pseudo root first.
   data->CreateSpec(pxr::SdfPath::AbsoluteRootPath(),
                    pxr::SdfSpecTypePseudoRoot);
@@ -1072,7 +1080,7 @@ bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data) {
     return false;
   }
 
-  ModelWriter(spec, model, data).Write();
+  ModelWriter(spec, model, data).Write(write_physics);
 
   return true;
 }
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
index 4c5934c6..9c0db6cf 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
@@ -25,7 +25,9 @@ namespace usd {
 // Args:
 //   spec: mjSpec built programmatically or via parsed XML.
 //   data: SdfAbstractDataRefPtr that will be written to.
-bool WriteSpecToData(mjSpec* spec, pxr::SdfAbstractDataRefPtr& data);
+//   write_physics: Whether to write physics data.
+bool WriteSpecToData(mjSpec* spec, pxr::SdfAbstractDataRefPtr& data,
+                     bool write_physics);
 }  // namespace usd
 }  // namespace mujoco
 
diff --git a/test/experimental/usd/plugins/mjcf/fixture.cc b/test/experimental/usd/plugins/mjcf/fixture.cc
index 19cd8e6e..74063da2 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.cc
+++ b/test/experimental/usd/plugins/mjcf/fixture.cc
@@ -32,9 +32,11 @@ namespace mujoco {
 
 using pxr::SdfPath;
 
-pxr::SdfLayerRefPtr LoadLayer(const std::string& xml) {
+pxr::SdfLayerRefPtr LoadLayer(
+    const std::string& xml,
+    const pxr::SdfFileFormat::FileFormatArguments& args) {
   auto layer = pxr::SdfLayer::CreateAnonymous(
-      "test_layer", pxr::SdfFileFormat::FindByExtension("xml"));
+      "test_layer", pxr::SdfFileFormat::FindByExtension("xml"), args);
   layer->ImportFromString(xml);
   EXPECT_THAT(layer, testing::NotNull());
   return layer;
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
index adfddbc4..5c125930 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -21,6 +21,7 @@
 #include "test/fixture.h"
 #include <pxr/usd/sdf/assetPath.h>
 #include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
 #include <pxr/usd/sdf/path.h>
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/modelAPI.h>
@@ -34,6 +35,16 @@
     EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
   }
 
+#define EXPECT_PRIM_API_APPLIED(stage, path, api)                     \
+  {                                                                   \
+    EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
+  }
+
+#define EXPECT_PRIM_API_NOT_APPLIED(stage, path, api)                  \
+  {                                                                    \
+    EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
+  }
+
 #define EXPECT_PRIM_KIND(stage, path, kind)                          \
   {                                                                  \
     pxr::TfToken prim_kind;                                          \
@@ -51,7 +62,9 @@
   }
 namespace mujoco {
 
-pxr::SdfLayerRefPtr LoadLayer(const std::string& xml);
+pxr::SdfLayerRefPtr LoadLayer(
+    const std::string& xml,
+    const pxr::SdfFileFormat::FileFormatArguments& args = {});
 
 template <typename T>
 void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index df04db21..0b3dca5d 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -44,6 +44,7 @@
 #include <pxr/usd/usdGeom/primvarsAPI.h>
 #include <pxr/usd/usdGeom/sphere.h>
 #include <pxr/usd/usdGeom/tokens.h>
+#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 // clang-format off
@@ -434,6 +435,72 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
   EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site",
                       pxr::UsdGeomTokens->guide);
 }
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
+  std::string xml_path = GetTestDataFilePath(kMeshObjPath);
+
+  // Test that the default is no physics.
+  auto stage_no_physics = pxr::UsdStage::Open(xml_path);
+  EXPECT_THAT(stage_no_physics, testing::NotNull());
+  EXPECT_PRIM_VALID(stage_no_physics, "/mesh_test/test_body/test_body");
+  EXPECT_PRIM_API_NOT_APPLIED(stage_no_physics,
+                              "/mesh_test/test_body/test_body",
+                              pxr::UsdPhysicsRigidBodyAPI);
+
+  // Then test that the physics flag enables physics.
+  std::string xml_path_physics_flag =
+      xml_path + ":SDF_FORMAT_ARGS:usdMjcfToggleUsdPhysics=true";
+  auto stage_with_physics = pxr::UsdStage::Open(xml_path_physics_flag);
+  EXPECT_THAT(stage_with_physics, testing::NotNull());
+
+  EXPECT_PRIM_VALID(stage_with_physics, "/mesh_test/test_body/test_body");
+  EXPECT_PRIM_API_APPLIED(stage_with_physics, "/mesh_test/test_body/test_body",
+                          pxr::UsdPhysicsRigidBodyAPI);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="physics_test">
+      <worldbody>
+        <body name="test_body" pos="0 0 0">
+          <geom name="test_geom" type="sphere" size="1"/>
+          <body name="test_body_2" pos="2 0 0">
+            <geom name="test_geom_2" type="sphere" size="1"/>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfFileFormat::FileFormatArguments args;
+  args["usdMjcfToggleUsdPhysics"] = "true";
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml, args);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  EXPECT_THAT(stage, testing::NotNull());
+  EXPECT_PRIM_VALID(stage, "/physics_test");
+  EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
+  EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body");
+  // USD does not allow nested rigidbodies so we put them as siblings to the
+  // first body in the hierarchy.
+  EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
+
+  // The parent containing the body should not have the RigidBodyAPI applied.
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
+                              pxr::UsdPhysicsRigidBodyAPI);
+
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body",
+                          pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
+                          pxr::UsdPhysicsRigidBodyAPI);
+
+  // Geoms should not have RigidBodyAPI applied either.
+  EXPECT_PRIM_API_NOT_APPLIED(stage,
+                              "/physics_test/test_body/test_body/test_geom",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage,
+                              "/physics_test/test_body/test_body_2/test_geom_2",
+                              pxr::UsdPhysicsRigidBodyAPI);
+}
 
 }  // namespace
 }  // namespace mujoco

From f317bd17c3494b954982de7bcf14030978d5013b Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 14 Apr 2025 03:50:16 -0700
Subject: [PATCH 066/191] Add tendon actuator force sensor to MJX.

PiperOrigin-RevId: 747344916
Change-Id: Iab513ff953408c002216ffff12e3f8c825cedc10
---
 doc/changelog.rst                                      |  1 +
 doc/mjx.rst                                            |  2 +-
 mjx/mujoco/mjx/_src/forward_test.py                    | 10 ++++++++--
 mjx/mujoco/mjx/_src/sensor.py                          | 10 ++++++++++
 mjx/mujoco/mjx/_src/types.py                           |  2 ++
 .../mjx/test_data/actuator/tendon_force_clamp.xml      |  6 ++++++
 6 files changed, 28 insertions(+), 3 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 739cb30d..a71644aa 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -8,6 +8,7 @@ Upcoming version (not yet release)
 MJX
 ^^^
 - Added inverse dynamics.
+- Added tendon actuator force sensor.
 
 Version 3.3.1 (Apr 9, 2025)
 ----------------------------
diff --git a/doc/mjx.rst b/doc/mjx.rst
index 0c00525f..e0106b5f 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -246,7 +246,7 @@ The following features are **fully supported** in MJX:
        ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``,
        ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``TENDONVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``,
        ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``,
-       ``ACTUATORFRC``, ``JOINTACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
+       ``ACTUATORFRC``, ``JOINTACTFRC``, ``TENDONACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
        (``ACCELEROMETER``, ``FORCE``, ``TORQUE`` not supported with connect or weld equality constraints)
 
 The following features are **in development** and coming soon:
diff --git a/mjx/mujoco/mjx/_src/forward_test.py b/mjx/mujoco/mjx/_src/forward_test.py
index efdbcd65..f90fae1a 100644
--- a/mjx/mujoco/mjx/_src/forward_test.py
+++ b/mjx/mujoco/mjx/_src/forward_test.py
@@ -203,15 +203,21 @@ class ActuatorTest(parameterized.TestCase):
     mx = mjx.put_model(m)
     dx = mjx.put_data(m, d)
 
-    dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -20.0, 5.0, -5.0]))
+    dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -4.0, 1.0, -20.0, 5.0, -5.0]))
     dx = mjx.forward(mx, dx)
 
     _assert_eq(
         dx.actuator_force,
-        jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -10.0, 5.0, -5.0]),
+        jp.array([1.0, 1.0, 1.0, -4.0 / 3.0, 1.0 / 3.0, -10.0, 5.0, -5.0]),
         'actuator_force',
     )
 
+    _assert_eq(
+        dx.sensordata,
+        jp.array([3.0, -1.0, -10.0, 0.0]),
+        'sensordata',
+    )
+
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py
index 7c3a5c87..24471ccc 100644
--- a/mjx/mujoco/mjx/_src/sensor.py
+++ b/mjx/mujoco/mjx/_src/sensor.py
@@ -27,6 +27,7 @@ from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import Model
 from mujoco.mjx._src.types import ObjType
 from mujoco.mjx._src.types import SensorType
+from mujoco.mjx._src.types import TrnType
 # pylint: enable=g-importing-member
 import numpy as np
 
@@ -552,6 +553,15 @@ def sensor_acc(m: Model, d: Data) -> Data:
       sensor = d.actuator_force[objid]
     elif sensor_type == SensorType.JOINTACTFRC:
       sensor = d.qfrc_actuator[m.jnt_dofadr[objid]]
+    elif sensor_type == SensorType.TENDONACTFRC:
+      force_mask = [
+          (m.actuator_trntype == TrnType.TENDON)
+          & (m.actuator_trnid[:, 0] == tendon_id)
+          for tendon_id in objid
+      ]
+      force_ids = np.concatenate([np.nonzero(mask)[0] for mask in force_mask])
+      force_mat = np.array(force_mask)[:, force_ids]
+      sensor = force_mat @ d.actuator_force[force_ids]
     elif sensor_type in (SensorType.FRAMELINACC, SensorType.FRAMEANGACC):
       objtype = m.sensor_objtype[idx]
 
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 94587478..657cd524 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -370,6 +370,7 @@ class SensorType(enum.IntEnum):
     TORQUE: torque
     ACTUATORFRC: scalar actuator force
     JOINTACTFRC: scalar actuator force, measured at the joint
+    TENDONACTFRC: scalar actuator force, measured at the tendon
     FRAMELINACC: 3D linear acceleration
     FRAMEANGACC: 3D angular acceleration
   """
@@ -404,6 +405,7 @@ class SensorType(enum.IntEnum):
   TORQUE = mujoco.mjtSensor.mjSENS_TORQUE
   ACTUATORFRC = mujoco.mjtSensor.mjSENS_ACTUATORFRC
   JOINTACTFRC = mujoco.mjtSensor.mjSENS_JOINTACTFRC
+  TENDONACTFRC = mujoco.mjtSensor.mjSENS_TENDONACTFRC
   FRAMELINACC = mujoco.mjtSensor.mjSENS_FRAMELINACC
   FRAMEANGACC = mujoco.mjtSensor.mjSENS_FRAMEANGACC
 
diff --git a/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml b/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
index 43d4c69b..51952b3a 100644
--- a/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
+++ b/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
@@ -46,4 +46,10 @@
     <motor tendon="fixed1"/>
     <motor tendon="fixed1"/>
   </actuator>
+  <sensor>
+    <tendonactuatorfrc tendon="spatial0"/>
+    <tendonactuatorfrc tendon="spatial1"/>
+    <tendonactuatorfrc tendon="fixed0"/>
+    <tendonactuatorfrc tendon="fixed1"/>
+  </sensor>
 </mujoco>

From ec186430eff4086d4f18fc6143e8d10b1f512051 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 14 Apr 2025 08:05:13 -0700
Subject: [PATCH 067/191] Add setting plugin config properties via Python
 bindings.

PiperOrigin-RevId: 747421357
Change-Id: Ie80f1a889f2f6ec457c1e16193fa0694e07d3fe9
---
 python/mujoco/specs.cc      | 16 ++++++++++++++++
 python/mujoco/specs_test.py |  4 +++-
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 313de159..3adc549b 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -1032,6 +1032,22 @@ PYBIND11_MODULE(_specs, m) {
       });
   mjsPlugin.def("delete",
                 [](raw::MjsPlugin& self) { mjs_delete(self.element); });
+  mjsPlugin.def_property(
+      "config",
+      [](raw::MjsPlugin& self) -> void {
+        throw pybind11::value_error("Reading plugin config is not supported.");
+      },
+      [](raw::MjsPlugin& self, py::dict& config) {
+        std::map<std::string, std::string, std::less<>> config_attribs;
+        for (const auto& [key, value] : config) {
+          std::string key_str = key.cast<std::string>();
+          if (config_attribs.find(key_str) != config_attribs.end()) {
+            throw pybind11::value_error("Duplicate config key: " + key_str);
+          }
+          config_attribs[key_str] = value.cast<std::string>();
+        }
+        mjs_setPluginAttributes(&self, &config_attribs);
+      });
   // ============================= MJVISUAL ====================================
   mjVisual.def_property(
       "global_",
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 1b46bd4b..210d833f 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -841,8 +841,9 @@ class SpecsTest(absltest.TestCase):
         name='instance_name',
         plugin_name='mujoco.elasticity.cable',
         active=True,
-        info='info',
+        info='info'
     )
+    plugin.config = {'twist': '10', 'bend': '1'}
 
     body = spec.worldbody.add_body()
     body.plugin = plugin
@@ -858,6 +859,7 @@ class SpecsTest(absltest.TestCase):
     model = spec.compile()
     self.assertIsNotNone(model)
     self.assertEqual(model.nplugin, 1)
+    self.assertEqual(model.npluginattr, 7)
     self.assertEqual(model.body_plugin[1], 0)
 
   def test_recompile_error(self):

From 71a70040570cc93d558938e66692059c8265427d Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Tue, 15 Apr 2025 04:02:15 -0700
Subject: [PATCH 068/191] Fix array extent parsing logic for introspect.

Also fix the mjxmacro_test to correctly assert that all array extents defined in the X macros can be correctly parsed from field comments.

PiperOrigin-RevId: 747808525
Change-Id: I0b08dc263f8a46118a07200ae044d6c491207245
---
 doc/includes/references.h                     |  4 +-
 include/mujoco/mjdata.h                       |  4 +-
 .../introspect/codegen/generate_structs.py    | 13 ++--
 python/mujoco/introspect/structs.py           | 65 ++++++++++++-------
 4 files changed, 54 insertions(+), 32 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index b97f2b93..35fd7ff1 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -347,8 +347,8 @@ struct mjData_ {
   mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
 
   // computed by mj_inverse
-  mjtNum* qfrc_inverse;      // net external force; should equal:                (nv x 1)
-                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator
+  mjtNum* qfrc_inverse;      // net external force; should equal:
+                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
 
   // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
   mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 2b5eb7c6..b5b0373b 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -375,8 +375,8 @@ struct mjData_ {
   mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
 
   // computed by mj_inverse
-  mjtNum* qfrc_inverse;      // net external force; should equal:                (nv x 1)
-                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator
+  mjtNum* qfrc_inverse;      // net external force; should equal:
+                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
 
   // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
   mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
diff --git a/python/mujoco/introspect/codegen/generate_structs.py b/python/mujoco/introspect/codegen/generate_structs.py
index 1c50db22..24da6e2e 100644
--- a/python/mujoco/introspect/codegen/generate_structs.py
+++ b/python/mujoco/introspect/codegen/generate_structs.py
@@ -47,7 +47,7 @@ _EXCLUDED = (
     'mjResource_',
 )
 
-_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s\s+\((.+) x (.+)\)\Z')
+_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
 
 
 def traverse(node, visitor):
@@ -93,16 +93,19 @@ class MjStructVisitor:
     # No valid normalization, just parse the declname.
     return type_parsing.parse_type(declname)
 
-  def _make_comment(self, node: ClangJsonNode) -> str:
+  def _make_comment(self, node: ClangJsonNode, strip: bool = True) -> str:
     """Makes a comment string from a Clang AST FullComment node."""
     kind = node.get('kind')
     if kind == 'TextComment':
-      return node['text'].replace('\N{NO-BREAK SPACE}', '&nbsp;').strip()
+      retval = node['text'].replace('\N{NO-BREAK SPACE}', '&nbsp;')
     else:
       strings = []
       for child in node['inner']:
-        strings.append(self._make_comment(child))
-      return ''.join(strings).strip()
+        strings.append(self._make_comment(child, strip=False))
+      retval = ''.join(strings)
+    if strip:
+      retval = retval.strip()
+    return retval
 
   def _make_field(
       self, node: ClangJsonNode
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 51799032..3db9e84c 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -1744,14 +1744,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='constraint solver reference:frictionloss (nv x mjNREF)',
+                 doc='constraint solver reference:frictionloss',
+                 array_extent=('nv', 'mjNREF'),
              ),
              StructFieldDecl(
                  name='dof_solimp',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='constraint solver impedance:frictionloss (nv x mjNIMP)',
+                 doc='constraint solver impedance:frictionloss',
+                 array_extent=('nv', 'mjNIMP'),
              ),
              StructFieldDecl(
                  name='dof_frictionloss',
@@ -1958,7 +1960,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='detect contact if dist<margin(ngeom x 1)',
+                 doc='detect contact if dist<margin',
+                 array_extent=('ngeom',),
              ),
              StructFieldDecl(
                  name='geom_gap',
@@ -2117,7 +2120,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='global position rel. to sub-com in qpos0 (ncam x 3)',
+                 doc='global position rel. to sub-com in qpos0',
+                 array_extent=('ncam', 3),
              ),
              StructFieldDecl(
                  name='cam_pos0',
@@ -2268,7 +2272,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='global position rel. to sub-com in qpos0 (nlight x 3)',
+                 doc='global position rel. to sub-com in qpos0',
+                 array_extent=('nlight', 3),
              ),
              StructFieldDecl(
                  name='light_pos0',
@@ -2403,7 +2408,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='detect contact if dist<margin(nflex x 1)',
+                 doc='detect contact if dist<margin',
+                 array_extent=('nflex',),
              ),
              StructFieldDecl(
                  name='flex_gap',
@@ -2434,7 +2440,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of active element layers, 3D only (nflex x 1)',
+                 doc='number of active element layers, 3D only',
+                 array_extent=('nflex',),
              ),
              StructFieldDecl(
                  name='flex_dim',
@@ -2649,7 +2656,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='shell fragment vertex ids (dim per frag) (nflexshelldata x 1)',  # pylint: disable=line-too-long
+                 doc='shell fragment vertex ids (dim per frag)',
+                 array_extent=('nflexshelldata',),
              ),
              StructFieldDecl(
                  name='flex_evpair',
@@ -2992,7 +3000,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='address of asset path for mesh; -1: none (nmesh x 1)',
+                 doc='address of asset path for mesh; -1: none',
+                 array_extent=('nmesh',),
              ),
              StructFieldDecl(
                  name='mesh_polynum',
@@ -3239,7 +3248,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='address of asset path for skin; -1: none (nskin x 1)',
+                 doc='address of asset path for skin; -1: none',
+                 array_extent=('nskin',),
              ),
              StructFieldDecl(
                  name='hfield_size',
@@ -3454,7 +3464,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='body1<<16 + body2',
+                 doc='body1 << 16 + body2',
                  array_extent=('npair',),
              ),
              StructFieldDecl(
@@ -3486,7 +3496,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='detect contact if dist<margin(npair x 1)',
+                 doc='detect contact if dist<margin',
+                 array_extent=('npair',),
              ),
              StructFieldDecl(
                  name='pair_gap',
@@ -3509,7 +3520,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='body1<<16 + body2',
+                 doc='body1 << 16 + body2',
                  array_extent=('nexclude',),
              ),
              StructFieldDecl(
@@ -3581,7 +3592,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc="address of first object in tendon's path (ntendon x 1)",
+                 doc="address of first object in tendon's path",
+                 array_extent=('ntendon',),
              ),
              StructFieldDecl(
                  name='tendon_num',
@@ -4124,7 +4136,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc="address to each instance's config attrib (nplugin x 1)",
+                 doc="address to each instance's config attrib",
+                 array_extent=('nplugin',),
              ),
              StructFieldDecl(
                  name='numeric_adr',
@@ -5600,7 +5613,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='reduced dof-dof: address of each row in C_colind (nv x 1)',  # pylint: disable=line-too-long
+                 doc='reduced dof-dof: address of each row in C_colind',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='C_colind',
@@ -5727,7 +5741,8 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc="net external force; should equal:                (nv x 1)qfrc_applied + J'*xfrc_applied + qfrc_actuator",  # pylint: disable=line-too-long
+                 doc="net external force; should equal: qfrc_applied + J'*xfrc_applied + qfrc_actuator",  # pylint: disable=line-too-long
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='cacc',
@@ -5814,28 +5829,32 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of non-zeros in constraint Jacobian row T (nv x 1)',  # pylint: disable=line-too-long
+                 doc='number of non-zeros in constraint Jacobian row T',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='efc_JT_rowadr',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='row start address in colind array              T (nv x 1)',  # pylint: disable=line-too-long
+                 doc='row start address in colind array              T',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='efc_JT_rowsuper',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of subsequent rows in supernode         T (nv x 1)',  # pylint: disable=line-too-long
+                 doc='number of subsequent rows in supernode         T',
+                 array_extent=('nv',),
              ),
              StructFieldDecl(
                  name='efc_JT_colind',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='column indices in constraint Jacobian          T (nJ x 1)',  # pylint: disable=line-too-long
+                 doc='column indices in constraint Jacobian          T',
+                 array_extent=('nJ',),
              ),
              StructFieldDecl(
                  name='efc_J',
@@ -9122,7 +9141,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='settotalmass',
                  type=ValueType(name='double'),
-                 doc='rescale masses and inertias;<=0: ignore',
+                 doc='rescale masses and inertias; <=0: ignore',
              ),
              StructFieldDecl(
                  name='balanceinertia',
@@ -9901,7 +9920,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='gap',
                  type=ValueType(name='double'),
-                 doc='include in solver if dist<margin-gap',
+                 doc='include in solver if dist < margin-gap',
              ),
              StructFieldDecl(
                  name='mass',

From d1681351895aa7157517f288d42686cf7af688e6 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 15 Apr 2025 05:39:40 -0700
Subject: [PATCH 069/191] Remove duplicate test_tendon_force_clamp from
 inverse_test.py.

PiperOrigin-RevId: 747835971
Change-Id: I96ca7a2e3f71dbc05af238c269a81b41b51fa48b
---
 mjx/mujoco/mjx/_src/inverse_test.py | 15 ---------------
 1 file changed, 15 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/inverse_test.py b/mjx/mujoco/mjx/_src/inverse_test.py
index 19a5deef..556f2a7e 100644
--- a/mjx/mujoco/mjx/_src/inverse_test.py
+++ b/mjx/mujoco/mjx/_src/inverse_test.py
@@ -111,21 +111,6 @@ class InverseTest(parameterized.TestCase):
     self.assertLess(fwdinv1, 1.0e-3)
     _assert_eq(dxinv.qacc, dx.qacc, 'qacc')
 
-  def test_tendon_force_clamp(self):
-    m = test_util.load_test_file('actuator/tendon_force_clamp.xml')
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -20.0, 5.0, -5.0]))
-    dx = mjx.forward(mx, dx)
-
-    _assert_eq(
-        dx.actuator_force,
-        jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -10.0, 5.0, -5.0]),
-        'actuator_force',
-    )
-
 
 if __name__ == '__main__':
   absltest.main()

From 99490163df46f65a0cabcf8efef61b3164faa620 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 15 Apr 2025 08:33:00 -0700
Subject: [PATCH 070/191] Prevent NaN in cylinder SDF.

Fixes #2573.

The correction matches the one used in MJX (see _cylinder_grad in collision_sdf.py).

PiperOrigin-RevId: 747887406
Change-Id: I1a4f1ac769adb96c98665eace7ce54fb09a7d3a2
---
 src/engine/engine_collision_sdf.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index c6fe8eba..f58f414a 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -158,7 +158,9 @@ static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
     e = mju_abs(x[2]);
     a[0] = c - size[0];
     a[1] = e - size[1];
-    mjtNum grada[3] = {x[0] / c, x[1] / c, x[2] / e};
+    mjtNum grada[3] = {x[0] / mju_max(c, 1. / mjMAXVAL),
+                       x[1] / mju_max(c, 1. / mjMAXVAL),
+                       x[2] / mju_max(e, 1. / mjMAXVAL)};
     int j = a[0] > a[1] ? 0 : 1;
     if (a[j] < 0) {
       gradient[0] = j == 0 ? grada[0] : 0;
@@ -167,7 +169,7 @@ static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
     } else {
       b[0] = mju_max(a[0], 0);
       b[1] = mju_max(a[1], 0);
-      mjtNum bnorm = mju_norm(b, 2);
+      mjtNum bnorm = mju_max(mju_norm(b, 2), 1./mjMAXVAL);
       gradient[0] = grada[0] * b[0] / bnorm;
       gradient[1] = grada[1] * b[0] / bnorm;
       gradient[2] = grada[2] * b[1] / bnorm;

From 7c8930af96f17c031c5b06d049bd10adff887841 Mon Sep 17 00:00:00 2001
From: Rahul Lashkari <rahul.lsh.connect@gmail.com>
Date: Mon, 21 Apr 2025 15:38:50 +0530
Subject: [PATCH 071/191] fix(notebook): corrections in python notebooks

---
 python/mjspec.ipynb  | 4 ++--
 python/rollout.ipynb | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index 925da6bc..9213e2b4 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -10,7 +10,7 @@
     "\n",
     "# <h1><center>Model Editing  <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
     "\n",
-    "This notebook provides an introductory tutorial for model editing in MuJoCo using the `mjSpec` API. This notebook assumes that the reader is already familiar with MuJoCo basic concepts, as demostrated in the [introductory tutorial](https://github.com/google-deepmind/mujoco?tab=readme-ov-file#getting-started). Documentation for this API can be found in the [Model Editing](https://mujoco.readthedocs.io/en/latest/programming/modeledit.html) chapter in the documentation (C API) and in the [Python chapter](https://mujoco.readthedocs.io/en/latest/python.html#model-editing). Here we use the Python API.\n",
+    "This notebook provides an introductory tutorial for model editing in MuJoCo using the `mjSpec` API. This notebook assumes that the reader is already familiar with MuJoCo basic concepts, as demonstrated in the [introductory tutorial](https://github.com/google-deepmind/mujoco?tab=readme-ov-file#getting-started). Documentation for this API can be found in the [Model Editing](https://mujoco.readthedocs.io/en/latest/programming/modeledit.html) chapter in the documentation (C API) and in the [Python chapter](https://mujoco.readthedocs.io/en/latest/python.html#model-editing). Here we use the Python API.\n",
     "\n",
     "The goal of the API is to allow users to easily interact with and modify MuJoCo\n",
     "models in Python, similarly to what the JavaScript DOM does for HTML.\n",
@@ -635,7 +635,7 @@
    "outputs": [],
    "source": [
     "def add_hfield(spec=None, hsize=10, vsize=4):\n",
-    "  \"\"\" Function that adds a heighfield with countours\"\"\"\n",
+    "  \"\"\" Function that adds a height field with contours\"\"\"\n",
     "\n",
     "  # Initialize spec\n",
     "  if spec is None:\n",
diff --git a/python/rollout.ipynb b/python/rollout.ipynb
index 61b21ffc..fe8ac49c 100644
--- a/python/rollout.ipynb
+++ b/python/rollout.ipynb
@@ -1599,7 +1599,7 @@
     "\n",
     "Here we will produce a similar plot to compare MJX and with `rollout`. On a 5800X3D and 4090 the benchmark takes about 16.5 minutes to run.\n",
     "\n",
-    "**Note:** These results are not directly comparable since with the plot in the documentation because, in particular, the batch size was redued from 8192 to 4096 in order to fit the batch on a 4090."
+    "**Note:** These results are not directly comparable since with the plot in the documentation because, in particular, the batch size was reduced from 8192 to 4096 in order to fit the batch on a 4090."
    ]
   },
   {

From c2ac0d724e866045e89eee954cfaa22e5c52b4a5 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 22 Apr 2025 10:32:42 -0700
Subject: [PATCH 072/191] Add `mju_gather` and `mju_scatter`, private engine
 functions.

PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
---
 src/engine/engine_core_smooth.c          |  8 ++++----
 src/engine/engine_forward.c              | 22 +++++++---------------
 src/engine/engine_inverse.c              |  7 +++----
 src/engine/engine_solver.c               |  6 ++----
 src/engine/engine_support.c              | 10 ++++------
 src/engine/engine_util_misc.c            | 18 ++++++++++++++++++
 src/engine/engine_util_misc.h            |  6 ++++++
 test/benchmark/factorI_benchmark_test.cc |  5 ++---
 test/benchmark/inertia_benchmark_test.cc |  5 ++---
 test/benchmark/solveLD_benchmark_test.cc |  7 +++----
 test/engine/engine_core_smooth_test.cc   | 19 +++++++------------
 11 files changed, 58 insertions(+), 55 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 0bb97dc7..09ea01c2 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1646,11 +1646,11 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
 // sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
 void mj_factorM(const mjModel* m, mjData* d) {
   TM_START;
-  int nM = m->nM;
-  for (int i=0; i < nM; i++) {
-    d->qLD[i] = d->qM[d->mapM2M[i]];
-  }
+
+  // gather LD <- M (legacy to CSR) and factorize in-place
+  mju_gather(d->qLD, d->qM, d->mapM2M, m->nM);
   mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+
   TM_ADD(mjTIMER_POS_INERTIA);
 }
 
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 5771db32..42520046 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -840,9 +840,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
   else {
     if (!skipfactor) {
       // qH = M + h*diag(B)
-      for (int i=0; i < nM; i++) {
-        d->qH[i] = d->qM[d->mapM2M[i]];
-      }
+      mju_gather(d->qH, d->qM, d->mapM2M, nM);
       for (int i=0; i < nv; i++) {
         d->qH[d->M_rowadr[i] + d->M_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
       }
@@ -999,10 +997,8 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
       // compute analytical derivative qDeriv
       mjd_smooth_vel(m, d, /* flg_bias = */ 1);
 
-      // set qLU = qM
-      for (int i=0; i < nD; i++) {
-        d->qLU[i] = d->qM[d->mapM2D[i]];
-      }
+      // gather qLU <- qM (lower to full)
+      mju_gather(d->qLU, d->qM, d->mapM2D, nD);
 
       // set qLU = qM - dt*qDeriv
       mju_addToScl(d->qLU, d->qDeriv, -m->opt.timestep, m->nD);
@@ -1022,19 +1018,15 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
       // compute analytical derivative qDeriv; skip rne derivative
       mjd_smooth_vel(m, d, /* flg_bias = */ 0);
 
-      // modified mass matrix MhB = qDeriv[Lower]
+      // modified mass matrix: gather MhB <- qDeriv (full to lower)
       mjtNum* MhB = mjSTACKALLOC(d, nM, mjtNum);
-      for (int i=0; i < nM; i++) {
-        MhB[i] = d->qDeriv[d->mapD2M[i]];
-      }
+      mju_gather(MhB, d->qDeriv, d->mapD2M, nM);
 
       // set MhB = M - dt*qDeriv
       mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM);
 
-      // copy into qH
-      for (int i=0; i < nM; i++) {
-        d->qH[i] = MhB[d->mapM2M[i]];
-      }
+      // gather qH <- MhB (legacy to CSR)
+      mju_gather(d->qH, MhB, d->mapM2M, nM);
 
       // factorize in-place
       mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
index c4042401..57005f1e 100644
--- a/src/engine/engine_inverse.c
+++ b/src/engine/engine_inverse.c
@@ -31,6 +31,7 @@
 #include "engine/engine_support.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
+#include "engine/engine_util_misc.h"
 #include "engine/engine_util_sparse.h"
 
 // position-dependent computations
@@ -115,10 +116,8 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
     // compute qDeriv
     mjd_smooth_vel(m, d, /* flg_bias = */ 1);
 
-    // set qLU = qM
-    for (int i=0; i < nD; i++) {
-      d->qLU[i] = d->qM[d->mapM2D[i]];
-    }
+    // gather qLU <- qM (lower to full)
+    mju_gather(d->qLU, d->qM, d->mapM2D, nD);
 
     // set qLU = qM - dt*qDeriv
     mju_addToScl(d->qLU, d->qDeriv, -m->opt.timestep, m->nD);
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index f23d8bf5..8e83ace5 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1394,10 +1394,8 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
 
   // sparse
   if (mj_isSparse(m)) {
-    // copy values of reduced sparse inertia matrix C
-    for (int i=0; i < m->nC; i++) {
-      ctx->C[i] = d->qM[d->mapM2C[i]];
-    }
+    // gather C <- qM (legacy to CSR)
+    mju_gather(ctx->C, d->qM, d->mapM2C, m->nC);
 
     // initialize Hessian rowadr, rownnz
     mju_sqrMatTDSparseCount(ctx->H_rownnz, ctx->H_rowadr, nv,
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index b7fc4d7c..b7e2699d 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1130,14 +1130,12 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
     int nC = m->nC;
     mj_markStack(d);
 
-    // create reduced sparse inertia matrix C
+    // gather C <- qM (legacy to CSR)
     mjtNum* C = mjSTACKALLOC(d, nC, mjtNum);
-    for (int i=0; i < nC; i++) {
-      C[i] = d->qM[d->mapM2C[i]];
-    }
+    mju_gather(C, d->qM, d->mapM2C, nC);
 
-    mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C,
-                  d->C_rownnz, d->C_rowadr, d->C_colind);
+    // add to dst
+    mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C, d->C_rownnz, d->C_rowadr, d->C_colind);
     mj_freeStack(d);
   }
 
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index 528b8f21..bec28aa3 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -1390,6 +1390,24 @@ void mju_n2d(double* res, const mjtNum* vec, int n) {
 
 
 
+// gather
+void mju_gather(mjtNum* restrict res, const mjtNum* restrict vec, const int* restrict ind, int n) {
+  for (int i=0; i < n; i++) {
+    res[i] = vec[ind[i]];
+  }
+}
+
+
+
+// scatter
+void mju_scatter(mjtNum* restrict res, const mjtNum* restrict vec, const int* restrict ind, int n) {
+  for (int i=0; i < n; i++) {
+    res[ind[i]] = vec[i];
+  }
+}
+
+
+
 // insertion sort, increasing order
 void mju_insertionSort(mjtNum* list, int n) {
   for (int i=1; i < n; i++) {
diff --git a/src/engine/engine_util_misc.h b/src/engine/engine_util_misc.h
index e266f814..de10f907 100644
--- a/src/engine/engine_util_misc.h
+++ b/src/engine/engine_util_misc.h
@@ -156,6 +156,12 @@ MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
 // convert from mjtNum to double
 MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
 
+// gather
+MJAPI void mju_gather(mjtNum* res, const mjtNum* vec, const int* ind, int n);
+
+// scatter
+MJAPI void mju_scatter(mjtNum* res, const mjtNum* vec, const int* ind, int n);
+
 // insertion sort, increasing order
 MJAPI void mju_insertionSort(mjtNum* list, int n);
 
diff --git a/test/benchmark/factorI_benchmark_test.cc b/test/benchmark/factorI_benchmark_test.cc
index dd73d3da..f2feea1e 100644
--- a/test/benchmark/factorI_benchmark_test.cc
+++ b/test/benchmark/factorI_benchmark_test.cc
@@ -19,6 +19,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_core_smooth.h"
+#include "src/engine/engine_util_misc.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -45,9 +46,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
 
   // M: mass matrix in CSR format
   mjtNum* M = mj_stackAllocNum(d, m->nM);
-  for (int i=0; i < m->nM; i++) {
-    M[i] = d->qM[d->mapM2M[i]];
-  }
+  mju_gather(M, d->qM, d->mapM2M, m->nM);
 
   // LDlegacy: legacy LD matrix (size nM)
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
diff --git a/test/benchmark/inertia_benchmark_test.cc b/test/benchmark/inertia_benchmark_test.cc
index e787fa24..3bdeddfd 100644
--- a/test/benchmark/inertia_benchmark_test.cc
+++ b/test/benchmark/inertia_benchmark_test.cc
@@ -20,6 +20,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_core_smooth.h"
+#include "src/engine/engine_util_misc.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -47,9 +48,7 @@ static void BM_solve(benchmark::State& state, SolveType type) {
 
   // M: mass matrix in CSR format
   mjtNum* M = mj_stackAllocNum(d, m->nM);
-  for (int i=0; i < m->nM; i++) {
-    M[i] = d->qM[d->mapM2M[i]];
-  }
+  mju_gather(M, d->qM, d->mapM2M, m->nM);
 
   // LDlegacy: legacy LD matrix (size nM)
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
diff --git a/test/benchmark/solveLD_benchmark_test.cc b/test/benchmark/solveLD_benchmark_test.cc
index 64276ba9..6204425f 100644
--- a/test/benchmark/solveLD_benchmark_test.cc
+++ b/test/benchmark/solveLD_benchmark_test.cc
@@ -19,6 +19,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_core_smooth.h"
+#include "src/engine/engine_util_misc.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -50,11 +51,9 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
     vec[i] = 0.2 + 0.3*i;
   }
 
-  // make legacy matrix
+  // scatter into legacy matrix
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
-  for (int i=0; i < m->nM; i++) {
-    LDlegacy[d->mapM2M[i]] = d->qLD[i];
-  }
+  mju_scatter(LDlegacy, d->qLD, d->mapM2M, m->nM);
 
   // benchmark
   while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 1d383922..1c71475a 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -15,6 +15,7 @@
 // Tests for engine/engine_core_smooth.c.
 
 #include "src/engine/engine_core_smooth.h"
+#include "src/engine/engine_util_misc.h"
 #include "src/engine/engine_util_sparse.h"
 
 #include <algorithm>
@@ -754,11 +755,9 @@ TEST_F(CoreSmoothTest, SolveLDs) {
   int nv = m->nv;
   int nM = m->nM;
 
-  // copy M into LD: Legacy format
+  // scatter M into LD: Legacy format
   vector<mjtNum> LDlegacy(nM);
-  for (int i=0; i < nM; i++) {
-    LDlegacy[d->mapM2M[i]] = d->qLD[i];
-  }
+  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nM);
 
   // compare LD and LDs densified matrices
   vector<mjtNum> LDdense(nv*nv);
@@ -805,11 +804,9 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
   int nv = m->nv;
   int nM = m->nM;
 
-  // copy LD into LDlegacy: Legacy format
+  // scatter LD into LDlegacy: Legacy format
   vector<mjtNum> LDlegacy(nM);
-  for (int i=0; i < nM; i++) {
-    LDlegacy[d->mapM2M[i]] = d->qLD[i];
-  }
+  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nM);
 
   // compare n LD and LDs vector solve
   int n = 3;
@@ -891,11 +888,9 @@ TEST_F(CoreSmoothTest, FactorIs) {
     qLDexpected[i] = qLDlegacy[d->mapM2M[i]];
   }
 
-  // copy qM into qLD: CSR format
+  // gather qM into qLD: CSR format
   vector<mjtNum> qLD(nM);
-  for (int i=0; i < nM; i++) {
-    qLD[i] = d->qM[d->mapM2M[i]];  // mj_factorI is in-place
-  }
+  mju_gather(qLD.data(), d->qM, d->mapM2M, nM);
 
   vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
   vector<mjtNum> qLDiagInv(nv, 0);

From 8f768be2dafbdd3a61bd664343362a72791e10dd Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 23 Apr 2025 03:26:40 -0700
Subject: [PATCH 073/191] Remove solver_nisland field from mjData.

PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
---
 doc/includes/references.h            | 1 -
 include/mujoco/mjdata.h              | 1 -
 include/mujoco/mjxmacro.h            | 1 -
 python/mujoco/introspect/structs.py  | 5 -----
 sample/testspeed.cc                  | 2 +-
 simulate/simulate.cc                 | 6 +++---
 src/engine/engine_forward.c          | 4 ----
 src/engine/engine_io.c               | 1 -
 src/engine/engine_print.c            | 3 +--
 unity/Runtime/Bindings/MjBindings.cs | 1 -
 10 files changed, 5 insertions(+), 20 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 35fd7ff1..89890efc 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -154,7 +154,6 @@ struct mjData_ {
 
   // solver statistics
   mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
-  int           solver_nisland;               // number of islands processed by solver
   int           solver_niter[mjNISLAND];      // number of solver iterations, per island
   int           solver_nnz[mjNISLAND];        // number of nonzeros in Hessian or efc_AR, per island
   mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index b5b0373b..d6f98775 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -182,7 +182,6 @@ struct mjData_ {
 
   // solver statistics
   mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
-  int           solver_nisland;               // number of islands processed by solver
   int           solver_niter[mjNISLAND];      // number of solver iterations, per island
   int           solver_nnz[mjNISLAND];        // number of nonzeros in Hessian or efc_AR, per island
   mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 704ba353..7c73c598 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -777,7 +777,6 @@
     X( size_t,    maxuse_arena       ) \
     X( int,       maxuse_con         ) \
     X( int,       maxuse_efc         ) \
-    X( int,       solver_nisland     ) \
     X( int,       ncon               ) \
     X( int,       ne                 ) \
     X( int,       nf                 ) \
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 3db9e84c..db237c74 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -4816,11 +4816,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='solver statistics per island, per iteration',
              ),
-             StructFieldDecl(
-                 name='solver_nisland',
-                 type=ValueType(name='int'),
-                 doc='number of islands processed by solver',
-             ),
              StructFieldDecl(
                  name='solver_niter',
                  type=ArrayType(
diff --git a/sample/testspeed.cc b/sample/testspeed.cc
index 84eb78bd..8074f68e 100644
--- a/sample/testspeed.cc
+++ b/sample/testspeed.cc
@@ -97,7 +97,7 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
     // accumulate statistics
     contacts[id] += d[id]->ncon;
     constraints[id] += d[id]->nefc;
-    int nisland = d[id]->solver_nisland;
+    int nisland = mjMAX(1, mjMIN(d[id]->nisland, mjNISLAND));
     if (nisland == 1 || nisland == 0) {
       iterations[id] += d[id]->solver_niter[0];
     } else {
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 8d5013a3..78a5e312 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -298,7 +298,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
   memset(sim->figcost.linepnt, 0, mjMAXLINE*sizeof(int));
 
   // number of islands that have diagnostics
-  int nisland = mjMIN(d->solver_nisland, mjNISLAND);
+  int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
 
   // iterate over islands
   for (int k=0; k < nisland; k++) {
@@ -413,7 +413,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
     static_cast<float>(d->nefc),
     static_cast<float>(sqrt_nnz),
     static_cast<float>(d->ncon),
-    static_cast<float>(solver_niter)
+    static_cast<float>(solver_niter) / nisland
   };
 
   // update figsize
@@ -582,7 +582,7 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
   char tmp[20];
 
   // number of islands with statistics
-  int nisland = mjMIN(d->solver_nisland, mjNISLAND);
+  int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
 
   // compute solver error (maximum over islands)
   mjtNum solerr = 0;
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 42520046..3857bcae 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -730,7 +730,6 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
       // solve using threads
       mj_solCG_island_multithreaded(m, d);
     }
-    d->solver_nisland = nisland;
   }
 
   // run solver over all constraints
@@ -751,9 +750,6 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
     default:
       mjERROR("unknown solver type %d", m->opt.solver);
     }
-
-    // one (monolithic) island
-    d->solver_nisland = 1;
   }
 
   // save result for next step warmstart
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 0f6878e1..78aed97d 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1904,7 +1904,6 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   memset(d->warning, 0, mjNWARNING*sizeof(mjWarningStat));
   memset(d->timer, 0, mjNTIMER*sizeof(mjTimerStat));
   memset(d->solver, 0, mjNSOLVER*mjNISLAND*sizeof(mjSolverStat));
-  d->solver_nisland = 0;
   mju_zeroInt(d->solver_niter, mjNISLAND);
   mju_zeroInt(d->solver_nnz, mjNISLAND);
   mju_zero(d->solver_fwdinv, 2);
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index fcea96b2..49d0afa3 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -1008,9 +1008,8 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
   // SOLVER STAT
   if (d->nefc) {
     fprintf(fp, "SOLVER STAT\n");
-    fprintf(fp, "  solver_nisland = %d\n", d->solver_nisland);
     printVector("  solver_fwdinv = ", d->solver_fwdinv, 2, fp, float_format);
-    int nisland_stat = mjMIN(d->solver_nisland, mjNISLAND);
+    int nisland_stat = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
     for (int island=0; island < nisland_stat; island++) {
       int niter_stat = mjMIN(mjNSOLVER, d->solver_niter[island]);
       if (niter_stat) {
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 592ca0da..2af0cb51 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -4826,7 +4826,6 @@ public unsafe struct mjData_ {
   public mjSolverStat_ solver3997;
   public mjSolverStat_ solver3998;
   public mjSolverStat_ solver3999;
-  public int solver_nisland;
   public fixed int solver_niter[20];
   public fixed int solver_nnz[20];
   public fixed double solver_fwdinv[2];

From 9e72874801ac848691ef5d748fe2df681c40a035 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Wed, 23 Apr 2025 10:50:59 -0700
Subject: [PATCH 074/191] Remove EPA tolerance in the discrete case in
 nativeccd.

PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
---
 src/engine/engine_collision_gjk.c        | 125 +++++++++++------------
 test/engine/engine_collision_gjk_test.cc |  64 ++++++++++++
 2 files changed, 123 insertions(+), 66 deletions(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 3c2df6c3..268de4c2 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -59,18 +59,18 @@ typedef struct {
 
 // polytope used in the Expanding Polytope Algorithm (EPA)
 typedef struct {
-  Vertex* verts;     // list of vertices that make up the polytope
-  int nverts;        // number of vertices
-  Face* faces;       // list of faces that make up the polytope
-  int nfaces;        // number of faces
-  int maxfaces;      // max number of faces that can be stored in polytope
-  Face** map;        // linear map storing faces
-  int nmap;          // number of faces in map
-  struct Horizon {   // polytope boundary edges that can be seen from w
-    int* indices;    // indices of faces on horizon
-    int* edges;      // corresponding edge of each face on the horizon
-    int nedges;      // number of edges in horizon
-    mjtNum* w;       // point where horizon is created
+  Vertex* verts;      // list of vertices that make up the polytope
+  int nverts;         // number of vertices
+  Face* faces;        // list of faces that make up the polytope
+  int nfaces;         // number of faces
+  int maxfaces;       // max number of faces that can be stored in polytope
+  Face** map;         // linear map storing faces
+  int nmap;           // number of faces in map
+  struct Horizon {    // polytope boundary edges that can be seen from w
+    int* indices;     // indices of faces on horizon
+    int* edges;       // corresponding edge of each face on the horizon
+    int nedges;       // number of edges in horizon
+    const mjtNum* w;  // point where horizon is created
   } horizon;
 } Polytope;
 
@@ -291,25 +291,32 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
 
 
 // compute the support point in obj1 and obj2 for Minkowski difference
-static inline void support(mjtNum s1[3], mjtNum s2[3], mjCCDObj* obj1, mjCCDObj* obj2,
+static inline void support(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
                            const mjtNum dir[3], const mjtNum dir_neg[3]) {
   // obj1
-  obj1->support(s1, obj1, dir);
+  obj1->support(v->vert1, obj1, dir);
   if (obj1->margin > 0 && obj1->geom >= 0) {
     mjtNum margin = 0.5 * obj1->margin;
-    s1[0] += dir[0] * margin;
-    s1[1] += dir[1] * margin;
-    s1[2] += dir[2] * margin;
+    v->vert1[0] += dir[0] * margin;
+    v->vert1[1] += dir[1] * margin;
+    v->vert1[2] += dir[2] * margin;
   }
 
   // obj2
-  obj2->support(s2, obj2, dir_neg);
+  obj2->support(v->vert2, obj2, dir_neg);
   if (obj2->margin > 0 && obj2->geom >= 0) {
     mjtNum margin = 0.5 * obj2->margin;
-    s2[0] += dir_neg[0] * margin;
-    s2[1] += dir_neg[1] * margin;
-    s2[2] += dir_neg[2] * margin;
+    v->vert2[0] += dir_neg[0] * margin;
+    v->vert2[1] += dir_neg[1] * margin;
+    v->vert2[2] += dir_neg[2] * margin;
   }
+
+  // compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
+  sub3(v->vert, v->vert1, v->vert2);
+
+  // copy vertex indices of discrete geoms
+  v->index1 = obj1->vertindex;
+  v->index2 = obj2->vertindex;
 }
 
 
@@ -326,17 +333,7 @@ static void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
     scl3(dir_neg, x_k, norm);
     scl3(dir, dir_neg, -1);
   }
-
-  // compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
-  support(v->vert1, v->vert2, obj1, obj2, dir, dir_neg);
-  sub3(v->vert, v->vert1, v->vert2);
-  // copy mesh indices
-  if (obj1->vertindex >= 0) {
-    v->index1 = obj1->vertindex;
-  }
-  if (obj2->vertindex >= 0) {
-    v->index2 = obj2->vertindex;
-  }
+  support(v, obj1, obj2, dir, dir_neg);
 }
 
 
@@ -356,16 +353,7 @@ static int epaSupport(Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2,
 
   int n = pt->nverts++;
   Vertex* v = pt->verts + n;
-
-  // compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
-  support(v->vert1, v->vert2, obj1, obj2, dir, dir_neg);
-  sub3(v->vert, v->vert1, v->vert2);
-  if (obj1->vertindex >= 0) {
-    v->index1 = obj1->vertindex;
-  }
-  if (obj2->vertindex >= 0) {
-    v->index2 = obj2->vertindex;
-  }
+  support(v, obj1, obj2, dir, dir_neg);
   return n;
 }
 
@@ -375,15 +363,7 @@ static int epaSupport(Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2,
 static void gjkIntersectSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
                                 const mjtNum dir[3]) {
   mjtNum dir_neg[3] = {-dir[0], -dir[1], -dir[2]};
-  // compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
-  support(v->vert1, v->vert2, obj1, obj2, dir, dir_neg);
-  sub3(v->vert, v->vert1, v->vert2);
-  if (obj1->vertindex >= 0) {
-    v->index1 = obj1->vertindex;
-  }
-  if (obj2->vertindex >= 0) {
-    v->index2 = obj2->vertindex;
-  }
+  support(v, obj1, obj2, dir, dir_neg);
 }
 
 
@@ -1135,9 +1115,7 @@ static int polytope3(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
     return mjEPA_P3_ORIGIN_ON_FACE;
   }
 
-
-  // if the origin is on the affine hull of any of the faces then the origin is not in the
-  //  hexahedron or the hexahedron is degenerate
+  // populate face map
   for (int i = 0; i < 6; i++) {
     pt->map[i] = pt->faces + i;
     pt->faces[i].index = i;
@@ -1177,6 +1155,7 @@ static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
     return mjEPA_P4_MISSING_ORIGIN;
   }
 
+  // populate face map
   for (int i = 0; i < 4; i++) {
     pt->map[i] = pt->faces + i;
     pt->faces[i].index = i;
@@ -1186,16 +1165,10 @@ static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj
 }
 
 
-
 // make a copy of vertex in polytope and return its index
 static inline int insertVertex(Polytope* pt, const Vertex* v) {
   int n = pt->nverts++;
-  Vertex* new_v = pt->verts + n;
-  copy3(new_v->vert1, v->vert1);
-  copy3(new_v->vert2, v->vert2);
-  new_v->index1 = v->index1;
-  new_v->index2 = v->index2;
-  sub3(new_v->vert, v->vert1, v->vert2);
+  pt->verts[n] = *v;
   return n;
 }
 
@@ -1344,10 +1317,17 @@ static void epaWitness(const Polytope* pt, const Face* face, mjtNum x1[3], mjtNu
 // return a face of the expanded polytope that best approximates the pentration depth
 // witness points are in status->{x1, x2}
 static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2) {
-  mjtNum tolerance = status->tolerance, lower2, upper = mjMAX_LIMIT, upper2 = mjMAX_LIMIT;
-  int k, kmax = status->max_iterations;
+  mjtNum upper = mjMAX_LIMIT, upper2 = mjMAX_LIMIT, lower2;
   Face* face = NULL, *pface = NULL;  // face closest to origin
+  mjtNum tolerance = status->tolerance;
+  int discrete = discreteGeoms(obj1, obj2);
 
+  // tolerance is not used for discrete geoms
+  if (discrete && sizeof(mjtNum) == sizeof(double)) {
+    tolerance = mjMINVAL;
+  }
+
+  int k, kmax = status->max_iterations;
   for (k = 0; k < kmax; k++) {
     pface = face;
 
@@ -1375,8 +1355,8 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
     // compute support point w from the closest face's normal
     mjtNum lower = mju_sqrt(lower2);
     int wi = epaSupport(pt, obj1, obj2, face->v, lower);
-    mjtNum* w = pt->verts[wi].vert;
-    mjtNum upper_k = dot3(face->v, w) / lower;  // upper bound for kth iteration
+    const Vertex* w = pt->verts + wi;
+    mjtNum upper_k = dot3(face->v, w->vert) / lower;  // upper bound for kth iteration
     if (upper_k < upper) {
       upper = upper_k;
       upper2 = upper * upper;
@@ -1385,7 +1365,20 @@ static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* ob
       break;
     }
 
-    pt->horizon.w = w;
+    // check if vertex w is a repeated support point
+    if (discrete) {
+      int i = 0, nverts = pt->nverts - 1;
+      for (; i < nverts; i++) {
+        if (w->index1 == pt->verts[i].index1 && w->index2 == pt->verts[i].index2) {
+          break;
+        }
+      }
+      if (i != nverts) {
+        break;
+      }
+    }
+
+    pt->horizon.w = w->vert;
     horizon(pt, face);
 
     // unrecoverable numerical issue; at least one face was deleted so nedges is 3 or more
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 5eb5f6df..9237aef4 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -1220,6 +1220,70 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD13) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjGjkTest, BoxBoxMultiCCD14) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom name="geom1" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
+      <geom name="geom2" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
+    </worldbody>
+  </mujoco>)";
+
+  std::array<char, 1000> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  mjtNum* xpos = data->geom_xpos;
+  mjtNum* xmat = data->geom_xmat;
+
+  xmat[0] = 0.9999999980312528347070610834634862840176;
+  xmat[1] = 0.0000179109150612445166097282805983681442;
+  xmat[2] = -0.0000601389470252842008382576644009986921;
+  xmat[3] = -0.0000179108686851742081238159781664265324;
+  xmat[4] = 0.9999999998393023226128661917755380272865;
+  xmat[5] = 0.0000007716871733595438989517368948145570;
+  xmat[6] = 0.0000601389608372434404702858157243383630;
+  xmat[7] = -0.0000007706100310572527002924239115932981;
+  xmat[8] = 0.9999999981913554325529958077822811901569;
+
+  xpos[0] = 0.0002051257133161473724877743585182088282;
+  xpos[1] = 0.0000051793157380883478958571650152542531;
+  xpos[2] = -0.0800031938952457943869944756443146616220;
+
+  xpos = data->geom_xpos + 3;
+  xmat = data->geom_xmat + 9;
+
+  xmat[0] = 0.9999999606378873195922096783760935068130;
+  xmat[1] = -0.0000186818570733572177707156047876679850;
+  xmat[2] = -0.0002799557310143530259108346491814245383;
+  xmat[3] = 0.0000186853252997592718994551708178164517;
+  xmat[4] = 0.9999999997487241110150080203311517834663;
+  xmat[5] = 0.0000123858711158191162315369768243122905;
+  xmat[6] = 0.0002799554995529331168427344955773605761;
+  xmat[7] = -0.0000123911016921886008170612322731862776;
+  xmat[8] = 0.9999999607356884201436741932411678135395;
+
+  xpos[0] = 0.0002145111032389043976328218965576866140;
+  xpos[1] = -0.0000051338999751368759734112059978095033;
+  xpos[2] = -0.0400059009625639144802633495601185131818;
+
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
+
+  mjCCDStatus status;
+  std::vector<mjtNum> dir, pos;
+  mjtNum dist;
+  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
+
+  EXPECT_EQ(ncons, 4);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(MjGjkTest, SmallBoxMesh) {
   static constexpr char xml[] = R"(
   <mujoco>

From 8df3614781bb68cb31a2845c0ea360a9d0d1e2af Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Thu, 24 Apr 2025 07:53:58 -0700
Subject: [PATCH 075/191] Add support for plane geometry.

PiperOrigin-RevId: 750994019
Change-Id: Ia3b085bed5b8e2fcdb00ffc69dd5551a7fa3c30d
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 40 +++++++++++++
 test/experimental/usd/plugins/mjcf/fixture.h  |  5 +-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 58 +++++++++++++++++++
 3 files changed, 101 insertions(+), 2 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index effc26a3..25757654 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -777,6 +777,43 @@ class ModelWriter {
     return WriteSphere(name, geom_size, body_path);
   }
 
+  pxr::SdfPath WritePlane(const pxr::TfToken &name, const mjtNum *size,
+                          const pxr::SdfPath &body_path) {
+    pxr::SdfPath plane_path =
+        CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Plane);
+
+    // MuJoCo uses half sizes.
+    // Note that UsdGeomPlane is infinite for simulation purposes but can have
+    // width/length for visualization, same as MuJoCo.
+    double width = size[0] * 2.0;
+    double length = size[1] * 2.0;
+
+    pxr::SdfPath width_attr_path =
+        CreateAttributeSpec(data_, plane_path, pxr::UsdGeomTokens->width,
+                            pxr::SdfValueTypeNames->Double);
+    SetAttributeDefault(data_, width_attr_path, width);
+
+    pxr::SdfPath length_attr_path =
+        CreateAttributeSpec(data_, plane_path, pxr::UsdGeomTokens->length,
+                            pxr::SdfValueTypeNames->Double);
+    SetAttributeDefault(data_, length_attr_path, length);
+
+    // MuJoCo plane is always a XY plane with +Z up.
+    // UsdGeomPlane is also a XY plane if axis is 'Z', which is default.
+    // So no need to set axis attribute explicitly.
+
+    return plane_path;
+  }
+
+  pxr::SdfPath WritePlaneGeom(const mjsGeom *geom,
+                              const pxr::SdfPath &body_path) {
+    auto name =
+        GetAvailablePrimName(*geom->name, pxr::UsdGeomTokens->Plane, body_path);
+    int geom_idx = mjs_getId(geom->element);
+    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
+    return WritePlane(name, geom_size, body_path);
+  }
+
   void WriteSite(mjsSite *site, const mjsBody *body) {
     const int body_id = mjs_getId(body->element);
     const auto &body_path = body_paths_[body_id];
@@ -804,6 +841,9 @@ class ModelWriter {
     pxr::SdfPath geom_path;
     int geom_id = mjs_getId(geom->element);
     switch (geom->type) {
+      case mjGEOM_PLANE:
+        geom_path = WritePlaneGeom(geom, body_path);
+        break;
       case mjGEOM_MESH:
         geom_path = WriteMeshGeom(geom, body_path);
         break;
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
index 5c125930..9ab5ffe1 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -70,10 +70,11 @@ template <typename T>
 void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
                           const T& value) {
   auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
-  EXPECT_TRUE(attr.IsValid());
+  EXPECT_TRUE(attr.IsValid()) << "Attribute " << path << " is not valid";
   T attr_value;
   attr.Get(&attr_value);
-  EXPECT_EQ(attr_value, value);
+  EXPECT_EQ(attr_value, value) << "Attribute " << path << " has value "
+                               << attr_value << ". Expected: " << value;
 }
 
 // Specialization for SdfAssetPath, so that we can compare only the asset path
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 0b3dca5d..f5caeb19 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -40,6 +40,7 @@
 #include <pxr/usd/usdGeom/cube.h>
 #include <pxr/usd/usdGeom/cylinder.h>
 #include <pxr/usd/usdGeom/mesh.h>
+#include <pxr/usd/usdGeom/plane.h>
 #include <pxr/usd/usdGeom/primvar.h>
 #include <pxr/usd/usdGeom/primvarsAPI.h>
 #include <pxr/usd/usdGeom/sphere.h>
@@ -389,6 +390,62 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
   EXPECT_PRIM_KIND(stage, "/test/root/tet", pxr::KindTokens->subcomponent);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <geom type="plane" name="plane_geom" size="10 20 0.1"/>
+        <geom type="box" name="box_geom" size="10 20 30"/>
+        <geom type="sphere" name="sphere_geom" size="10 20 30"/>
+        <geom type="capsule" name="capsule_geom" size="10 20 30"/>
+        <geom type="cylinder" name="cylinder_geom" size="10 20 30"/>
+        <geom type="ellipsoid" name="ellipsoid_geom" size="10 20 30"/>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  // Note that all sizes are multiplied by 2 because Mujoco uses half sizes.
+
+  // Plane
+  EXPECT_PRIM_VALID(stage, "/test/plane_geom");
+  EXPECT_PRIM_IS_A(stage, "/test/plane_geom", pxr::UsdGeomPlane);
+  ExpectAttributeEqual(stage, "/test/plane_geom.width", 2 * 10.0);
+  ExpectAttributeEqual(stage, "/test/plane_geom.length", 2 * 20.0);
+  // Box
+  EXPECT_PRIM_VALID(stage, "/test/box_geom");
+  EXPECT_PRIM_IS_A(stage, "/test/box_geom", pxr::UsdGeomCube);
+  // Box is a special case, it uses a UsdGeomCube and scales it with
+  // xformOp:scale. The radius is always set to 2.
+  ExpectAttributeEqual(stage, "/test/box_geom.size", 2.0);
+  ExpectAttributeEqual(stage, "/test/box_geom.xformOp:scale",
+                       pxr::GfVec3f(10.0, 20.0, 30.0));
+  // Sphere
+  EXPECT_PRIM_VALID(stage, "/test/sphere_geom");
+  EXPECT_PRIM_IS_A(stage, "/test/sphere_geom", pxr::UsdGeomSphere);
+  ExpectAttributeEqual(stage, "/test/sphere_geom.radius", 2 * 10.0);
+  // Capsule
+  EXPECT_PRIM_VALID(stage, "/test/capsule_geom");
+  EXPECT_PRIM_IS_A(stage, "/test/capsule_geom", pxr::UsdGeomCapsule);
+  ExpectAttributeEqual(stage, "/test/capsule_geom.radius", 2 * 10.0);
+  ExpectAttributeEqual(stage, "/test/capsule_geom.height", 2 * 20.0);
+  // Cylinder
+  EXPECT_PRIM_VALID(stage, "/test/cylinder_geom");
+  EXPECT_PRIM_IS_A(stage, "/test/cylinder_geom", pxr::UsdGeomCylinder);
+  ExpectAttributeEqual(stage, "/test/cylinder_geom.radius", 2 * 10.0);
+  ExpectAttributeEqual(stage, "/test/cylinder_geom.height", 2 * 20.0);
+  // Ellipsoid
+  EXPECT_PRIM_VALID(stage, "/test/ellipsoid_geom");
+  // Ellipsoid is a special case, it uses a UsdGeomSphere and scales it with
+  // xformOp:scale. The radius is always set to 1.
+  EXPECT_PRIM_IS_A(stage, "/test/ellipsoid_geom", pxr::UsdGeomSphere);
+  ExpectAttributeEqual(stage, "/test/ellipsoid_geom.radius", 1.0);
+  ExpectAttributeEqual(stage, "/test/ellipsoid_geom.xformOp:scale",
+                       pxr::GfVec3f(2.0 * 10.0, 2.0 * 20.0, 2.0 * 30.0));
+}
+
 static constexpr char kSiteXml[] = R"(
     <mujoco model="test">
       <worldbody>
@@ -435,6 +492,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
   EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site",
                       pxr::UsdGeomTokens->guide);
 }
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
   std::string xml_path = GetTestDataFilePath(kMeshObjPath);
 

From d3bc0544d39c0933067e493f4c1c7ebfd15ae9f3 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Thu, 24 Apr 2025 08:58:05 -0700
Subject: [PATCH 076/191] Add basic support for geom rgba.

Adds primvar:displayColor/primvar:displayOpacity to the geom prim if its rgba attribute differs from the default (0.5, 0.5, 0.5, 1.0).  This sets the color and opacity directly on the prim with no need for an external material, making it consistent with how rgba is used in mujoco.

PiperOrigin-RevId: 751013128
Change-Id: I059943ec5b266e62c3696d9a0ac4f2033db9e07f
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 23 +++++++++
 test/experimental/usd/plugins/mjcf/fixture.h  |  7 +++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 47 +++++++++++++++++++
 3 files changed, 77 insertions(+)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 25757654..e443149c 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -897,6 +897,29 @@ class ModelWriter {
       }
     }
 
+    // If geom rgba is not the default (0.5, 0.5, 0.5, 1), then set the
+    // displayColor attribute.
+    // No effort is made to properly handle the interaction between geom rgba
+    // and the material if both are specified.
+    if (geom->rgba[0] != 0.5f || geom->rgba[1] != 0.5f ||
+        geom->rgba[2] != 0.5f || geom->rgba[3] != 1.0f) {
+      // Set the displayColor attribute.
+      pxr::SdfPath display_color_attr = CreateAttributeSpec(
+          data_, geom_path, pxr::UsdGeomTokens->primvarsDisplayColor,
+          pxr::SdfValueTypeNames->Color3fArray);
+      SetAttributeDefault(data_, display_color_attr,
+                          pxr::VtArray<pxr::GfVec3f>{
+                              {geom->rgba[0], geom->rgba[1], geom->rgba[2]}});
+      // Set the displayOpacity attribute, only if the opacity is not 1.
+      if (geom->rgba[3] != 1.0f) {
+        pxr::SdfPath display_opacity_attr = CreateAttributeSpec(
+            data_, geom_path, pxr::UsdGeomTokens->primvarsDisplayOpacity,
+            pxr::SdfValueTypeNames->FloatArray);
+        SetAttributeDefault(data_, display_opacity_attr,
+                            pxr::VtArray<float>{geom->rgba[3]});
+      }
+    }
+
     if (body_id == kWorldIndex) {
       SetPrimKind(data_, geom_path, pxr::KindTokens->component);
     }
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
index 9ab5ffe1..d7b8cda1 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -60,6 +60,13 @@
         .Get(&prim_purpose);                         \
     EXPECT_EQ(prim_purpose, purpose);                \
   }
+
+#define EXPECT_ATTRIBUTE_HAS_VALUE(stage, path) \
+  EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
+
+#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
+  EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
+
 namespace mujoco {
 
 pxr::SdfLayerRefPtr LoadLayer(
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index f5caeb19..f144da6e 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -140,6 +140,53 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
       pxr::SdfAssetPath("textures/cube.png"));
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <geom type="sphere" name="sphere_red" size="1" rgba="1 0 0 1"/>
+        <geom type="sphere" name="sphere_default" size="1"/>
+        <geom type="sphere" name="sphere_also_default" size="1" rgba="0.5 0.5 0.5 1"/>
+        <geom type="sphere" name="sphere_almost_default" size="1" rgba="0.5 0.5 0.5 0.9"/>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  EXPECT_PRIM_VALID(stage, "/test/sphere_red");
+  ExpectAttributeEqual(stage, "/test/sphere_red.primvars:displayColor",
+                       pxr::VtArray<pxr::GfVec3f>{{1, 0, 0}});
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
+                                "/test/sphere_red.primvars:displayOpacity");
+
+  // There's no mechanism in Mujoco to specify whether an attribute was set
+  // explicitly or not. We do the same as Mujoco does, which is to compare with
+  // the default value.
+  // Which explains why not setting rgba is the same as setting it to the
+  // default value of (0.5, 0.5, 0.5, 1).
+  EXPECT_PRIM_VALID(stage, "/test/sphere_default");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
+                                "/test/sphere_default.primvars:displayColor");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
+                                "/test/sphere_default.primvars:displayOpacity");
+
+  EXPECT_PRIM_VALID(stage, "/test/sphere_also_default");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(
+      stage, "/test/sphere_also_default.primvars:displayColor");
+  EXPECT_ATTRIBUTE_HAS_NO_VALUE(
+      stage, "/test/sphere_also_default.primvars:displayOpacity");
+
+  EXPECT_PRIM_VALID(stage, "/test/sphere_almost_default");
+  ExpectAttributeEqual(stage,
+                       "/test/sphere_almost_default.primvars:displayColor",
+                       pxr::VtArray<pxr::GfVec3f>{{0.5, 0.5, 0.5}});
+  ExpectAttributeEqual(stage,
+                       "/test/sphere_almost_default.primvars:displayOpacity",
+                       pxr::VtArray<float>{0.9});
+}
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
   static constexpr char kXml[] = R"(
     <mujoco model="mesh test">

From fb30e0e00c4e5a45e66e32e73f73f038a5000ee9 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 28 Apr 2025 02:57:48 -0700
Subject: [PATCH 077/191] Add docs for mjSpec serialization.

PiperOrigin-RevId: 752230683
Change-Id: Id237ccc1b265e99bf15892f8fd208ba38f4c6ded
---
 doc/python.rst | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/doc/python.rst b/doc/python.rst
index 85a54b73..61ebcdc8 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -628,6 +628,12 @@ Parent:
   The parent body of a given element -- including bodies and frames -- can be accessed via the ``parent`` property.
   For example, the parent of a site can be accessed via ``site.parent``.
 
+Serialization
+^^^^^^^^^^^^^
+The ``MjSpec`` object can be serialized with all of its assets using the function ``spec.to_zip(file)``, where ``file``
+can be either a path to a file or a file object. In order to load the spec from a zip file, use ``spec =
+MjSpec.from_zip(file)``, where ``file`` is a path to a zip file or a zip file object.
+
 .. _PyMJCF:
 
 Relationship to ``PyMJCF`` and ``bind``

From 1dc5bcb04a51dd1140a2b742353b3446698997f2 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 28 Apr 2025 11:45:51 -0700
Subject: [PATCH 078/191] Update changelog for 3.3.2 release

PiperOrigin-RevId: 752389725
Change-Id: I0976279bece09a099b6a34029575b24ba2d8fd1b
---
 doc/changelog.rst | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index a71644aa..77726e1f 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,13 +2,13 @@
 Changelog
 =========
 
-Upcoming version (not yet release)
+Version 3.3.2 (April 28, 2025)
 ----------------------------------
 
 MJX
 ^^^
-- Added inverse dynamics.
-- Added tendon actuator force sensor.
+1. Added inverse dynamics.
+2. Added tendon actuator force sensor.
 
 Version 3.3.1 (Apr 9, 2025)
 ----------------------------

From 4137a4c774070b60f7244b7acfc0e602291fde7e Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 28 Apr 2025 16:08:25 -0700
Subject: [PATCH 079/191] Bump version to 3.3.3 following the 3.3.2 release

PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
---
 CMakeLists.txt                                 | 2 +-
 dist/mujoco.rc                                 | 8 ++++----
 dist/simulate.rc                               | 8 ++++----
 doc/APIreference/APIglobals.rst                | 2 +-
 doc/unity.rst                                  | 4 ++--
 include/mujoco/mujoco.h                        | 2 +-
 mjx/pyproject.toml                             | 8 ++++----
 python/mujoco/CMakeLists.txt                   | 4 ++--
 python/mujoco/mjpython/Info.plist              | 8 ++++----
 python/pyproject.toml                          | 6 +++---
 sample/CMakeLists.txt                          | 2 +-
 simulate/CMakeLists.txt                        | 2 +-
 src/engine/engine_support.c                    | 4 ++--
 unity/Editor/Bindings/MujocoBinaryRetriever.cs | 4 ++--
 unity/Runtime/Bindings/MjBindings.cs           | 2 +-
 unity/package.json                             | 2 +-
 16 files changed, 34 insertions(+), 34 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bbea8706..087a81e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.3.2
+  VERSION 3.3.3
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/dist/mujoco.rc b/dist/mujoco.rc
index 08a3699d..6191980f 100644
--- a/dist/mujoco.rc
+++ b/dist/mujoco.rc
@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,3,2,0
-PRODUCTVERSION 3,3,2,0
+FILEVERSION 3,3,3,0
+PRODUCTVERSION 3,3,3,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.2"
+      VALUE "ProductVersion", "3.3.3"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.2"
+      VALUE "FileVersion", "3.3.3"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/dist/simulate.rc b/dist/simulate.rc
index 46e3c6de..fca19ae2 100644
--- a/dist/simulate.rc
+++ b/dist/simulate.rc
@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,3,2,0
-PRODUCTVERSION 3,3,2,0
+FILEVERSION 3,3,3,0
+PRODUCTVERSION 3,3,3,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.2"
+      VALUE "ProductVersion", "3.3.3"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.2"
+      VALUE "FileVersion", "3.3.3"
       VALUE "InternalName", "simulate.exe"
       VALUE "OriginalFilename", "simulate.exe"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst
index 64aa21f3..09c01f6c 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -517,7 +517,7 @@ 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``
-     - 332
+     - 333
      - 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.
diff --git a/doc/unity.rst b/doc/unity.rst
index 5f73281f..876a96a6 100644
--- a/doc/unity.rst
+++ b/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.3.3.2.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.3.3.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-3.3.2/lib/libmujoco.so.3.3.2`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.3.3/lib/libmujoco.so.3.3.3`` and rename it as ``libmujoco.so``.
 
 Windows
 _______
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index b23f5d94..94f89a4a 100644
--- a/include/mujoco/mujoco.h
+++ b/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 332
+#define mjVERSION_HEADER 333
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index 529fc068..ee03aa0a 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.3.2"
+version = "3.3.3"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -30,7 +30,7 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.3.2.dev0",
+    "mujoco>=3.3.3.dev0",
     "scipy",
     "trimesh",
 ]
@@ -41,9 +41,9 @@ mjx-viewer = "mujoco.mjx.viewer:main"
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.3.2"
+Documentation = "https://mujoco.readthedocs.io/en/3.3.3"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.3.2/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.3.3/changelog.html"
 
 [tool.isort]
 force_single_line = true
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index faceca26..b1aec9ed 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/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.3.3.2.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.3.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.3.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.3.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
diff --git a/python/mujoco/mjpython/Info.plist b/python/mujoco/mjpython/Info.plist
index d7e0aa2f..475027c5 100644
--- a/python/mujoco/mjpython/Info.plist
+++ b/python/mujoco/mjpython/Info.plist
@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.3.2</string>
+    <string>3.3.3</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.3.2</string>
+    <string>3.3.3</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.3.2</string>
+    <string>3.3.3</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.3.2</string>
+    <string>3.3.3</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 23b973dd..c178ad79 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.3.2"
+version = "3.3.3"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -35,9 +35,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.3.2"
+Documentation = "https://mujoco.readthedocs.io/en/3.3.3"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.3.2/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.3.3/changelog.html"
 
 [tool.setuptools]
 include-package-data = false
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index b1789412..f9457f2c 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.3.2
+  VERSION 3.3.3
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index ff64d734..c22ea4a7 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.3.2
+  VERSION 3.3.3
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index b7e2699d..2b3960e8 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -41,8 +41,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 332
-#define mjVERSIONSTRING "3.3.2"
+ #define mjVERSION 333
+#define mjVERSIONSTRING "3.3.3"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
index ba697540..3ff96ab5 100644
--- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs
+++ b/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.3.3.2.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.3.3.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-3.3.2/lib/libmujoco.so.3.3.2",
+                "/.mujoco/mujoco-3.3.3/lib/libmujoco.so.3.3.3",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 2af0cb51..a3637d62 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -110,7 +110,7 @@ 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 = 332;
+public const int mjVERSION_HEADER = 333;
 
 
 // ------------------------------------Enums------------------------------------
diff --git a/unity/package.json b/unity/package.json
index 95b769ec..c91c5d6c 100644
--- a/unity/package.json
+++ b/unity/package.json
@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.3.2",
+  "version": "3.3.3",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

From 75f196c7efd8a2637437b35492e9ee5484ba5cda Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 28 Apr 2025 16:22:55 -0700
Subject: [PATCH 080/191] Add missing PointToLocal call in mjCPlugin copy
 constructor.

PiperOrigin-RevId: 752486555
Change-Id: I08b14476b9098e6473a4c00918ef3f9a287f35f6
---
 python/mujoco/specs_test.py | 11 +++++++++++
 src/user/user_objects.cc    | 11 +++++++++++
 src/user/user_objects.h     |  3 +++
 3 files changed, 25 insertions(+)

diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 210d833f..e8aafa23 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -861,6 +861,17 @@ class SpecsTest(absltest.TestCase):
     self.assertEqual(model.nplugin, 1)
     self.assertEqual(model.npluginattr, 7)
     self.assertEqual(model.body_plugin[1], 0)
+    attributes = (''.join([chr(i) for i in model.plugin_attr]).split(chr(0)))
+    self.assertEqual(attributes[:2], ['10', '1'])
+
+    copy = spec.copy()  # before assigning the new config
+    wrong_config = {'wrong': '10', 'bend': '1'}
+    for s in [spec, copy]:
+      s.plugins[0].config = wrong_config
+      with self.assertRaisesRegex(
+          ValueError, "Error: unrecognized attribute 'plugin:wrong'"
+      ):
+        s.compile()
 
   def test_recompile_error(self):
     main_xml = """
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index d609621c..cff97b72 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -7271,6 +7271,8 @@ mjCPlugin::mjCPlugin(mjCModel* _model) {
   spec.plugin_name = &plugin_name;
   spec.name = &name;
   spec.info = &info;
+
+  PointToLocal();
 }
 
 
@@ -7289,11 +7291,20 @@ mjCPlugin& mjCPlugin::operator=(const mjCPlugin& other) {
     parent = this;
     plugin_slot = other.plugin_slot;
   }
+  PointToLocal();
   return *this;
 }
 
 
 
+void mjCPlugin::PointToLocal() {
+  spec.element = static_cast<mjsElement*>(this);
+  spec.name = &name;
+  spec.info = &info;
+}
+
+
+
 // compiler
 void mjCPlugin::Compile(void) {
   mjCPlugin* plugin_instance = this;
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 16aa57af..bfec0797 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1587,6 +1587,9 @@ class mjCPlugin : public mjCPlugin_ {
   mjCPlugin(mjCModel*);
   mjCPlugin(const mjCPlugin& other);
   mjCPlugin& operator=(const mjCPlugin& other);
+
+  void PointToLocal();
+
   mjsPlugin spec;
   mjCBase* parent;  // parent object (only used when generating error message)
   int plugin_slot;  // global registered slot number of the plugin

From 2545ec5383dceb9e940b2bc9477709bf25565dfc Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 29 Apr 2025 04:36:32 -0700
Subject: [PATCH 081/191] Don't call `getchar` on error.

PiperOrigin-RevId: 752680097
Change-Id: Idce87a3e33ebce703bf3eedc18026f6a13d05f35
---
 src/engine/engine_util_errmem.c | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/engine/engine_util_errmem.c b/src/engine/engine_util_errmem.c
index 7c63c1ce..58be05a1 100644
--- a/src/engine/engine_util_errmem.c
+++ b/src/engine/engine_util_errmem.c
@@ -123,10 +123,9 @@ void mju_error_raw(const char* msg) {
   } else {
     // write to log and console
     mju_writeLog("ERROR", msg);
-    printf("ERROR: %s\n\nPress Enter to exit ...", msg);
+    printf("ERROR: %s\n\n", msg);
 
-    // pause, exit
-    getchar();
+    // exit
     exit(EXIT_FAILURE);
   }
 }

From 3e9d13009274ed8da5019c54ec7177d43c40bf9f Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 29 Apr 2025 05:18:17 -0700
Subject: [PATCH 082/191] Add mjs_getPluginAttributes.

PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
---
 doc/APIreference/functions.rst        |  9 +++++++++
 doc/includes/references.h             |  1 +
 include/mujoco/mujoco.h               |  3 +++
 python/mujoco/introspect/functions.py | 16 ++++++++++++++++
 python/mujoco/specs.cc                | 14 +++++++++++---
 python/mujoco/specs_test.py           |  1 +
 src/user/user_api.cc                  |  8 ++++++++
 src/user/user_api.h                   |  3 +++
 8 files changed, 52 insertions(+), 3 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 029fac76..9606e94d 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -4401,6 +4401,15 @@ Get string contents.
 
 Get double array contents and optionally its size.
 
+.. _mjs_getPluginAttributes:
+
+`mjs_getPluginAttributes <#mjs_getPluginAttributes>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_getPluginAttributes
+
+Get plugin attributes.
+
 .. _SpecUtilities:
 
 Spec utilities
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 89890efc..ce9bd670 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3686,6 +3686,7 @@ void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
 void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
 const char* mjs_getString(const mjString* source);
 const double* mjs_getDouble(const mjDoubleVec* source, int* size);
+const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
 void mjs_setDefault(mjsElement* element, const mjsDefault* def);
 int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 94f89a4a..63bfafcc 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1622,6 +1622,9 @@ MJAPI const char* mjs_getString(const mjString* source);
 // Get double array contents and optionally its size.
 MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 
+// Get plugin attributes.
+MJAPI const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
+
 
 //---------------------------------- Spec utilities ------------------------------------------------
 
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 9e61b828..b74e222f 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -10298,6 +10298,22 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Get double array contents and optionally its size.',
      )),
+    ('mjs_getPluginAttributes',
+     FunctionDecl(
+         name='mjs_getPluginAttributes',
+         return_type=PointerType(
+             inner_type=ValueType(name='void', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='plugin',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsPlugin', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Get plugin attributes.',
+     )),
     ('mjs_setDefault',
      FunctionDecl(
          name='mjs_setDefault',
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 3adc549b..c1bbc3eb 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -1034,8 +1034,15 @@ PYBIND11_MODULE(_specs, m) {
                 [](raw::MjsPlugin& self) { mjs_delete(self.element); });
   mjsPlugin.def_property(
       "config",
-      [](raw::MjsPlugin& self) -> void {
-        throw pybind11::value_error("Reading plugin config is not supported.");
+      [](raw::MjsPlugin& self) -> py::dict {
+        const std::map<std::string, std::string, std::less<>>* config_attribs =
+            static_cast<const std::map<std::string, std::string, std::less<>>*>(
+                mjs_getPluginAttributes(&self));
+        py::dict config;
+        for (const auto& [key, value] : *config_attribs) {
+          config[py::str(key)] = value;
+        }
+        return config;
       },
       [](raw::MjsPlugin& self, py::dict& config) {
         std::map<std::string, std::string, std::less<>> config_attribs;
@@ -1047,7 +1054,8 @@ PYBIND11_MODULE(_specs, m) {
           config_attribs[key_str] = value.cast<std::string>();
         }
         mjs_setPluginAttributes(&self, &config_attribs);
-      });
+      },
+      py::return_value_policy::reference_internal);
   // ============================= MJVISUAL ====================================
   mjVisual.def_property(
       "global_",
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index e8aafa23..ac702876 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -844,6 +844,7 @@ class SpecsTest(absltest.TestCase):
         info='info'
     )
     plugin.config = {'twist': '10', 'bend': '1'}
+    self.assertEqual(plugin.config, {'twist': '10', 'bend': '1'})
 
     body = spec.worldbody.add_body()
     body.plugin = plugin
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index e21181dd..e103aa8e 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -1302,6 +1302,14 @@ void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
 
 
 
+// get plugin attributes
+const void* mjs_getPluginAttributes(const mjsPlugin* plugin) {
+  mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->element);
+  return &pluginC->config_attribs;
+}
+
+
+
 // -------------------------- GLOBAL ASSET CACHE -------------------------------
 
 void mj_setCacheSize(mjCache cache, std::size_t size) {
diff --git a/src/user/user_api.h b/src/user/user_api.h
index d01b5172..e1b73d86 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -352,6 +352,9 @@ MJAPI const char* mjs_getString(const mjString* source);
 // Get double array contents and optionally its size.
 MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
 
+// Get plugin attributes.
+MJAPI const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
+
 
 //---------------------------------- Other utilities -----------------------------------------------
 

From d657e628f0fc224874d83f4bbaf40b3dfe1e6b0e Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Tue, 29 Apr 2025 08:43:23 -0700
Subject: [PATCH 083/191] Fix radius sizes of geom shapes

PiperOrigin-RevId: 752750452
Change-Id: I2ac08ad4014718320f014ed8ba7cc3b87586f6c0
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc          | 18 ++++++++----------
 .../usd/plugins/mjcf/mjcf_file_format_test.cc  |  8 ++++----
 2 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index e443149c..8ddba52d 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -673,15 +673,15 @@ class ModelWriter {
     pxr::SdfPath capsule_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Capsule);
 
-    // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->radius,
                             pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, size[0] * 2);
+    SetAttributeDefault(data_, radius_attr_path, size[0]);
 
     pxr::SdfPath height_attr_path =
         CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->height,
                             pxr::SdfValueTypeNames->Float);
+    // MuJoCo uses half sizes.
     SetAttributeDefault(data_, height_attr_path, size[1] * 2);
     return capsule_path;
   }
@@ -701,15 +701,15 @@ class ModelWriter {
     pxr::SdfPath cylinder_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cylinder);
 
-    // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->radius,
                             pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, size[0] * 2);
+    SetAttributeDefault(data_, radius_attr_path, size[0]);
 
     pxr::SdfPath height_attr_path =
         CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->height,
                             pxr::SdfValueTypeNames->Float);
+    // MuJoCo uses half sizes.
     SetAttributeDefault(data_, height_attr_path, size[1] * 2);
     return cylinder_path;
   }
@@ -729,11 +729,10 @@ class ModelWriter {
     pxr::SdfPath ellipsoid_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
 
-    pxr::GfVec3f scale = {static_cast<float>(size[0] * 2),
-                          static_cast<float>(size[1] * 2),
-                          static_cast<float>(size[2] * 2)};
+    pxr::GfVec3f scale = {static_cast<float>(size[0]),
+                          static_cast<float>(size[1]),
+                          static_cast<float>(size[2])};
 
-    // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, ellipsoid_path, pxr::UsdGeomTokens->radius,
                             pxr::SdfValueTypeNames->Float);
@@ -760,11 +759,10 @@ class ModelWriter {
     pxr::SdfPath sphere_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Sphere);
 
-    // MuJoCo uses half sizes.
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, sphere_path, pxr::UsdGeomTokens->radius,
                             pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, size[0] * 2);
+    SetAttributeDefault(data_, radius_attr_path, size[0]);
     return sphere_path;
   }
 
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index f144da6e..78f10f46 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -472,16 +472,16 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
   // Sphere
   EXPECT_PRIM_VALID(stage, "/test/sphere_geom");
   EXPECT_PRIM_IS_A(stage, "/test/sphere_geom", pxr::UsdGeomSphere);
-  ExpectAttributeEqual(stage, "/test/sphere_geom.radius", 2 * 10.0);
+  ExpectAttributeEqual(stage, "/test/sphere_geom.radius", 10.0);
   // Capsule
   EXPECT_PRIM_VALID(stage, "/test/capsule_geom");
   EXPECT_PRIM_IS_A(stage, "/test/capsule_geom", pxr::UsdGeomCapsule);
-  ExpectAttributeEqual(stage, "/test/capsule_geom.radius", 2 * 10.0);
+  ExpectAttributeEqual(stage, "/test/capsule_geom.radius", 10.0);
   ExpectAttributeEqual(stage, "/test/capsule_geom.height", 2 * 20.0);
   // Cylinder
   EXPECT_PRIM_VALID(stage, "/test/cylinder_geom");
   EXPECT_PRIM_IS_A(stage, "/test/cylinder_geom", pxr::UsdGeomCylinder);
-  ExpectAttributeEqual(stage, "/test/cylinder_geom.radius", 2 * 10.0);
+  ExpectAttributeEqual(stage, "/test/cylinder_geom.radius", 10.0);
   ExpectAttributeEqual(stage, "/test/cylinder_geom.height", 2 * 20.0);
   // Ellipsoid
   EXPECT_PRIM_VALID(stage, "/test/ellipsoid_geom");
@@ -490,7 +490,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
   EXPECT_PRIM_IS_A(stage, "/test/ellipsoid_geom", pxr::UsdGeomSphere);
   ExpectAttributeEqual(stage, "/test/ellipsoid_geom.radius", 1.0);
   ExpectAttributeEqual(stage, "/test/ellipsoid_geom.xformOp:scale",
-                       pxr::GfVec3f(2.0 * 10.0, 2.0 * 20.0, 2.0 * 30.0));
+                       pxr::GfVec3f(10.0, 20.0, 30.0));
 }
 
 static constexpr char kSiteXml[] = R"(

From 8078a45727a3898caaa485e57fd7b22122362bd1 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 29 Apr 2025 11:29:41 -0700
Subject: [PATCH 084/191] Add private functions `mju_blockDiag` and
 `mju_blockDiagSparse`

PiperOrigin-RevId: 752815446
Change-Id: Ia7f73160315ce57b78a2c34bc781f00e1b0f05c4
---
 src/engine/engine_util_sparse.c        | 100 +++++++++++
 src/engine/engine_util_sparse.h        |  15 ++
 test/engine/engine_util_sparse_test.cc | 222 +++++++++++++++++++++++++
 3 files changed, 337 insertions(+)

diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index d72a9fca..23c038ec 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -795,3 +795,103 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
 
   mj_freeStack(d);
 }
+
+
+
+// block-diagonalize a dense matrix
+//   res         output matrix
+//   mat         input matrix
+//   nc_mat      number of columns in mat
+//   nc_res      number of columns in res
+//   nb          number of blocks
+//   perm_r      reverse permutation of rows (res -> mat)
+//   perm_c      reverse permutation of columns (res -> mat)
+//   block_nr    number of rows in each block
+//   block_nc    number of columns in each block
+//   block_r     first row of each block
+//   block_c     first column of each block
+void mju_blockDiag(mjtNum* restrict res, const mjtNum* restrict mat,
+                   int nc_mat, int nc_res, int nb,
+                   const int* restrict perm_r, const int* restrict perm_c,
+                   const int* restrict block_nr, const int* restrict block_nc,
+                   const int* restrict block_r, const int* restrict block_c) {
+  for (int b=0; b < nb; b++) {
+    int bnr = block_nr[b];
+    int bnc = block_nc[b];
+    const int* adr_r = perm_r + block_r[b];
+    const int* adr_c = perm_c + block_c[b];
+    int adr = nc_res * block_r[b];
+    for (int r = 0; r < bnr; r++) {
+      for (int c = 0; c < bnc; c++) {
+        res[adr++] = mat[nc_mat * adr_r[r] + adr_c[c]];
+      }
+    }
+  }
+}
+
+
+// block-diagonalize a sparse matrix
+//   res         values of the target matrix res
+//   res_rownnz  number of non-zeros in each row of res
+//   res_rowadr  row address of each non-zero in res
+//   res_colind  column index of each non-zero in res
+//   mat         values of the source matrix mat
+//   mat_rownnz  number of non-zeros in each row of mat
+//   mat_rowadr  row address of each non-zero in mat
+//   mat_colind  column index of each non-zero in mat
+//   nr          number of rows in mat/res
+//   nb          number of blocks
+//   perm_r      reverse permutation of rows (res -> mat)
+//   perm_c      forward permutation of columns (mat -> res)
+//   block_r     first row of each block in res
+//   block_c     first column of each block in res
+//   mat2        optional additional source matrix (same structure as mat)
+//   res2        optional additional target matrix (same structure as res)
+void mju_blockDiagSparse(mjtNum* restrict res, int* restrict res_rownnz,
+                         int* restrict res_rowadr, int* restrict res_colind,
+                         const mjtNum* restrict mat, const int* restrict rownnz,
+                         const int* restrict rowadr, const int* restrict colind,
+                         int nr, int nb,
+                         const int* restrict perm_r, const int* restrict perm_c,
+                         const int* restrict block_r, const int* restrict block_c,
+                         mjtNum* restrict res2, const mjtNum* restrict mat2) {
+  int block = 0;
+  int col_offset = block_c[block];
+  int row_next = block + 1 < nb ? block_r[block + 1] : nr;
+  for (int r=0; r < nr; r++) {
+    // row k in mat goes to row r in res
+    int k = perm_r[r];
+
+    // rownnz
+    int nnz = rownnz[k];
+    res_rownnz[r] = nnz;
+
+    // rowadr
+    int res_adr = (r == 0) ? 0 : res_rowadr[r-1] + res_rownnz[r-1];
+    res_rowadr[r] = res_adr;
+
+    // colind
+    int* res_colind_r = res_colind + res_adr;
+    mjtNum* res_r = res + res_adr;
+    int mat_adr = rowadr[k];
+    const int* colind_k = colind + mat_adr;
+    const mjtNum* mat_k = mat + mat_adr;
+    for (int j=0; j < nnz; j++) {
+      res_colind_r[j] = perm_c[colind_k[j]] - col_offset;
+    }
+
+    // values (dense copy: partial order within block is guaranteed)
+    mju_copy(res_r, mat_k, nnz);
+    if (mat2 && res2) {
+      mju_copy(res2 + res_adr, mat2 + mat_adr, nnz);
+    }
+
+    // end of block reached: update block counter, column offset, next row
+    if (r + 1 >= row_next && block + 1 < nb ) {
+      block++;
+      col_offset = block_c[block];
+      row_next = block + 1 < nb ? block_r[block + 1] : nr;
+    }
+  }
+}
+
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index 08a663b2..1f75739b 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -103,6 +103,21 @@ MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
 // precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
 MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
 
+// block-diagonalize a dense matrix
+MJAPI void mju_blockDiag(mjtNum* res, const mjtNum* mat,
+                         int nc_mat, int nc_res, int nb,
+                         const int* perm_r, const int* perm_c,
+                         const int* block_nr, const int* block_nc,
+                         const int* blockadr_r, const int* blockadr_c);
+
+// block-diagonalize a sparse matrix
+MJAPI void mju_blockDiagSparse(
+  mjtNum* res, int* res_rownnz, int* res_rowadr, int* res_colind,
+  const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
+  int nr, int nb,
+  const int* perm_r, const int* perm_c,
+  const int* block_r, const int* block_c,
+  mjtNum* res2, const mjtNum* mat2);
 
 // ------------------------------ inlined functions ------------------------------------------------
 
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index 94da0d5d..41231c2c 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -1088,5 +1088,227 @@ TEST_F(EngineUtilSparseTest, MergeSorted) {
   EXPECT_THAT(merged_b, ElementsAre(1, 2, 3, 4, 5, 6, 7, 8));
 }
 
+TEST_F(EngineUtilSparseTest, BlockDiag) {
+  // 4x5 matrix with 3 blocks
+  constexpr int nr = 4;
+  constexpr int nc = 5;
+  const mjtNum mat[nr*nc] = {
+    1, 2, 0, 0, 0,
+    0, 0, 3, 4, 0,
+    0, 0, 5, 6, 0,
+    0, 0, 0, 0, 7
+  };
+
+  // block structure
+  constexpr int nb = 3;
+  const int block_nr[nb] = {1, 2, 1};
+  const int block_nc[nb] = {2, 2, 1};
+  const int block_r[nb] = {0, 1, 3};
+  const int block_c[nb] = {0, 2, 4};
+
+  // test with identity permutations
+  const int perm_r[nr] = {0, 1, 2, 3};
+  const int perm_c[nc] = {0, 1, 2, 3, 4};
+  mjtNum res[nr*nc] = {0};
+  mju_blockDiag(res, mat, nc, nc, nb,
+                perm_r, perm_c,
+                block_nr, block_nc,
+                block_r, block_c);
+  EXPECT_THAT(res, ElementsAre(1, 2, 0, 0, 0,
+                               3, 4, 5, 6, 0,
+                               0, 0, 0, 0, 0,
+                               7, 0, 0, 0, 0));
+}
+
+void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
+  const int* perm_r, const int* perm_c,
+  bool scatter_r, bool scatter_c);
+
+
+TEST_F(EngineUtilSparseTest, BlockDiagPerm) {
+  // 4x5 matrix with 3 blocks
+  constexpr int nr = 4;
+  constexpr int nc = 5;
+  const mjtNum mat[nr*nc] = {
+    1, 2, 0, 0, 0,
+    0, 0, 3, 4, 0,
+    0, 0, 5, 6, 0,
+    0, 0, 0, 0, 7
+  };
+
+  // block structure
+  constexpr int nb = 3;
+  const int block_nr[nb] = {1, 2, 1};
+  const int block_nc[nb] = {2, 2, 1};
+  const int block_r[nb] = {0, 1, 3};
+  const int block_c[nb] = {0, 2, 4};
+
+  // scatter mat into mat_p
+  const int perm_r[nr] = {1, 3, 2, 0};
+  const int perm_c[nc] = {2, 0, 4, 3, 1};
+  mjtNum mat_p[nr*nc];
+  PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
+
+  // test with permutation
+  mjtNum res[nr*nc] = {0};
+  mju_blockDiag(res, mat_p, nc, nc, nb,
+                perm_r, perm_c,
+                block_nr, block_nc,
+                block_r, block_c);
+  EXPECT_THAT(res, ElementsAre(1, 2, 0, 0, 0,
+                               3, 4, 5, 6, 0,
+                               0, 0, 0, 0, 0,
+                               7, 0, 0, 0, 0));
+}
+
+TEST_F(EngineUtilSparseTest, BlockDiagLessCols) {
+  // 4x5 matrix with 3 blocks
+  constexpr int nr = 4;
+  constexpr int nc = 5;
+  const mjtNum mat[nr*nc] = {
+    1, 2, 0, 0, 0,
+    0, 0, 3, 4, 0,
+    0, 0, 5, 6, 0,
+    0, 0, 0, 0, 7
+  };
+
+  // block structure (ignore middle block)
+  constexpr int nb = 2;
+  const int block_nr[nb] = {1, 1};
+  const int block_nc[nb] = {2, 1};
+  const int block_r[nb] = {0, 3};
+  const int block_c[nb] = {0, 4};
+
+  // scatter mat into mat_p
+  const int perm_r[nr] = {1, 3, 2, 0};
+  const int perm_c[nc] = {2, 0, 4, 3, 1};
+  mjtNum mat_p[nr*nc];
+  PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
+
+  // test with permutation and less columns (ignore middle block)
+  constexpr int nc_res = 3;
+  mjtNum res2[nr*nc_res] = {0};
+  mju_blockDiag(res2, mat_p, nc, nc_res, nb,
+                perm_r, perm_c,
+                block_nr, block_nc,
+                block_r, block_c);
+  EXPECT_THAT(res2, ElementsAre(1, 2, 0,
+                                0, 0, 0,
+                                0, 0, 0,
+                                7, 0, 0));
+}
+
+TEST_F(EngineUtilSparseTest, BlockDiagSparse) {
+  // 4x5 matrix with 3 blocks
+  constexpr int nr = 4;
+  constexpr int nc = 5;
+  const mjtNum mat[nr*nc] = {
+    1, 2, 0, 0, 0,
+    0, 0, 3, 4, 0,
+    0, 0, 5, 6, 0,
+    0, 0, 0, 0, 7
+  };
+  constexpr int nnz = 7;
+
+  // block structure
+  constexpr int nb = 3;
+  const int block_r[nb] = {0, 1, 3};
+  const int block_c[nb] = {0, 2, 4};
+
+  // convert to sparse
+  int rownnz[nr];
+  int rowadr[nr];
+  int colind[nnz];
+  mjtNum mat_sparse[nnz];
+  mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, nnz);
+
+  // test with identity permutations
+  const int perm_r[nr] = {0, 1, 2, 3};
+  const int perm_c[nc] = {0, 1, 2, 3, 4};
+  int res_rownnz[nr];
+  int res_rowadr[nr];
+  int res_colind[nnz];
+  mjtNum res[nnz];
+  mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind,
+                      mat_sparse, rownnz, rowadr, colind, nr, nb,
+                      perm_r, perm_c,
+                      block_r, block_c, nullptr, nullptr);
+  mjtNum dense_res[nr*nc];
+  mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
+  EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0,
+                                     3, 4, 0, 0, 0,
+                                     5, 6, 0, 0, 0,
+                                     7, 0, 0, 0, 0));
+
+  // permute mat into mat_p (scatter rows, gather columns)
+  const int perm_r2[nr] = {3, 1, 0, 2};
+  const int perm_c2[nc] = {4, 0, 2, 1, 3};
+  mjtNum mat_p[nr*nc];
+  PermuteMat(mat_p, mat, nr, nc, perm_r2, perm_c2, true, false);
+  mju_dense2sparse(mat_sparse, mat_p, nr, nc, rownnz, rowadr, colind, nnz);
+
+  // test with permutation
+  mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind,
+                      mat_sparse, rownnz, rowadr, colind, nr, nb,
+                      perm_r2, perm_c2,
+                      block_r, block_c, nullptr, nullptr);
+  mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
+  EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0,
+                                     3, 4, 0, 0, 0,
+                                     5, 6, 0, 0, 0,
+                                     7, 0, 0, 0, 0));
+}
+
+TEST_F(EngineUtilSparseTest, PermuteMat) {
+  const mjtNum mat[] = {1, 2, 0, 0,
+                        0, 0, 3, 4,
+                        0, 0, 5, 6};
+  const int perm_r[] = {2, 0, 1};
+  const int perm_c[] = {3, 2, 0, 1};
+  mjtNum gather[3*4];
+  PermuteMat(gather, mat, 3, 4, perm_r, perm_c, false, false);
+  EXPECT_THAT(gather, ElementsAre(6, 5, 0, 0,
+                                  0, 0, 1, 2,
+                                  4, 3, 0, 0));
+  mjtNum scatter[3*4];
+  PermuteMat(scatter, gather, 3, 4, perm_r, perm_c, true, true);
+  EXPECT_THAT(scatter, ElementsAre(1, 2, 0, 0,
+                                   0, 0, 3, 4,
+                                   0, 0, 5, 6));
+  mjtNum mixed[3*4];
+  PermuteMat(mixed, mat, 3, 4, perm_r, perm_c, true, false);
+  EXPECT_THAT(mixed, ElementsAre(4, 3, 0, 0,
+                                 6, 5, 0, 0,
+                                 0, 0, 1, 2));
+  mjtNum mixed_back[3*4];
+  PermuteMat(mixed_back, mixed, 3, 4, perm_r, perm_c, false, true);
+  EXPECT_THAT(mixed_back, ElementsAre(1, 2, 0, 0,
+                                      0, 0, 3, 4,
+                                      0, 0, 5, 6));
+}
+
+// local function for permuting the rows and columns of a dense matrix
+void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
+                const int* perm_r, const int* perm_c,
+                bool scatter_r, bool scatter_c) {
+  for (int r = 0; r < nr; r++) {
+    for (int c = 0; c < nc; c++) {
+      if (scatter_r && scatter_c) {
+        // scatter both
+        res[perm_r[r] * nc + perm_c[c]] = mat[r * nc + c];
+      } else if (scatter_r && !scatter_c) {
+        // scatter rows, gather columns
+        res[perm_r[r] * nc + c] = mat[r * nc + perm_c[c]];
+      } else if (!scatter_r && scatter_c) {
+        // gather rows, scatter columns
+        res[r * nc + perm_c[c]] = mat[perm_r[r] * nc + c];
+      } else {
+        // gather both
+        res[r * nc + c] = mat[perm_r[r] * nc + perm_c[c]];
+      }
+    }
+  }
+}
+
 }  // namespace
 }  // namespace mujoco

From 4c92c609887f1ee911307db9f4619ff87adc0217 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 29 Apr 2025 12:55:43 -0700
Subject: [PATCH 085/191] Remove time from test model keyframe

PiperOrigin-RevId: 752847956
Change-Id: Iebc28c4c73d39c3d37c5fa7abd53ea8a9e11f7f9
---
 test/testdata/model.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/test/testdata/model.xml b/test/testdata/model.xml
index e122f927..5a1f9c81 100644
--- a/test/testdata/model.xml
+++ b/test/testdata/model.xml
@@ -168,7 +168,6 @@
 
   <keyframe>
     <key name="start"
-         time="0.128"
          qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
          qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
   </keyframe>

From 1766a388ccb5d8c13bc963f1f13758f760081849 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 29 Apr 2025 15:17:13 -0700
Subject: [PATCH 086/191] Improve warmstarting if island structure exists.

PiperOrigin-RevId: 752901506
Change-Id: I062d14df7da7d9dc1a2c1c30a16d0db7215af336
---
 src/engine/engine_forward.c       |   9 ++
 test/engine/engine_solver_test.cc | 139 +++++++++++++++++++++---------
 test/pipeline_test.cc             |  25 ++++--
 3 files changed, 127 insertions(+), 46 deletions(-)

diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 3857bcae..a720f156 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -629,6 +629,15 @@ static void warmstart(const mjModel* m, mjData* d) {
       }
     }
 
+    // have island structure: unconstrained qacc = qacc_smooth
+    if (d->nisland > 0) {
+      for (int i=0; i < nv; i++) {
+        if (d->dof_island[i] < 0) {
+          d->qacc[i] = d->qacc_smooth[i];
+        }
+      }
+    }
+
     mj_freeStack(d);
   }
 
diff --git a/test/engine/engine_solver_test.cc b/test/engine/engine_solver_test.cc
index 6343ce24..b5b2db6d 100644
--- a/test/engine/engine_solver_test.cc
+++ b/test/engine/engine_solver_test.cc
@@ -29,88 +29,149 @@ namespace {
 
 using ::testing::DoubleNear;
 using ::testing::NotNull;
-using ::testing::Pointwise;
 using ::std::vector;
 using ::std::abs;
 using ::std::max;
 
-// compare two vectors, relative error (reduces size of large vector elements)
+// compare two vectors, relative error (increase tolerance for large elements)
 inline void ExpectEqRel(vector<mjtNum> v1, vector<mjtNum> v2, mjtNum rtol) {
   ASSERT_TRUE(v1.size() == v2.size());
-
-  // make scale vector
-  int n = v1.size();
-  vector<mjtNum> scale(n);
-  for (int i = 0; i < n; i++) {
-    scale[i] = max(1.0, abs(v1[i]) + abs(v2[i]));
+  for (int i = 0; i < v1.size(); i++) {
+    mjtNum scale = 0.5 * max(2.0, abs(v1[i]) + abs(v2[i]));
+    EXPECT_THAT(v1[i], DoubleNear(v2[i], scale*rtol));
   }
-
-  // scale and compare
-  for (int i = 0; i < n; i++) {
-    v1[i] /= scale[i];
-    v2[i] /= scale[i];
-  }
-  EXPECT_THAT(v1, Pointwise(DoubleNear(rtol), v2));
 }
 
 using SolverTest = MujocoTest;
 
-static const char* const kIlslandEfcPath =
-    "engine/testdata/island/island_efc.xml";
+static const char* const kModelPath =
+    "testdata/model.xml";
 
 // compare accelerations produced by CG solver with and without islands
 TEST_F(SolverTest, IslandsEquivalent) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
+  const std::string xml_path = GetTestDataFilePath(kModelPath);
   char error[1024];
   mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
   ASSERT_THAT(model, NotNull()) << error;
   model->opt.solver = mjSOL_CG;                 // use CG solver
+  model->opt.jacobian = mjJAC_SPARSE;           // use sparse
   model->opt.tolerance = 0;                     // set tolerance to 0
-  model->opt.enableflags &= ~mjENBL_ISLAND;     // disable islands
+  model->opt.ls_tolerance = 0;                  // set ls_tolerance to 0
 
   int nv = model->nv;
 
   int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
   mjtNum* state = (mjtNum*) mju_malloc(sizeof(mjtNum)*state_size);
-  mjtNum* qacc_diff = (mjtNum*) mju_malloc(sizeof(mjtNum)*nv);
 
   mjData* data_island = mj_makeData(model);
   mjData* data_noisland = mj_makeData(model);
 
-  mjtNum rtol = 1e-5;
+  // Below are 3 tolerances associated with 3 different iteration counts,
+  // they are only moderately tight, 2x higher than x86-64 failure on Linux,
+  // i.e. in that case the test fails with rtol smaller than {5e-3, 5e-4, 5e-5}.
+  // The point of this test is to show that CG convergence is actually not very
+  // precise, simply changing whether islands are used changes the solution by
+  // quite a lot, even at high iteration count and zero {ls_}tolerance.
+  // Increasing the iteration count higher than 60 does not improve convergence.
+  constexpr int kNumTol = 3;
+  mjtNum maxiter[kNumTol] = {30,   40,   60};
+  mjtNum rtol[kNumTol] =    {1e-2, 1e-3, 1e-4};
 
-  for (bool warmstart : {true, false}) {
-    if (warmstart) {
-      model->opt.disableflags |= mjDSBL_WARMSTART;
-    } else {
-      model->opt.disableflags &= ~mjDSBL_WARMSTART;
-    }
-    mj_resetData(model, data_noisland);
+  for (int i = 0; i < kNumTol; ++i) {
+    model->opt.iterations = maxiter[i];
+    model->opt.ls_iterations = maxiter[i];
 
-    while (data_noisland->time < .3) {
-      mj_step(model, data_noisland);
+    for (bool coldstart : {true, false}) {
+      mj_resetDataKeyframe(model, data_noisland, 0);
 
-      mj_getState(model, data_noisland, state, mjSTATE_INTEGRATION);
-      mj_setState(model, data_island, state, mjSTATE_INTEGRATION);
+      if (coldstart) {
+        model->opt.disableflags |= mjDSBL_WARMSTART;
+      } else {
+        model->opt.disableflags &= ~mjDSBL_WARMSTART;
+      }
 
-      mj_forward(model, data_noisland);
+      while (data_noisland->time < .1) {
+        mj_getState(model, data_noisland, state, mjSTATE_INTEGRATION);
+        mj_setState(model, data_island, state, mjSTATE_INTEGRATION);
 
-      model->opt.enableflags |= mjENBL_ISLAND;  // enable islands
-      mj_forward(model, data_island);
-      model->opt.enableflags &= ~mjENBL_ISLAND;  // disable islands
+        model->opt.enableflags |= mjENBL_ISLAND;  // enable islands
+        mj_forward(model, data_island);
 
-      ExpectEqRel(AsVector(data_noisland->qacc, nv),
-                  AsVector(data_island->qacc, nv), rtol);
+        model->opt.enableflags &= ~mjENBL_ISLAND;  // disable islands
+        mj_forward(model, data_noisland);
+
+        auto time = std::to_string(data_noisland->time);
+        for (int j = 0; j < nv; j++) {
+          // increase tolerance for large elements
+          mjtNum scale = 0.5 * max(2.0, abs(data_noisland->qacc[j]) +
+                                        abs(data_island->qacc[j]));
+          EXPECT_THAT(data_noisland->qacc[j],
+                      DoubleNear(data_island->qacc[j], scale * rtol[i]))
+              << "time: " << time << '\n'
+              << "dof: " << j << '\n'
+              << "maxiter: " << maxiter[i] << '\n'
+              << "rtol: " << scale * rtol[i];
+        }
+
+        mj_step(model, data_noisland);
+      }
     }
   }
 
   mj_deleteData(data_noisland);
   mj_deleteData(data_island);
-  mju_free(qacc_diff);
   mju_free(state);
   mj_deleteModel(model);
 }
 
+// compare accelerations produced by CG solver with and without islands
+TEST_F(SolverTest, IslandsEquivalentForward) {
+  const std::string xml_path = GetTestDataFilePath(kModelPath);
+  char error[1024];
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+  ASSERT_THAT(model, NotNull()) << error;
+  model->opt.solver = mjSOL_CG;                 // use CG solver
+  model->opt.tolerance = 0;                     // set tolerance to 0
+  model->opt.ls_tolerance = 0;                  // set ls_tolerance to 0
+
+  mjtNum rtol = 2e-6;
+
+  mjData* data_island = mj_makeData(model);
+  mjData* data_noisland = mj_makeData(model);
+
+  for (bool coldstart : {true, false}) {
+    mj_resetDataKeyframe(model, data_island, 0);
+    mj_resetDataKeyframe(model, data_noisland, 0);
+
+    if (coldstart) {
+      model->opt.disableflags |= mjDSBL_WARMSTART;
+    } else {
+      model->opt.disableflags &= ~mjDSBL_WARMSTART;
+    }
+
+    model->opt.enableflags &= ~mjENBL_ISLAND;  // disable islands
+    mj_forward(model, data_noisland);
+
+    model->opt.enableflags |= mjENBL_ISLAND;   // enable islands
+    mj_forward(model, data_island);
+    for (int j = 0; j < model->nv; j++) {
+      mjtNum scale = 0.5 * max(2.0, abs(data_noisland->qacc[j]) +
+                                    abs(data_island->qacc[j]));
+      EXPECT_THAT(data_noisland->qacc[j],
+                  DoubleNear(data_island->qacc[j], scale * rtol))
+          << "dof: " << j << '\n'
+          << "rtol: " << scale * rtol;
+    }
+  }
+
+  mj_deleteData(data_noisland);
+  mj_deleteData(data_island);
+  mj_deleteModel(model);
+}
+
+static const char* const kIlslandEfcPath =
+    "engine/testdata/island/island_efc.xml";
+
 // compare qacc from 1 iteration of monolithic CG solver and one big island
 TEST_F(SolverTest, OneBigIsland) {
   const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
diff --git a/test/pipeline_test.cc b/test/pipeline_test.cc
index 6f1eb737..c602da54 100644
--- a/test/pipeline_test.cc
+++ b/test/pipeline_test.cc
@@ -45,24 +45,35 @@ TEST_F(PipelineTest, SparseDenseEquivalent) {
 
   mjtNum tol = 1e-11;
 
-  for (mjtSolver solver : {mjSOL_NEWTON, mjSOL_PGS, mjSOL_CG}) {
-    model->opt.solver = solver;
+  const char* sname[4] = {"NEWTON", "PGS", "CG", "NOSLIP"};
+  mjtSolver solver[4] = {mjSOL_NEWTON, mjSOL_PGS, mjSOL_CG, mjSOL_NEWTON};
 
-    // set dense jacobian, call mj_forward, save accelerations
+  for (int i : {0, 1, 2, 3}) {
+    model->opt.solver = solver[i];
+    if (i == 3) {
+      model->opt.noslip_iterations = 2;
+    }
+
+    // set dense jacobian, call mj_step, save qacc and new qpos
     model->opt.jacobian = mjJAC_DENSE;
     mj_resetDataKeyframe(model, data, 0);
-    mj_forward(model, data);
+    mj_step(model, data);
     std::vector<mjtNum> qacc_dense = AsVector(data->qacc, model->nv);
+    std::vector<mjtNum> qpos_dense = AsVector(data->qpos, model->nq);
 
-    // set sparse jacobian, call mj_forward, save accelerations
+    // set sparse jacobian, call mj_step, save qacc and new qpos
     model->opt.jacobian = mjJAC_SPARSE;
     mj_resetDataKeyframe(model, data, 0);
-    mj_forward(model, data);
+    mj_step(model, data);
     std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);
+    std::vector<mjtNum> qpos_sparse = AsVector(data->qpos, model->nq);
 
     // expect accelerations to be insignificantly different
     EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse))
-        << "failed equivalence for solver=" << solver;
+        << "failed qacc equivalence for solver=" << sname[i];
+    // expect positions to be insignificantly different
+    EXPECT_THAT(qpos_dense, Pointwise(DoubleNear(tol), qpos_sparse))
+        << "failed qpos equivalence for solver=" << sname[i];
   }
 
   mj_deleteData(data);

From 7742f6280323bd22f1cbaf7299dd2494882ef14b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 29 Apr 2025 16:32:49 -0700
Subject: [PATCH 087/191] Add `mju_mulSymVecSparse`, private engine function

Multiply sparse symmetric matrix (only lower triangle represented) by vector

PiperOrigin-RevId: 752926934
Change-Id: I5aaae1266256aa88aee8c25e242b7a7c51ea8dd7
---
 src/engine/engine_util_sparse.c        | 38 ++++++++++++++++++++++++++
 src/engine/engine_util_sparse.h        |  6 ++++
 test/engine/engine_util_sparse_test.cc | 36 ++++++++++++++++++++++++
 3 files changed, 80 insertions(+)

diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 23c038ec..00fb99d9 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -193,6 +193,44 @@ void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
 
 
 
+// multiply symmetric matrix (only lower triangle represented) by vector:
+//  res = (mat + strict_upper(mat')) * vec
+void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
+                         const mjtNum* restrict vec, int n,
+                         const int* restrict rownnz, const int* restrict rowadr,
+                         const int* restrict diagnum, const int* restrict colind) {
+  // clear res
+  mju_zero(res, n);
+
+  // multiply
+  for (int i=0; i < n; i++) {
+    int adr = rowadr[i];
+    int diag = rownnz[i] - 1;
+    const mjtNum* row = mat + adr;
+
+    // diagonal
+    res[i] = row[diag] * vec[i];
+
+    // TODO: consider using SIMD if diagnum[i] >= 4
+
+    // shortcut for diagonal row/column
+    if (diagnum[i]) {
+      continue;
+    }
+
+    // off-diagonals
+    const int* ind = colind + adr;
+    for (int k=0; k < diag; k++) {
+      int j = ind[k];
+      mjtNum val = row[k];
+      res[i] += val * vec[j]; // strict lower
+      res[j] += val * vec[i]; // strict upper
+    }
+  }
+}
+
+
+
 // count the number of non-zeros in the sum of two sparse vectors
 int mju_combineSparseCount(int a_nnz, int b_nnz, const int* a_ind, const int* b_ind) {
   int a = 0, b = 0, c_nnz = 0;
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index 1f75739b..1246abc1 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -50,6 +50,12 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
 MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
                                 const int* rownnz, const int* rowadr, const int* colind);
 
+// multiply symmetric matrix (only lower triangle represented) by vector:
+//  res = (mat + strict_upper(mat')) * vec
+MJAPI void mju_mulSymVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
+                               const int* rownnz, const int* rowadr, const int* diagnum,
+                               const int* colind);
+
 // compress sparse matrix, remove elements with abs(value) <= minval, return total non-zeros
 MJAPI int mju_compressSparse(mjtNum* mat, int nr, int nc,
                              int* rownnz, int* rowadr, int* colind, mjtNum minval);
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index 41231c2c..a11d18e3 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -1034,6 +1034,42 @@ TEST_F(EngineUtilSparseTest, MjuMulMatTVec) {
   EXPECT_THAT(AsVector(res, 3), ElementsAre(5, 28, 24));
 }
 
+TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
+  constexpr int n = 4;
+  constexpr int nnz = 9;
+
+  mjtNum mat[n*n] = {1,  0,  0,  0,
+                    -1,  2,  0,  0,  // spurious (ignored) -1 at (1, 0)
+                     3,  0,  4,  0,
+                     5,  6,  7,  8};
+
+  // dense, full matrix
+  mjtNum sym[n*n] = {1,  0,  3,  5,
+                     0,  2,  0,  6,
+                     3,  0,  4,  7,
+                     5,  6,  7,  8};
+
+  mjtNum mat_sparse[nnz];
+  int rownnz[n];
+  int rowadr[n];
+  int colind[nnz];
+  mju_dense2sparse(mat_sparse, mat, n, n, rownnz, rowadr, colind, nnz);
+  int diagnum[n] = {0, 1, 0, 0};
+
+  // multiply: res = (mat + strict_upper(mat')) * vec
+  mjtNum vec[n] = {4, 3, 2, 1};
+  mjtNum res[n];
+  mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, diagnum, colind);
+
+  // dense multiply
+  mjtNum res2[n];
+  mju_mulMatVec(res2, sym, vec, n, n);
+
+  for (int i=0; i < n; i++) {
+    EXPECT_EQ(res[i], res2[i]);
+  }
+}
+
 TEST_F(EngineUtilSparseTest, MjuDenseToSparse) {
   int nr = 2;
   int nc = 2;

From 45d3fef2fc31f02667d3a63014a6ba171840d88c Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Wed, 30 Apr 2025 04:14:43 -0700
Subject: [PATCH 088/191] Add initial support for colliders

By default every geom is a collider unless contype=conaffinity=0.

PiperOrigin-RevId: 753108713
Change-Id: I0e1a81b254c41e9103c34f69696205ff5c0bd6dc
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  16 ++-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 122 ++++++++++++++++++
 2 files changed, 134 insertions(+), 4 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 8ddba52d..832d1cf3 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -832,7 +832,7 @@ class ModelWriter {
         site_path, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
   }
 
-  void WriteGeom(mjsGeom *geom, const mjsBody *body) {
+  void WriteGeom(mjsGeom *geom, const mjsBody *body, bool write_physics) {
     const int body_id = mjs_getId(body->element);
     const auto &body_path = body_paths_[body_id];
 
@@ -866,6 +866,14 @@ class ModelWriter {
         return;
     }
 
+    // Apply the PhysicsCollisionAPI schema if we are writing physics and the
+    // geom participates in collisions.
+    if (write_physics && (model_->geom_contype[geom_id] != 0 ||
+                          model_->geom_conaffinity[geom_id] != 0)) {
+      ApplyApiSchema(data_, geom_path,
+                     pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
+    }
+
     mjsDefault *spec_default = mjs_getDefault(geom->element);
     pxr::TfToken valid_class_name = GetValidPrimName(*spec_default->name);
     pxr::SdfPath geom_class_path = class_path_.AppendChild(valid_class_name);
@@ -940,10 +948,10 @@ class ModelWriter {
     }
   }
 
-  void WriteGeoms(mjsBody *body) {
+  void WriteGeoms(mjsBody *body, bool write_physics) {
     mjsGeom *geom = mjs_asGeom(mjs_firstChild(body, mjOBJ_GEOM, false));
     while (geom) {
-      WriteGeom(geom, body);
+      WriteGeom(geom, body, write_physics);
       geom = mjs_asGeom(mjs_nextChild(body, geom->element, false));
     }
   }
@@ -1106,7 +1114,7 @@ class ModelWriter {
         WriteBody(body, write_physics);
       }
       WriteSites(body);
-      WriteGeoms(body);
+      WriteGeoms(body, write_physics);
       WriteCameras(body);
       WriteLights(body);
       body = mjs_asBody(mjs_nextElement(spec_, body->element));
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 78f10f46..2273ac5a 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -45,6 +45,7 @@
 #include <pxr/usd/usdGeom/primvarsAPI.h>
 #include <pxr/usd/usdGeom/sphere.h>
 #include <pxr/usd/usdGeom/tokens.h>
+#include <pxr/usd/usdPhysics/collisionAPI.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
@@ -607,5 +608,126 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
                               pxr::UsdPhysicsRigidBodyAPI);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <geom name="ground" type="plane" size="5 5 0.1"
+              contype="1" conaffinity="1"/>
+        <body name="body_0" pos="-3 0 2">
+          <joint type="free"/>
+          <geom name="body_0_col" type="sphere" size="1"
+                contype="1" conaffinity="1"/>
+          <body name="body_0_0" pos="-1 0 2">
+            <geom name="body_0_0_col" type="sphere" size="1"
+                  contype="1" conaffinity="1"/>
+          </body>
+        </body>
+        <body name="body_1" pos="0 0 3">
+          <joint type="free"/>
+          <geom name="body_1_col_0" type="sphere" size="1"
+                contype="1" conaffinity="1"/>
+          <geom name="body_1_col_1" type="sphere" size="1" pos="-1 0 2"
+                contype="1" conaffinity="1"/>
+        </body>
+        <body name="body_2" pos="3 0 3">
+          <joint type="free"/>
+          <geom name="body_2_nocol" type="sphere" size="1"
+                contype="0" conaffinity="0"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfFileFormat::FileFormatArguments args;
+  args["usdMjcfToggleUsdPhysics"] = "true";
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml, args);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  EXPECT_THAT(stage, testing::NotNull());
+  EXPECT_PRIM_VALID(stage, "/test");
+
+  // Expected hierarchy under /test:
+  //
+  // ground [collider]
+  //
+  // body_0/body_0 [rigidbody]
+  //   body_0/body_0/body_0_col [collider]
+  //
+  // body_0/body_0_0 [rigidbody]  <-- Note: USD reparents nested rigid bodies
+  //     body_0/body_0/body_0_0/body_0_0_col [collider]
+  //
+  // body_1/body_1 [rigidbody]
+  //   body_1/body_1/body_1_col_0 [collider]
+  //   body_1/body_1/body_1_col_1 [collider]
+  //
+  // body_2/body_2 [rigidbody]
+  //   body_2/body_2/body_2_nocol []
+
+  // ground [collider] (Static collider)
+  EXPECT_PRIM_VALID(stage, "/test/ground");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/ground",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::UsdPhysicsCollisionAPI);
+
+  // body_0/body_0 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0",
+                          pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0",
+                              pxr::UsdPhysicsCollisionAPI);
+  //   body_0/body_0/body_0_col [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0/body_0_col");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0/body_0_col",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0/body_0_col",
+                          pxr::UsdPhysicsCollisionAPI);
+
+  // body_0/body_0_0 [rigidbody] (Nested body - reparented)
+  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0",
+                          pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0",
+                              pxr::UsdPhysicsCollisionAPI);
+  //   body_0/body_0_0/body_0_0_col [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0/body_0_0_col");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
+                          pxr::UsdPhysicsCollisionAPI);
+
+  // body_1/body_1 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1",
+                          pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1",
+                              pxr::UsdPhysicsCollisionAPI);
+  //   body_1/body_1/body_1_col_0 [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_0");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_0",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1/body_1_col_0",
+                          pxr::UsdPhysicsCollisionAPI);
+  //   body_1/body_1/body_1_col_1 [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_1");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_1",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1/body_1_col_1",
+                          pxr::UsdPhysicsCollisionAPI);
+
+  // body_2/body_2 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_2/body_2");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_2/body_2",
+                          pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2",
+                              pxr::UsdPhysicsCollisionAPI);
+  //   body_2/body_2/body_2_nocol [] (No physics APIs applied)
+  EXPECT_PRIM_VALID(stage, "/test/body_2/body_2/body_2_nocol");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
+                              pxr::UsdPhysicsCollisionAPI);
+}
+
 }  // namespace
 }  // namespace mujoco

From 177fce9fa17405f7bdbb1741043e3e7dca7a3ec5 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 30 Apr 2025 06:33:41 -0700
Subject: [PATCH 089/191] Remove absl dep and custom MujocoTest from usd plugin
 tests.

PiperOrigin-RevId: 753144576
Change-Id: I3d4fd470c698967a50b189b99c1bb808a9a80306
---
 test/experimental/usd/plugins/mjcf/fixture.cc               | 2 --
 test/experimental/usd/plugins/mjcf/fixture.h                | 4 ----
 test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc | 2 +-
 3 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/test/experimental/usd/plugins/mjcf/fixture.cc b/test/experimental/usd/plugins/mjcf/fixture.cc
index 74063da2..cc3362e0 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.cc
+++ b/test/experimental/usd/plugins/mjcf/fixture.cc
@@ -18,7 +18,6 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <absl/log/check.h>
 #include <pxr/usd/sdf/assetPath.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
@@ -62,5 +61,4 @@ void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
   EXPECT_EQ(sources.size(), 1);
   EXPECT_EQ(sources[0], SdfPath(connection_path));
 }
-//
 }  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/plugins/mjcf/fixture.h
index d7b8cda1..c31082d0 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/plugins/mjcf/fixture.h
@@ -18,7 +18,6 @@
 #include <string>
 
 #include <gtest/gtest.h>
-#include "test/fixture.h"
 #include <pxr/usd/sdf/assetPath.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
@@ -95,8 +94,5 @@ void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
 
 void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
                                   const char* connection_path);
-
-using MjcfSdfFileFormatPluginTest = MujocoTest;
-
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 2273ac5a..fd6e2563 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -17,7 +17,6 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <absl/strings/string_view.h>
 #include "test/experimental/usd/plugins/mjcf/fixture.h"
 #include "test/fixture.h"
 #include <pxr/base/gf/vec2f.h>
@@ -60,6 +59,7 @@ namespace mujoco {
 namespace {
 
 using pxr::SdfPath;
+using MjcfSdfFileFormatPluginTest = MujocoTest;
 
 static const char* kMaterialsPath =
     "experimental/usd/plugins/mjcf/testdata/materials.xml";

From bb07fa0c78934b59c87eadb30e03f8ec8366f924 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 30 Apr 2025 08:43:18 -0700
Subject: [PATCH 090/191] Move Mujoco USD test fixture out of MJCF plugin
 directory and rename to test_utils.

PiperOrigin-RevId: 753183581
Change-Id: Iedd6594ac679ca026f8af29c647d18ae93003a53
---
 test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc   | 4 +++-
 .../usd/{plugins/mjcf/fixture.cc => test_utils.cc}            | 4 +++-
 .../experimental/usd/{plugins/mjcf/fixture.h => test_utils.h} | 2 ++
 3 files changed, 8 insertions(+), 2 deletions(-)
 rename test/experimental/usd/{plugins/mjcf/fixture.cc => test_utils.cc} (96%)
 rename test/experimental/usd/{plugins/mjcf/fixture.h => test_utils.h} (99%)

diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index fd6e2563..fb2a1a65 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -17,7 +17,7 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include "test/experimental/usd/plugins/mjcf/fixture.h"
+#include "test/experimental/usd/test_utils.h"
 #include "test/fixture.h"
 #include <pxr/base/gf/vec2f.h>
 #include <pxr/base/gf/vec3f.h>
@@ -56,6 +56,7 @@ TF_DEFINE_PRIVATE_TOKENS(_tokens,
 PXR_NAMESPACE_CLOSE_SCOPE
 
 namespace mujoco {
+namespace usd {
 namespace {
 
 using pxr::SdfPath;
@@ -730,4 +731,5 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
 }
 
 }  // namespace
+}  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/fixture.cc b/test/experimental/usd/test_utils.cc
similarity index 96%
rename from test/experimental/usd/plugins/mjcf/fixture.cc
rename to test/experimental/usd/test_utils.cc
index cc3362e0..8bfc30e0 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.cc
+++ b/test/experimental/usd/test_utils.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "test/experimental/usd/plugins/mjcf/fixture.h"
+#include "test/experimental/usd/test_utils.h"
 
 #include <string>
 
@@ -28,6 +28,7 @@
 #include <pxr/usd/usdGeom/mesh.h>
 #include <pxr/usd/usdGeom/primvarsAPI.h>
 namespace mujoco {
+namespace usd {
 
 using pxr::SdfPath;
 
@@ -61,4 +62,5 @@ void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
   EXPECT_EQ(sources.size(), 1);
   EXPECT_EQ(sources[0], SdfPath(connection_path));
 }
+}  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/fixture.h b/test/experimental/usd/test_utils.h
similarity index 99%
rename from test/experimental/usd/plugins/mjcf/fixture.h
rename to test/experimental/usd/test_utils.h
index c31082d0..ec5e3de7 100644
--- a/test/experimental/usd/plugins/mjcf/fixture.h
+++ b/test/experimental/usd/test_utils.h
@@ -67,6 +67,7 @@
   EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
 
 namespace mujoco {
+namespace usd {
 
 pxr::SdfLayerRefPtr LoadLayer(
     const std::string& xml,
@@ -94,5 +95,6 @@ void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
 
 void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
                                   const char* connection_path);
+}  // namespace usd
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_

From 6c319310b88cca9a7880c210602426fbb6e9f519 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 30 Apr 2025 11:00:48 -0700
Subject: [PATCH 091/191] On Darwin archs, add ArchConstructEntry using to
 placate compile errors.

PiperOrigin-RevId: 753235230
Change-Id: I621fd879ba1a0e6b7668454386f35ae76a190c13
---
 src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 832d1cf3..d4da714a 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -98,6 +98,9 @@ using pxr::Tf_RegistryInit;
 using pxr::TfEnum;
 template <typename T>
 using Arch_PerLibInit = pxr::Arch_PerLibInit<T>;
+#if defined(ARCH_OS_DARWIN)
+using Arch_ConstructorEntry = pxr::Arch_ConstructorEntry;
+#endif
 enum ErrorCodes { UnsupportedGeomTypeError, MujocoCompilationError };
 
 TF_REGISTRY_FUNCTION(pxr::TfEnum) {

From 02656532c2ef7ebb1f7e45158fc6a01a856fd61e Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Fri, 2 May 2025 03:46:34 -0700
Subject: [PATCH 092/191] Fix Mesh PhysicsCollisionAPI by accounting for how
 it's referenced/instanced.

Because we introduce an additional parent scope when referencing a `Mesh` prim (required for instancing), we need to create an `over` prim that allows to actually operate on the to-be-referenced Mesh.

PiperOrigin-RevId: 753941355
Change-Id: I829be9e82fe650802afcbc46f4b2f4c81eb53bd1
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 16 ++++++---
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 34 ++++++++++++++++++-
 2 files changed, 45 insertions(+), 5 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index d4da714a..b89abc3c 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -66,7 +66,6 @@ using TfStaticData = pxr::TfStaticData<T>;
 
 // clang-format off
 TF_DEFINE_PRIVATE_TOKENS(kTokens,
-                         // Xform ops
                          ((body, "Body"))
                          ((body_name, "mujoco:body_name"))
                          ((geom, "Geom"))
@@ -89,7 +88,8 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          ((outputsRgb, "outputs:rgb"))
                          ((inputsMetallic, "inputs:metallic"))
                          (repeat)
-                         );
+                         ((sourceMesh, pxr::UsdGeomTokens->Mesh))
+                        );
 
 // Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
 using pxr::TfEnum;
@@ -330,7 +330,7 @@ class ModelWriter {
     pxr::SdfPath subcomponent_path =
         CreatePrimSpec(data_, parent_path, name, pxr::UsdGeomTokens->Xform);
     pxr::SdfPath mesh_path =
-        CreatePrimSpec(data_, subcomponent_path, pxr::UsdGeomTokens->Mesh,
+        CreatePrimSpec(data_, subcomponent_path, kTokens->sourceMesh,
                        pxr::UsdGeomTokens->Mesh);
     mesh_paths_[*mesh->name] = subcomponent_path;
 
@@ -600,7 +600,15 @@ class ModelWriter {
     // Reference the mesh asset written in WriteMeshes.
     AddPrimReference(data_, subcomponent_path, mesh_paths_[*geom->meshname]);
 
-    return subcomponent_path;
+    // We want to use instancing with meshes, and it requires creating a parent
+    // scope to be referenced, with the Mesh prim as a child.
+    // To be able to actually manipulate the Mesh prim, we need to create and
+    // return the corresponding `over` prim as a child of the referencing prim.
+    pxr::SdfPath over_mesh_path =
+        CreatePrimSpec(data_, subcomponent_path, kTokens->sourceMesh,
+                       pxr::UsdGeomTokens->Mesh, pxr::SdfSpecifierOver);
+
+    return over_mesh_path;
   }
 
   pxr::SdfPath WriteSiteGeom(const mjsSite *site,
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index fb2a1a65..abdf6a23 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -612,6 +612,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
 TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   static constexpr char kXml[] = R"(
     <mujoco model="test">
+      <asset>
+        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      </asset>
       <worldbody>
         <geom name="ground" type="plane" size="5 5 0.1"
               contype="1" conaffinity="1"/>
@@ -636,6 +639,11 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
           <geom name="body_2_nocol" type="sphere" size="1"
                 contype="0" conaffinity="0"/>
         </body>
+        <body name="body_3" pos="0 3 3">
+          <joint type="free"/>
+          <geom name="body_3_col" type="mesh" mesh="tetrahedron"
+                contype="1" conaffinity="1"/>
+        </body>
       </worldbody>
     </mujoco>
   )";
@@ -655,7 +663,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   // body_0/body_0 [rigidbody]
   //   body_0/body_0/body_0_col [collider]
   //
-  // body_0/body_0_0 [rigidbody]  <-- Note: USD reparents nested rigid bodies
+  // body_0/body_0_0 [rigidbody]  <-- USD reparents nested rigid bodies
   //     body_0/body_0/body_0_0/body_0_0_col [collider]
   //
   // body_1/body_1 [rigidbody]
@@ -664,6 +672,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   //
   // body_2/body_2 [rigidbody]
   //   body_2/body_2/body_2_nocol []
+  //
+  // body_3/body_3 [rigidbody]
+  //   body_3/body_3/body_3_col []  <-- Intermediate prim for mesh instancing
+  //     body_3/body_3/body_3_col/Mesh [collider]
 
   // ground [collider] (Static collider)
   EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -728,6 +740,26 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
                               pxr::UsdPhysicsCollisionAPI);
+
+  // body_3/body_3 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3",
+                          pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3",
+                              pxr::UsdPhysicsCollisionAPI);
+  //   body_3/body_3/body_3_col [] (Intermediate prim for mesh instancing)
+  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
+                              pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
+                              pxr::UsdPhysicsCollisionAPI);
+  //     body_3/body_3/body_3_col/Mesh [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh");
+  EXPECT_PRIM_API_NOT_APPLIED(
+      stage, "/test/body_3/body_3/body_3_col/Mesh",
+      pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
+                          pxr::UsdPhysicsCollisionAPI);
 }
 
 }  // namespace

From ab63a7e824dc26d7a8a8519bdcc77dc611208f6a Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 2 May 2025 05:47:25 -0700
Subject: [PATCH 093/191] Add CMakeLists for usdMjcf file format plugin.

This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco.

In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests.

PiperOrigin-RevId: 753969974
Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
---
 .github/workflows/build.yml                   |   2 +-
 CMakeLists.txt                                |  12 ++
 plugin/sdf/CMakeLists.txt                     |  12 +-
 src/experimental/usd/plugins/CMakeLists.txt   | 137 ++++++++++++++++++
 .../usd/plugins/mjcf/plugInfo.json            |   2 +-
 test/CMakeLists.txt                           |   1 +
 test/experimental/CMakeLists.txt              |  19 +++
 .../usd/plugins/mjcf/CMakeLists.txt           |  30 ++++
 8 files changed, 207 insertions(+), 8 deletions(-)
 create mode 100644 src/experimental/usd/plugins/CMakeLists.txt
 create mode 100644 test/experimental/CMakeLists.txt
 create mode 100644 test/experimental/usd/plugins/mjcf/CMakeLists.txt

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 1a3288b9..4762eb73 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -179,7 +179,7 @@ jobs:
            cp lib/libactuator.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
            cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
            cp lib/libsensor.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
-           cp lib/libsdf.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
+           cp lib/libsdf_plugin.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
     - name: Copy plugins (Windows)
       if: ${{ runner.os == 'Windows' }}
       working-directory: build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 087a81e7..3cab120d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,14 @@ option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
 option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
 option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
+option(MUJOCO_BUILD_USD_PLUGINS "Build OpenUSD plugins" OFF)
+
+# USD libs to compile against.
+set(MUJOCO_USD_ALLOWED_TARGET_VALUES "USD" "Houdini")
+set(MUJOCO_USD_TARGET "USD" CACHE STRING "Select the USD target for the project.")
+set_property(CACHE MUJOCO_USD_TARGET
+  PROPERTY STRINGS ${MUJOCO_USD_ALLOWED_TARGET_VALUES}
+)
 
 if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
   enable_language(OBJC)
@@ -181,6 +189,10 @@ if(MUJOCO_BUILD_EXAMPLES)
   add_subdirectory(sample)
 endif()
 
+if(MUJOCO_BUILD_USD_PLUGINS)
+  add_subdirectory(src/experimental/usd/plugins)
+endif()
+
 if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)
   enable_testing()
   add_subdirectory(test)
diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
index 3e216fc4..8b834971 100644
--- a/plugin/sdf/CMakeLists.txt
+++ b/plugin/sdf/CMakeLists.txt
@@ -34,19 +34,19 @@ set(MUJOCO_SDF_SRCS
     torus.h
 )
 
-add_library(sdf SHARED)
-target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
-target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
-target_link_libraries(sdf PRIVATE mujoco SdfLib)
+add_library(sdf_plugin SHARED)
+target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
+target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
+target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib)
 target_compile_options(
-  sdf
+  sdf_plugin
   PRIVATE ${AVX_COMPILE_OPTIONS}
           ${MUJOCO_MACOS_COMPILE_OPTIONS}
           ${EXTRA_COMPILE_OPTIONS}
           ${MUJOCO_CXX_FLAGS}
 )
 target_link_options(
-  sdf
+  sdf_plugin
   PRIVATE
   ${MUJOCO_MACOS_LINK_OPTIONS}
   ${EXTRA_LINK_OPTIONS}
diff --git a/src/experimental/usd/plugins/CMakeLists.txt b/src/experimental/usd/plugins/CMakeLists.txt
new file mode 100644
index 00000000..6e506493
--- /dev/null
+++ b/src/experimental/usd/plugins/CMakeLists.txt
@@ -0,0 +1,137 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+# Plugin target name (used for library and plugInfo.json)
+set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
+
+add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED
+  mjcf/mjcf_file_format.cc
+  mjcf/mjcf_file_format.h
+  mjcf/mujoco_to_usd.cc
+  mjcf/mujoco_to_usd.h
+  mjcf/utils.cc
+  mjcf/utils.h
+)
+
+# We need to set the visibility to default until core type symbol visibility
+# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
+# Otherwise we will run into issues during composition on MacOS due to std::type_info
+# comparisons failing for pxr::TfTokenVector and the like that we place in SdfAbstractData.
+set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
+    OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
+    CXX_VISIBILITY_PRESET default
+)
+
+target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+  "${CMAKE_CURRENT_SOURCE_DIR}"
+)
+
+if (MUJOCO_USD_TARGET STREQUAL "USD")
+  find_package(pxr REQUIRED)
+
+  # --- Link Dependencies ---
+  # Link against the necessary OpenUSD components
+  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    usd
+    ar
+    kind
+    tf
+    gf
+    vt
+    usdShade
+    usdLux
+    usdGeom
+    usdImaging
+    usdPhysics
+    mujoco
+    tinyxml2
+  )
+elseif (MUJOCO_USD_TARGET STREQUAL "Houdini")
+
+  if (NOT DEFINED ENV{HFS})
+    message(FATAL_ERROR "Environment variable 'HFS' is not defined: $ENV{HFS}. Please run houdini_setup.")
+  endif()
+
+  # In Houdini, the Houdini package we would typically use via find_package
+  # does not have all the USD dependencies that we need (namely UsdPhysics)
+  # so we need to manually link all the required libraries.
+
+  set(HFS_ENV "$ENV{HFS}")
+  set(HOUDINI_LIBS "${HFS_ENV}/../Libraries")
+  get_filename_component(HOUDINI_LIBS "${HOUDINI_LIBS}" ABSOLUTE) # Normalize the path
+  target_link_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${HOUDINI_LIBS})
+
+  target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    "${HFS_ENV}/toolkit/include"
+    "${HFS_ENV}/toolkit/include/python3.11"
+  )
+
+  # Assume everyone using Houdini on 3.11 for now.
+  set(USD_MJCF_PYTHON_LIB python3.11)
+  set(USD_MJCF_PYTHON_LIB_NUMBER python311)
+  set(PYTHON_LIB "${HFS_ENV}/Frameworks/Python.framework/Versions/3.11/Python")
+  set(PXR_LIB_PREFIX "pxr_")
+
+  # --- Link Dependencies ---
+  # Link against the necessary OpenUSD components
+  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    ${PXR_LIB_PREFIX}usd
+    ${PXR_LIB_PREFIX}ar
+    ${PXR_LIB_PREFIX}kind
+    ${PXR_LIB_PREFIX}tf
+    ${PXR_LIB_PREFIX}gf
+    ${PXR_LIB_PREFIX}vt
+    ${PXR_LIB_PREFIX}sdf
+    ${PXR_LIB_PREFIX}usdShade
+    ${PXR_LIB_PREFIX}usdLux
+    ${PXR_LIB_PREFIX}usdGeom
+    ${PXR_LIB_PREFIX}usdImaging
+    ${PXR_LIB_PREFIX}usdPhysics
+    tbb
+    hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
+    ${PYTHON_LIB}
+    mujoco
+    tinyxml2
+  )
+endif()
+
+
+# --- Generate plugInfo.json ---
+if(CMAKE_SHARED_LIBRARY_PREFIX)
+  set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX}) # Usually "lib" on Unix
+else()
+  set(LIB_PREFIX "")
+endif()
+set(PLUG_INFO_LIBRARY_PATH "${LIB_PREFIX}${MJCF_PLUGIN_TARGET_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}")
+
+# --- Installation ---
+
+set(USD_PLUGIN_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/usdMjcf)
+
+message(STATUS "Copying plugInfo.json to ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json")
+configure_file(
+  mjcf/plugInfo.json
+  ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json
+)
+
+install(FILES ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB})
+
+# Install shared lib and plugInfo to same location for simplicity.
+install(TARGETS ${MJCF_PLUGIN_TARGET_NAME}
+    LIBRARY DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB}
+)
+
+message(STATUS "USD MJCF Plugin will be installed to: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
+message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
diff --git a/src/experimental/usd/plugins/mjcf/plugInfo.json b/src/experimental/usd/plugins/mjcf/plugInfo.json
index 25869b76..da1f9ebd 100644
--- a/src/experimental/usd/plugins/mjcf/plugInfo.json
+++ b/src/experimental/usd/plugins/mjcf/plugInfo.json
@@ -15,7 +15,7 @@
           }
         }
       },
-      "LibraryPath": "",
+      "LibraryPath": "@PLUG_INFO_LIBRARY_PATH@",
       "Name": "usdMjcf",
       "ResourcePath": "",
       "Root": ".",
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 0f92803d..a286a1c6 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -100,3 +100,4 @@ add_subdirectory(user)
 add_subdirectory(xml)
 add_subdirectory(plugin/elasticity)
 add_subdirectory(plugin/actuator)
+add_subdirectory(experimental)
diff --git a/test/experimental/CMakeLists.txt b/test/experimental/CMakeLists.txt
new file mode 100644
index 00000000..9f5100db
--- /dev/null
+++ b/test/experimental/CMakeLists.txt
@@ -0,0 +1,19 @@
+# Copyright 2021 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+if(MUJOCO_BUILD_USD_PLUGINS AND MUJOCO_USD_TARGET STREQUAL "USD")
+  add_subdirectory(usd/plugins/mjcf)
+endif()
+
+
diff --git a/test/experimental/usd/plugins/mjcf/CMakeLists.txt b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
new file mode 100644
index 00000000..1b747aee
--- /dev/null
+++ b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
@@ -0,0 +1,30 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+find_package(pxr REQUIRED)
+
+add_library(usd_fixture STATIC fixture.h fixture.cc)
+target_include_directories(usd_fixture PUBLIC ${MUJOCO_TEST_INCLUDE})
+target_compile_definitions(usd_fixture PUBLIC MJSTATIC)
+
+target_link_libraries(
+  usd_fixture
+  PUBLIC usd
+         tf
+         gtest
+         gmock
+         mujoco
+)
+
+mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES usd tf usdGeom usdImaging usdPhysics usdShade usd_fixture)

From 253abad210823254f0f238ef3ad4cc8d975372d3 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Fri, 2 May 2025 08:34:28 -0700
Subject: [PATCH 094/191] Add MeshCollisionAPI to collider Meshes with
 convexHull approximation.

PiperOrigin-RevId: 754014642
Change-Id: I44cff505a2b9b7120a38f8c896b2c6560ce51c43
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc            | 15 +++++++++++++++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc    | 16 +++++++++++-----
 2 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index b89abc3c..ef5e9f71 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -883,6 +883,21 @@ class ModelWriter {
                           model_->geom_conaffinity[geom_id] != 0)) {
       ApplyApiSchema(data_, geom_path,
                      pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
+      // For meshes, also apply PhysicsMeshCollisionAPI and set the
+      // approximation attribute.
+      if (geom->type == mjGEOM_MESH) {
+        ApplyApiSchema(data_, geom_path,
+                       pxr::UsdPhysicsTokens->PhysicsMeshCollisionAPI);
+
+        // Note: MuJoCo documentation states that for collision purposes, meshes
+        // are always replaced with their convex hulls. Therefore, we set the
+        // approximation attribute to convexHull explicitly.
+        pxr::SdfPath approximation_attr = CreateAttributeSpec(
+            data_, geom_path, pxr::UsdPhysicsTokens->physicsApproximation,
+            pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+        SetAttributeDefault(data_, approximation_attr,
+                            pxr::UsdPhysicsTokens->convexHull);
+      }
     }
 
     mjsDefault *spec_default = mjs_getDefault(geom->element);
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index abdf6a23..22b8ac52 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -45,7 +45,9 @@
 #include <pxr/usd/usdGeom/sphere.h>
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdPhysics/collisionAPI.h>
+#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
+#include <pxr/usd/usdPhysics/tokens.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 // clang-format off
@@ -675,7 +677,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   //
   // body_3/body_3 [rigidbody]
   //   body_3/body_3/body_3_col []  <-- Intermediate prim for mesh instancing
-  //     body_3/body_3/body_3_col/Mesh [collider]
+  //     body_3/body_3/body_3_col/Mesh [collider, mesh collider]
 
   // ground [collider] (Static collider)
   EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -753,13 +755,17 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
                               pxr::UsdPhysicsCollisionAPI);
-  //     body_3/body_3/body_3_col/Mesh [collider]
+  //     body_3/body_3/body_3_col/Mesh [collider, mesh collider]
   EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh");
-  EXPECT_PRIM_API_NOT_APPLIED(
-      stage, "/test/body_3/body_3/body_3_col/Mesh",
-      pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
+                              pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
                           pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
+                          pxr::UsdPhysicsMeshCollisionAPI);
+  ExpectAttributeEqual(
+      stage, "/test/body_3/body_3/body_3_col/Mesh.physics:approximation",
+      pxr::UsdPhysicsTokens->convexHull);
 }
 
 }  // namespace

From 449de7343035b61f8624c4beb57c3206e9a70218 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 6 May 2025 07:53:51 -0700
Subject: [PATCH 095/191] Do not skip cow and touch_grid during
 WriteReadCompare.

PiperOrigin-RevId: 755370618
Change-Id: I90dfe66b20c316b19c943eab8d031f5aef187fa7
---
 src/xml/xml_native_writer.cc       | 1 +
 test/xml/xml_native_writer_test.cc | 2 --
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 001ecf18..bf5093c5 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -1551,6 +1551,7 @@ void mjXWriter::Asset(XMLElement* root) {
     if (mesh->Plugin().active) {
       elem = InsertEnd(section, "mesh");
       WriteAttrTxt(elem, "name", mesh->name);
+      WriteAttrTxt(elem, "file", mesh->File());
       OnePlugin(InsertEnd(elem, "plugin"), &mesh->Plugin());
     } else{
       elem = InsertEnd(section, "mesh");
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index 9bb31819..d3a2b59b 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1383,10 +1383,8 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
         // if file is meant to fail, skip it
         if (absl::StrContains(p.path().string(), "100_humanoids") ||
             absl::StrContains(p.path().string(), "malformed_") ||
-            absl::StrContains(p.path().string(), "touch_grid") ||
             absl::StrContains(p.path().string(), "gmsh_") ||
             absl::StrContains(p.path().string(), "shark_") ||
-            absl::StrContains(p.path().string(), "cow") ||
             absl::StrContains(p.path().string(), "frameless_contact_hfield") ||
             absl::StrContains(p.path().string(), "spheremesh")) {
           continue;

From c3e71a3fb1166eb081bd441cf111ecb4e352e48e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Budzianowski?= <budzianowski@gmail.com>
Date: Tue, 6 May 2025 16:46:46 -0700
Subject: [PATCH 096/191] Update simulation.rst

---
 doc/programming/simulation.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst
index 3739f548..d0cf5029 100644
--- a/doc/programming/simulation.rst
+++ b/doc/programming/simulation.rst
@@ -913,7 +913,7 @@ elliptic, depending on which solver is selected in ``mjModel.opt``. The function
 can be used to determine which friction cone type is used. For pyramidal cones, the interpretation of the contact force
 (whose address we computed above) is non-trivial, because the components are forces along redundant non-orthogonal axes
 corresponding to the edges of the pyramid. The function :ref:`mj_contactForce` can be
-used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D toque.
+used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D torque.
 The torque component will be zero when :at:`condim` is 1 or 3, and non-zero otherwise. This force and torque are
 expressed in the contact frame given by mjContact.frame. Unlike all other matrices in mjData, this matrix is stored in
 transposed form. Normally a 3-by-3 matrix corresponding to a coordinate frame would have the frame axes along the

From ecb769fc3a7dbe192753acb1328406661f03d559 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 7 May 2025 05:05:34 -0700
Subject: [PATCH 097/191] Refactor islands to be memory contiguous.

PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
---
 doc/changelog.rst                            |  10 +-
 doc/includes/references.h                    |  59 ++-
 include/mujoco/mjdata.h                      |  58 ++-
 include/mujoco/mjvisualize.h                 |   1 -
 include/mujoco/mjxmacro.h                    |  64 ++-
 python/mujoco/introspect/structs.py          | 302 +++++++++++++-
 simulate/simulate.cc                         |   2 +-
 src/engine/engine_core_constraint.c          | 192 ++-------
 src/engine/engine_core_constraint.h          |  20 +-
 src/engine/engine_core_smooth.c              |  69 +--
 src/engine/engine_core_smooth.h              |   5 +-
 src/engine/engine_forward.c                  |  33 +-
 src/engine/engine_io.c                       |   1 +
 src/engine/engine_island.c                   | 308 ++++++++++----
 src/engine/engine_print.c                    |  46 +-
 src/engine/engine_solver.c                   | 415 +++++++++++++------
 src/engine/engine_support.c                  |  72 +---
 src/engine/engine_support.h                  |   8 +-
 src/engine/engine_util_misc.c                |  18 +
 src/engine/engine_util_misc.h                |  10 +-
 src/engine/engine_vis_state.c                |   6 -
 src/engine/engine_vis_visualize.c            |  12 +-
 test/engine/engine_core_constraint_test.cc   | 294 +++----------
 test/engine/engine_core_smooth_test.cc       |  60 ---
 test/engine/engine_island_test.cc            | 213 ++++++++--
 test/engine/engine_solver_test.cc            |  85 ----
 test/engine/engine_support_test.cc           |  71 ----
 test/engine/testdata/island/2humanoid100.xml | 123 ++++++
 test/engine/testdata/island/humanoid.xml     | 252 +++++++++++
 unity/Runtime/Bindings/MjBindings.cs         |  49 ++-
 30 files changed, 1742 insertions(+), 1116 deletions(-)
 create mode 100644 test/engine/testdata/island/2humanoid100.xml
 create mode 100644 test/engine/testdata/island/humanoid.xml

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 77726e1f..3e40dc9a 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,9 +2,17 @@
 Changelog
 =========
 
-Version 3.3.2 (April 28, 2025)
+Upcoming version (not yet release)
 ----------------------------------
 
+General
+^^^^^^^
+- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
+  solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
+
+Version 3.3.2 (April 28, 2025)
+------------------------------
+
 MJX
 ^^^
 1. Added inverse dynamics.
diff --git a/doc/includes/references.h b/doc/includes/references.h
index ce9bd670..6ebc759a 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -171,6 +171,7 @@ struct mjData_ {
   int     nJ;                // number of non-zeros in constraint Jacobian
   int     nA;                // number of non-zeros in constraint inverse inertia matrix
   int     nisland;           // number of detected constraint islands
+  int     nidof;             // number of dofs in all islands
 
   // global properties
   mjtNum  time;              // simulation time
@@ -381,16 +382,51 @@ struct mjData_ {
   mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
   int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)
 
-  // computed by mj_island
+  // computed by mj_island (island dof structure)
   int*    dof_island;        // island id of this dof; -1: none                  (nv x 1)
-  int*    island_dofnum;     // number of dofs in island                         (nisland x 1)
-  int*    island_dofadr;     // start address in island_dofind                   (nisland x 1)
-  int*    island_dofind;     // island dof indices; -1: none                     (nv x 1)
-  int*    dof_islandind;     // dof island indices; -1: none                     (nv x 1)
+  int*    island_nv;         // number of dofs in this island                    (nisland x 1)
+  int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
+  int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
+  int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
+  int*    map_idof2dof;      // map from idof to dof; idof >= ni: unconstrained  (nv x 1)
+
+  // computed by mj_island (dofs sorted by island)
+  mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
+  mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
+  int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
+  int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
+  int*    iM_diagnum;        // inertia: num of consecutive diagonal elements    (nidof x 1)
+  int*    iM_colind;         // inertia: column indices of non-zeros             (nM x 1)
+  mjtNum* iM;                // total inertia (sparse)                           (nM x 1)
+  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nM x 1)
+  mjtNum* iLDiagInv;         // 1/diag(D)                                        (nidof x 1)
+  mjtNum* iacc;              // acceleration                                     (nidof x 1)
+
+  // computed by mj_island (island constraint structure)
   int*    efc_island;        // island id of this constraint                     (nefc x 1)
-  int*    island_efcnum;     // number of constraints in island                  (nisland x 1)
-  int*    island_efcadr;     // start address in island_efcind                   (nisland x 1)
-  int*    island_efcind;     // island constraint indices                        (nefc x 1)
+  int*    island_ne;         // number of equality constraints in island         (nisland x 1)
+  int*    island_nf;         // number of friction constraints in island         (nisland x 1)
+  int*    island_nefc;       // number of constraints in island                  (nisland x 1)
+  int*    island_iefcadr;    // start address in iefc vector                     (nisland x 1)
+  int*    map_efc2iefc;      // map from efc to iefc                             (nefc x 1)
+  int*    map_iefc2efc;      // map from iefc to efc                             (nefc x 1)
+
+  // computed by mj_island (constraints sorted by island)
+  int*    iefc_type;         // constraint type (mjtConstraint)                  (nefc x 1)
+  int*    iefc_id;           // id of object of specified type                   (nefc x 1)
+  int*    iefc_J_rownnz;     // number of non-zeros in constraint Jacobian row   (nefc x 1)
+  int*    iefc_J_rowadr;     // row start address in colind array                (nefc x 1)
+  int*    iefc_J_rowsuper;   // number of subsequent rows in supernode           (nefc x 1)
+  int*    iefc_J_colind;     // column indices in constraint Jacobian            (nJ x 1)
+  int*    iefc_JT_rownnz;    // number of non-zeros in constraint Jacobian row T (nidof x 1)
+  int*    iefc_JT_rowadr;    // row start address in colind array              T (nidof x 1)
+  int*    iefc_JT_rowsuper;  // number of subsequent rows in supernode         T (nidof x 1)
+  int*    iefc_JT_colind;    // column indices in constraint Jacobian          T (nJ x 1)
+  mjtNum* iefc_J;            // constraint Jacobian                              (nJ x 1)
+  mjtNum* iefc_JT;           // constraint Jacobian transposed                   (nJ x 1)
+  mjtNum* iefc_frictionloss; // frictionloss (friction)                          (nefc x 1)
+  mjtNum* iefc_D;            // constraint mass                                  (nefc x 1)
+  mjtNum* iefc_R;            // inverse constraint mass                          (nefc x 1)
 
   // computed by mj_projectConstraint (PGS solver)
   int*    efc_AR_rownnz;     // number of non-zeros in AR                        (nefc x 1)
@@ -408,8 +444,12 @@ struct mjData_ {
 
   // computed by mj_fwdConstraint/mj_inverse
   mjtNum* efc_b;             // linear cost term: J*qacc_smooth - aref           (nefc x 1)
-  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
+  mjtNum* iefc_aref;         // reference pseudo-acceleration                    (nefc x 1)
+  int*    iefc_state;        // constraint state (mjtConstraintState)            (nefc x 1)
+  mjtNum* iefc_force;        // constraint force in constraint space             (nefc x 1)
   int*    efc_state;         // constraint state (mjtConstraintState)            (nefc x 1)
+  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
+  mjtNum* ifrc_constraint;   // constraint force                                 (nidof x 1)
 
   // thread pool pointer
   uintptr_t threadpool;
@@ -3174,7 +3214,6 @@ struct mjvSceneState_ {
     mjtNum* bvh_aabb_dyn;
     mjtByte* bvh_active;
     int* island_dofadr;
-    int* island_dofind;
     int* dof_island;
     int* efc_island;
     int* tendon_efcadr;
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index d6f98775..839b3aed 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -199,6 +199,7 @@ struct mjData_ {
   int     nJ;                // number of non-zeros in constraint Jacobian
   int     nA;                // number of non-zeros in constraint inverse inertia matrix
   int     nisland;           // number of detected constraint islands
+  int     nidof;             // number of dofs in all islands
 
   // global properties
   mjtNum  time;              // simulation time
@@ -409,16 +410,51 @@ struct mjData_ {
   mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
   int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)
 
-  // computed by mj_island
+  // computed by mj_island (island dof structure)
   int*    dof_island;        // island id of this dof; -1: none                  (nv x 1)
-  int*    island_dofnum;     // number of dofs in island                         (nisland x 1)
-  int*    island_dofadr;     // start address in island_dofind                   (nisland x 1)
-  int*    island_dofind;     // island dof indices; -1: none                     (nv x 1)
-  int*    dof_islandind;     // dof island indices; -1: none                     (nv x 1)
+  int*    island_nv;         // number of dofs in this island                    (nisland x 1)
+  int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
+  int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
+  int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
+  int*    map_idof2dof;      // map from idof to dof; idof >= ni: unconstrained  (nv x 1)
+
+  // computed by mj_island (dofs sorted by island)
+  mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
+  mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
+  int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
+  int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
+  int*    iM_diagnum;        // inertia: num of consecutive diagonal elements    (nidof x 1)
+  int*    iM_colind;         // inertia: column indices of non-zeros             (nM x 1)
+  mjtNum* iM;                // total inertia (sparse)                           (nM x 1)
+  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nM x 1)
+  mjtNum* iLDiagInv;         // 1/diag(D)                                        (nidof x 1)
+  mjtNum* iacc;              // acceleration                                     (nidof x 1)
+
+  // computed by mj_island (island constraint structure)
   int*    efc_island;        // island id of this constraint                     (nefc x 1)
-  int*    island_efcnum;     // number of constraints in island                  (nisland x 1)
-  int*    island_efcadr;     // start address in island_efcind                   (nisland x 1)
-  int*    island_efcind;     // island constraint indices                        (nefc x 1)
+  int*    island_ne;         // number of equality constraints in island         (nisland x 1)
+  int*    island_nf;         // number of friction constraints in island         (nisland x 1)
+  int*    island_nefc;       // number of constraints in island                  (nisland x 1)
+  int*    island_iefcadr;    // start address in iefc vector                     (nisland x 1)
+  int*    map_efc2iefc;      // map from efc to iefc                             (nefc x 1)
+  int*    map_iefc2efc;      // map from iefc to efc                             (nefc x 1)
+
+  // computed by mj_island (constraints sorted by island)
+  int*    iefc_type;         // constraint type (mjtConstraint)                  (nefc x 1)
+  int*    iefc_id;           // id of object of specified type                   (nefc x 1)
+  int*    iefc_J_rownnz;     // number of non-zeros in constraint Jacobian row   (nefc x 1)
+  int*    iefc_J_rowadr;     // row start address in colind array                (nefc x 1)
+  int*    iefc_J_rowsuper;   // number of subsequent rows in supernode           (nefc x 1)
+  int*    iefc_J_colind;     // column indices in constraint Jacobian            (nJ x 1)
+  int*    iefc_JT_rownnz;    // number of non-zeros in constraint Jacobian row T (nidof x 1)
+  int*    iefc_JT_rowadr;    // row start address in colind array              T (nidof x 1)
+  int*    iefc_JT_rowsuper;  // number of subsequent rows in supernode         T (nidof x 1)
+  int*    iefc_JT_colind;    // column indices in constraint Jacobian          T (nJ x 1)
+  mjtNum* iefc_J;            // constraint Jacobian                              (nJ x 1)
+  mjtNum* iefc_JT;           // constraint Jacobian transposed                   (nJ x 1)
+  mjtNum* iefc_frictionloss; // frictionloss (friction)                          (nefc x 1)
+  mjtNum* iefc_D;            // constraint mass                                  (nefc x 1)
+  mjtNum* iefc_R;            // inverse constraint mass                          (nefc x 1)
 
   // computed by mj_projectConstraint (PGS solver)
   int*    efc_AR_rownnz;     // number of non-zeros in AR                        (nefc x 1)
@@ -436,8 +472,12 @@ struct mjData_ {
 
   // computed by mj_fwdConstraint/mj_inverse
   mjtNum* efc_b;             // linear cost term: J*qacc_smooth - aref           (nefc x 1)
-  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
+  mjtNum* iefc_aref;         // reference pseudo-acceleration                    (nefc x 1)
+  int*    iefc_state;        // constraint state (mjtConstraintState)            (nefc x 1)
+  mjtNum* iefc_force;        // constraint force in constraint space             (nefc x 1)
   int*    efc_state;         // constraint state (mjtConstraintState)            (nefc x 1)
+  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
+  mjtNum* ifrc_constraint;   // constraint force                                 (nidof x 1)
 
   // thread pool pointer
   uintptr_t threadpool;
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 0a757cf1..fa0aec4f 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -677,7 +677,6 @@ struct mjvSceneState_ {
     mjtNum* bvh_aabb_dyn;
     mjtByte* bvh_active;
     int* island_dofadr;
-    int* island_dofind;
     int* dof_island;
     int* efc_island;
     int* tendon_efcadr;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 7c73c598..88e6c0f7 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -739,23 +739,56 @@
     X( int,      efc_state,         MJ_D(nefc),    1 )
 
 // array fields of mjData that are used in the dual problem
-#define MJDATA_ARENA_POINTERS_DUAL                           \
-    X( int,      efc_AR_rownnz,     MJ_D(nefc), 1          ) \
-    X( int,      efc_AR_rowadr,     MJ_D(nefc), 1          ) \
-    X( int,      efc_AR_colind,     MJ_D(nA),   1          ) \
-    X( mjtNum,   efc_AR,            MJ_D(nA),   1          )
+#define MJDATA_ARENA_POINTERS_DUAL                    \
+    X( int,      efc_AR_rownnz,     MJ_D(nefc), 1   ) \
+    X( int,      efc_AR_rowadr,     MJ_D(nefc), 1   ) \
+    X( int,      efc_AR_colind,     MJ_D(nA),   1   ) \
+    X( mjtNum,   efc_AR,            MJ_D(nA),   1   )
 
 // array fields of mjData that are used for constraint islands
-#define MJDATA_ARENA_POINTERS_ISLAND                 \
-    X( int,   dof_island,         MJ_M(nv),      1 ) \
-    X( int,   island_dofnum,      MJ_D(nisland), 1 ) \
-    X( int,   island_dofadr,      MJ_D(nisland), 1 ) \
-    X( int,   island_dofind,      MJ_M(nv),      1 ) \
-    X( int,   dof_islandind,      MJ_M(nv),      1 ) \
-    X( int,   efc_island,         MJ_D(nefc),    1 ) \
-    X( int,   island_efcnum,      MJ_D(nisland), 1 ) \
-    X( int,   island_efcadr,      MJ_D(nisland), 1 ) \
-    X( int,   island_efcind,      MJ_D(nefc),    1 )
+#define MJDATA_ARENA_POINTERS_ISLAND                   \
+    X( int,     dof_island,        MJ_M(nv),       1 ) \
+    X( int,     island_nv,         MJ_D(nisland),  1 ) \
+    X( int,     island_idofadr,    MJ_D(nisland),  1 ) \
+    X( int,     island_dofadr,     MJ_D(nisland),  1 ) \
+    X( int,     map_dof2idof,      MJ_M(nv),       1 ) \
+    X( int,     map_idof2dof,      MJ_M(nv),       1 ) \
+    X( mjtNum,  ifrc_smooth,       MJ_D(nidof),    1 ) \
+    X( mjtNum,  iacc_smooth,       MJ_D(nidof),    1 ) \
+    X( int,     iM_rownnz,         MJ_D(nidof),    1 ) \
+    X( int,     iM_rowadr,         MJ_D(nidof),    1 ) \
+    X( int,     iM_diagnum,        MJ_D(nidof),    1 ) \
+    X( int,     iM_colind,         MJ_M(nM),       1 ) \
+    X( mjtNum,  iM,                MJ_M(nM),       1 ) \
+    X( mjtNum,  iLD,               MJ_M(nM),       1 ) \
+    X( mjtNum,  iLDiagInv,         MJ_D(nidof),    1 ) \
+    X( mjtNum,  iacc,              MJ_D(nidof),    1 ) \
+    X( int,     efc_island,        MJ_D(nefc),     1 ) \
+    X( int,     island_ne,         MJ_D(nisland),  1 ) \
+    X( int,     island_nf,         MJ_D(nisland),  1 ) \
+    X( int,     island_nefc,       MJ_D(nisland),  1 ) \
+    X( int,     island_iefcadr,    MJ_D(nisland),  1 ) \
+    X( int,     map_efc2iefc,      MJ_D(nefc),     1 ) \
+    X( int,     map_iefc2efc,      MJ_D(nefc),     1 ) \
+    X( int,     iefc_type,         MJ_D(nefc),     1 ) \
+    X( int,     iefc_id,           MJ_D(nefc),     1 ) \
+    X( int,     iefc_J_rownnz,     MJ_D(nefc),     1 ) \
+    X( int,     iefc_J_rowadr,     MJ_D(nefc),     1 ) \
+    X( int,     iefc_J_rowsuper,   MJ_D(nefc),     1 ) \
+    X( int,     iefc_J_colind,     MJ_D(nJ),       1 ) \
+    X( int,     iefc_JT_rownnz,    MJ_D(nidof),    1 ) \
+    X( int,     iefc_JT_rowadr,    MJ_D(nidof),    1 ) \
+    X( int,     iefc_JT_rowsuper,  MJ_D(nidof),    1 ) \
+    X( int,     iefc_JT_colind,    MJ_D(nJ),       1 ) \
+    X( mjtNum,  iefc_J,            MJ_D(nJ),       1 ) \
+    X( mjtNum,  iefc_JT,           MJ_D(nJ),       1 ) \
+    X( mjtNum,  iefc_frictionloss, MJ_D(nefc),     1 ) \
+    X( mjtNum,  iefc_D,            MJ_D(nefc),     1 ) \
+    X( mjtNum,  iefc_R,            MJ_D(nefc),     1 ) \
+    X( mjtNum,  iefc_aref,         MJ_D(nefc),     1 ) \
+    X( int,     iefc_state,        MJ_D(nefc),     1 ) \
+    X( mjtNum,  iefc_force,        MJ_D(nefc),     1 ) \
+    X( mjtNum,  ifrc_constraint,   MJ_D(nidof),    1 )
 
 // array fields of mjData that live in d->arena
 #define MJDATA_ARENA_POINTERS          \
@@ -785,6 +818,7 @@
     X( int,       nJ                 ) \
     X( int,       nA                 ) \
     X( int,       nisland            ) \
+    X( int,       nidof              ) \
     X( mjtNum,    time               ) \
     X( uintptr_t, threadpool         )
 
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index db237c74..c7c3f4d1 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -4896,6 +4896,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='number of detected constraint islands',
              ),
+             StructFieldDecl(
+                 name='nidof',
+                 type=ValueType(name='int'),
+                 doc='number of dofs in all islands',
+             ),
              StructFieldDecl(
                  name='time',
                  type=ValueType(name='mjtNum'),
@@ -5940,11 +5945,19 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('nv',),
              ),
              StructFieldDecl(
-                 name='island_dofnum',
+                 name='island_nv',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of dofs in island',
+                 doc='number of dofs in this island',
+                 array_extent=('nisland',),
+             ),
+             StructFieldDecl(
+                 name='island_idofadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='island start address in idof vector',
                  array_extent=('nisland',),
              ),
              StructFieldDecl(
@@ -5952,25 +5965,105 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='start address in island_dofind',
+                 doc='island start address in dof vector',
                  array_extent=('nisland',),
              ),
              StructFieldDecl(
-                 name='island_dofind',
+                 name='map_dof2idof',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='island dof indices; -1: none',
+                 doc='map from dof to idof',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
-                 name='dof_islandind',
+                 name='map_idof2dof',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='dof island indices; -1: none',
+                 doc='map from idof to dof; idof >= ni: unconstrained',
                  array_extent=('nv',),
              ),
+             StructFieldDecl(
+                 name='ifrc_smooth',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='net unconstrained force',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iacc_smooth',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='unconstrained acceleration',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iM_rownnz',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='inertia: non-zeros in each row',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iM_rowadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='inertia: address of each row in iM_colind',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iM_diagnum',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='inertia: num of consecutive diagonal elements',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iM_colind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='inertia: column indices of non-zeros',
+                 array_extent=('nM',),
+             ),
+             StructFieldDecl(
+                 name='iM',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='total inertia (sparse)',
+                 array_extent=('nM',),
+             ),
+             StructFieldDecl(
+                 name='iLD',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc="L'*D*L factorization of M (sparse)",
+                 array_extent=('nM',),
+             ),
+             StructFieldDecl(
+                 name='iLDiagInv',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='1/diag(D)',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iacc',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='acceleration',
+                 array_extent=('nidof',),
+             ),
              StructFieldDecl(
                  name='efc_island',
                  type=PointerType(
@@ -5980,7 +6073,23 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('nefc',),
              ),
              StructFieldDecl(
-                 name='island_efcnum',
+                 name='island_ne',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of equality constraints in island',
+                 array_extent=('nisland',),
+             ),
+             StructFieldDecl(
+                 name='island_nf',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of friction constraints in island',
+                 array_extent=('nisland',),
+             ),
+             StructFieldDecl(
+                 name='island_nefc',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
@@ -5988,19 +6097,147 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('nisland',),
              ),
              StructFieldDecl(
-                 name='island_efcadr',
+                 name='island_iefcadr',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='start address in island_efcind',
+                 doc='start address in iefc vector',
                  array_extent=('nisland',),
              ),
              StructFieldDecl(
-                 name='island_efcind',
+                 name='map_efc2iefc',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='island constraint indices',
+                 doc='map from efc to iefc',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='map_iefc2efc',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='map from iefc to efc',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_type',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='constraint type (mjtConstraint)',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_id',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='id of object of specified type',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_J_rownnz',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of non-zeros in constraint Jacobian row',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_J_rowadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='row start address in colind array',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_J_rowsuper',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of subsequent rows in supernode',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_J_colind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='column indices in constraint Jacobian',
+                 array_extent=('nJ',),
+             ),
+             StructFieldDecl(
+                 name='iefc_JT_rownnz',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of non-zeros in constraint Jacobian row T',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iefc_JT_rowadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='row start address in colind array              T',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iefc_JT_rowsuper',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of subsequent rows in supernode         T',
+                 array_extent=('nidof',),
+             ),
+             StructFieldDecl(
+                 name='iefc_JT_colind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='column indices in constraint Jacobian          T',
+                 array_extent=('nJ',),
+             ),
+             StructFieldDecl(
+                 name='iefc_J',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='constraint Jacobian',
+                 array_extent=('nJ',),
+             ),
+             StructFieldDecl(
+                 name='iefc_JT',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='constraint Jacobian transposed',
+                 array_extent=('nJ',),
+             ),
+             StructFieldDecl(
+                 name='iefc_frictionloss',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='frictionloss (friction)',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_D',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='constraint mass',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_R',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='inverse constraint mass',
                  array_extent=('nefc',),
              ),
              StructFieldDecl(
@@ -6060,7 +6297,23 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('nefc',),
              ),
              StructFieldDecl(
-                 name='efc_force',
+                 name='iefc_aref',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='reference pseudo-acceleration',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_state',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='constraint state (mjtConstraintState)',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='iefc_force',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
@@ -6075,6 +6328,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='constraint state (mjtConstraintState)',
                  array_extent=('nefc',),
              ),
+             StructFieldDecl(
+                 name='efc_force',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='constraint force in constraint space',
+                 array_extent=('nefc',),
+             ),
+             StructFieldDecl(
+                 name='ifrc_constraint',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='constraint force',
+                 array_extent=('nidof',),
+             ),
              StructFieldDecl(
                  name='threadpool',
                  type=ValueType(name='uintptr_t'),
@@ -8642,13 +8911,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
-                         StructFieldDecl(
-                             name='island_dofind',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
                          StructFieldDecl(
                              name='dof_island',
                              type=PointerType(
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 78a5e312..bd255ce3 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -328,7 +328,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
       sim->figconstraint.linedata[start + 4][2*i] = i;
 
       // y
-      int nefc = nisland == 1 ? d->nefc : d->island_efcnum[k];
+      int nefc = nisland == 1 ? d->nefc : d->island_nefc[k];
       sim->figconstraint.linedata[start + 0][2*i+1] = nefc;
       const mjSolverStat* stat = d->solver + k*mjNSOLVER + i;
       sim->figconstraint.linedata[start + 1][2*i+1] = stat->nactive;
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 47918d48..391ed4d2 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -378,50 +378,6 @@ void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*
 
 
 
-// multiply Jacobian by vector, for one island
-//  flg_resunc and flg_vecunc denote whether res/vec are uncompressed
-void mj_mulJacVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                         int island, int flg_resunc, int flg_vecunc) {
-  // no island, call regular function
-  if (island < 0) {
-    mj_mulJacVec(m, d, res, vec);
-    return;
-  }
-
-  // sizes
-  int vecnnz = d->island_dofnum[island];
-  int resnnz = d->island_efcnum[island];
-
-  // indices
-  int* vecind = d->island_dofind + d->island_dofadr[island];
-  int* resind = d->island_efcind + d->island_efcadr[island];
-
-  // sparse Jacobian
-  if (mj_isSparse(m)) {
-    for (int i=0; i < resnnz; i++) {
-      int row = resind[i];
-      int Jnnz = d->efc_J_rownnz[row];
-      int Jrowadr = d->efc_J_rowadr[row];
-      int* Jind = d->efc_J_colind + Jrowadr;
-      mjtNum* J = d->efc_J + Jrowadr;
-      int j = flg_resunc ? row : i;
-      res[j] = mju_dotSparse2(J, vec, Jnnz, Jind, vecnnz, vecind, flg_vecunc);
-    }
-  }
-
-  // dense Jacobian
-  else {
-    int nv = m->nv;
-    for (int i=0; i < resnnz; i++) {
-      int row = resind[i];
-      int j = flg_resunc ? row : i;
-      res[j] = mju_dotSparse(vec, d->efc_J + nv*row, vecnnz, vecind, flg_vecunc);
-    }
-  }
-}
-
-
-
 // multiply JacobianT by vector
 void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
   // exit if no constraints
@@ -443,50 +399,6 @@ void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*
 
 
 
-// multiply Jacobian transpose by vector, for one island
-//  flg_resunc and flg_vecunc denote whether res/vec are uncompressed
-void mj_mulJacTVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                          int island, int flg_resunc, int flg_vecunc) {
-  // no island, call regular function
-  if (island < 0) {
-    mj_mulJacTVec(m, d, res, vec);
-    return;
-  }
-
-  // sizes
-  int vecnnz = d->island_efcnum[island];
-  int resnnz = d->island_dofnum[island];
-
-  // indices
-  int* vecind = d->island_efcind + d->island_efcadr[island];
-  int* resind = d->island_dofind + d->island_dofadr[island];
-
-  // sparse Jacobian
-  if (mj_isSparse(m)) {
-    for (int i=0; i < resnnz; i++) {
-      int row = resind[i];
-      int JTnnz = d->efc_JT_rownnz[row];
-      int JTrowadr = d->efc_JT_rowadr[row];
-      int* JTind = d->efc_JT_colind + JTrowadr;
-      mjtNum* JT = d->efc_JT + JTrowadr;
-      int j = flg_resunc ? row : i;
-      res[j] = mju_dotSparse2(JT, vec, JTnnz, JTind, vecnnz, vecind, flg_vecunc);
-    }
-  }
-
-  // dense Jacobian
-  else {
-    int nefc = d->nefc;
-    for (int i=0; i < resnnz; i++) {
-      int row = resind[i];
-      int j = flg_resunc ? row : i;
-      res[j] = mju_dotSparse(vec, d->efc_JT + nefc*row, vecnnz, vecind, flg_vecunc);
-    }
-  }
-}
-
-
-
 //--------------------- instantiate constraints by type --------------------------------------------
 
 // equality constraints
@@ -2102,10 +2014,6 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
     // supernodes of JT
     mju_superSparse(m->nv, d->efc_JT_rowsuper,
                     d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind);
-  } else {
-    if (mjENABLED(mjENBL_ISLAND)) {
-      mju_transpose(d->efc_JT, d->efc_J, d->nefc, m->nv);
-    }
   }
 
   // compute diagApprox
@@ -2377,25 +2285,17 @@ void mj_referenceConstraint(const mjModel* m, mjData* d) {
 
 //---------------------------- update constraint state ---------------------------------------------
 
-// compute efc_state, efc_force, qfrc_constraint, optionally restricted to one island
-//  island < 0: update all d->nefc constraints
-//  island >= 0: update only d->island_efcnum[island] constraints
-//  jar = Jac*qacc-aref is restricted to the island, in the above sense
+// compute efc_state, efc_force
 //  optional: cost(qacc) = shat(jar); cone Hessians
-void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
-                                mjtNum cost[1], int flg_coneHessian, int island) {
-  int ne = d->ne, nf = d->nf;
-  const mjtNum *D = d->efc_D, *R = d->efc_R, *floss = d->efc_frictionloss;
-  mjtNum* force = d->efc_force;
+void mj_constraintUpdate_impl(int ne, int nf, int nefc,
+                              const mjtNum* D, const mjtNum* R, const mjtNum* floss,
+                              const mjtNum* jar, const int* type, const int* id,
+                              mjContact* contact, int* state, mjtNum* force, mjtNum cost[1],
+                              int flg_coneHessian) {
   mjtNum s = 0;
 
-  int nefc    = island < 0 ? d->nefc : d->island_efcnum[island];
-  int* efcind = island < 0 ? NULL    : d->island_efcind + d->island_efcadr[island];
-
-  // no constraints: clear qfrc_constraint and cost, return
+  // no constraints: clear cost, return
   if (!nefc) {
-    // can only occur for island == -1
-    mju_zero(d->qfrc_constraint, m->nv);
     if (cost) {
       *cost = 0;
     }
@@ -2403,55 +2303,49 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
   }
 
   // compute unconstrained efc_force
-  for (int c=0; c < nefc; c++) {
-    int i = efcind ? efcind[c] : c;
-    force[i] = -D[i]*jar[c];
+  for (int i=0; i < nefc; i++) {
+    force[i] = -D[i]*jar[i];
   }
 
   // update constraints
-  for (int c=0; c < nefc; c++) {
-    int i = efcind ? efcind[c] : c;
-
+  for (int i=0; i < nefc; i++) {
     // ==== equality
     if (i < ne) {
       if (cost) {
-        s += 0.5*D[i]*jar[c]*jar[c];
+        s += 0.5*D[i]*jar[i]*jar[i];
       }
-      d->efc_state[i] = mjCNSTRSTATE_QUADRATIC;
+      state[i] = mjCNSTRSTATE_QUADRATIC;
       continue;
     }
 
     // ==== friction
     if (i < ne + nf) {
       // linear negative
-      if (jar[c] <= -R[i]*floss[i]) {
+      if (jar[i] <= -R[i]*floss[i]) {
         if (cost) {
-          s += -0.5*R[i]*floss[i]*floss[i] - floss[i]*jar[c];
+          s += -0.5*R[i]*floss[i]*floss[i] - floss[i]*jar[i];
         }
 
         force[i] = floss[i];
-
-        d->efc_state[i] = mjCNSTRSTATE_LINEARNEG;
+        state[i] = mjCNSTRSTATE_LINEARNEG;
       }
 
       // linear positive
-      else if (jar[c] >= R[i]*floss[i]) {
+      else if (jar[i] >= R[i]*floss[i]) {
         if (cost) {
-          s += -0.5*R[i]*floss[i]*floss[i] + floss[i]*jar[c];
+          s += -0.5*R[i]*floss[i]*floss[i] + floss[i]*jar[i];
         }
 
         force[i] = -floss[i];
-
-        d->efc_state[i] = mjCNSTRSTATE_LINEARPOS;
+        state[i] = mjCNSTRSTATE_LINEARPOS;
       }
 
       // quadratic
       else {
         if (cost) {
-          s += 0.5*D[i]*jar[c]*jar[c];
+          s += 0.5*D[i]*jar[i]*jar[i];
         }
-
-        d->efc_state[i] = mjCNSTRSTATE_QUADRATIC;
+        state[i] = mjCNSTRSTATE_QUADRATIC;
       }
       continue;
     }
@@ -2459,36 +2353,35 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
     // ==== contact
 
     // non-negative constraint
-    if (d->efc_type[i] != mjCNSTR_CONTACT_ELLIPTIC) {
+    if (type[i] != mjCNSTR_CONTACT_ELLIPTIC) {
       // constraint is satisfied: no cost
-      if (jar[c] >= 0) {
+      if (jar[i] >= 0) {
         force[i] = 0;
 
-        d->efc_state[i] = mjCNSTRSTATE_SATISFIED;
+        state[i] = mjCNSTRSTATE_SATISFIED;
       }
 
       // quadratic
       else {
         if (cost) {
-          s += 0.5*D[i]*jar[c]*jar[c];
+          s += 0.5*D[i]*jar[i]*jar[i];
         }
-
-        d->efc_state[i] = mjCNSTRSTATE_QUADRATIC;
+        state[i] = mjCNSTRSTATE_QUADRATIC;
       }
     }
 
     // contact with elliptic cone
     else {
       // get contact
-      mjContact* con = d->contact + d->efc_id[i];
+      mjContact* con = contact + id[i];
       mjtNum mu = con->mu, *friction = con->friction;
       int dim = con->dim;
 
       // map to regular dual cone space
       mjtNum U[6];
-      U[0] = jar[c]*mu;
+      U[0] = jar[i]*mu;
       for (int j=1; j < dim; j++) {
-        U[j] = jar[c+j]*friction[j-1];
+        U[j] = jar[i+j]*friction[j-1];
       }
 
       // decompose into normal and tangent
@@ -2498,19 +2391,17 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
       // top zone
       if (N >= mu*T || (T <= 0 && N >= 0)) {
         mju_zero(force+i, dim);
-
-        d->efc_state[i] = mjCNSTRSTATE_SATISFIED;
+        state[i] = mjCNSTRSTATE_SATISFIED;
       }
 
       // bottom zone
       else if (mu*N+T <= 0 || (T <= 0 && N < 0)) {
         if (cost) {
           for (int j=0; j < dim; j++) {
-            s += 0.5*D[i+j]*jar[c+j]*jar[c+j];
+            s += 0.5*D[i+j]*jar[i+j]*jar[i+j];
           }
         }
-
-        d->efc_state[i] = mjCNSTRSTATE_QUADRATIC;
+        state[i] = mjCNSTRSTATE_QUADRATIC;
       }
 
       // middle zone
@@ -2530,12 +2421,12 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
         }
 
         // set state
-        d->efc_state[i] = mjCNSTRSTATE_CONE;
+        state[i] = mjCNSTRSTATE_CONE;
 
         // cone Hessian
         if (flg_coneHessian) {
           // get Hessian pointer
-          mjtNum* H = d->contact[d->efc_id[i]].H;
+          mjtNum* H = contact[id[i]].H;
 
           // set first row: (1, -mu/T * U)
           mjtNum scl = -mu/T;
@@ -2546,10 +2437,11 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
 
           // set upper block: mu*N/T^3 * U*U'
           scl = mu*N/(T*T*T);
-          for (int k=1; k < dim; k++)
+          for (int k=1; k < dim; k++) {
             for (int j=k; j < dim; j++) {
               H[k*dim+j] = scl*U[j]*U[k];
             }
+          }
 
           // add to diagonal: (mu^2 - mu*N/T) * I
           scl = mu*mu - mu*N/T;
@@ -2576,19 +2468,14 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
 
       // replicate state in all cone dimensions
       for (int j=1; j < dim; j++) {
-        d->efc_state[i+j] = d->efc_state[i];
+        state[i+j] = state[i];
       }
 
       // advance to end of contact
-      c += (dim-1);
+      i += (dim-1);
     }
   }
 
-  // compute qfrc_constraint
-  int flg_vecunc = 1;
-  int flg_resunc = 1;
-  mj_mulJacTVec_island(m, d, d->qfrc_constraint, d->efc_force, island, flg_vecunc, flg_resunc);
-
   // assign cost
   if (cost) {
     *cost = s;
@@ -2601,5 +2488,8 @@ void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
 // optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
 void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
                          mjtNum cost[1], int flg_coneHessian) {
-  mj_constraintUpdate_island(m, d, jar, cost, flg_coneHessian, -1);
+  mj_constraintUpdate_impl(d->ne, d->nf, d->nefc, d->efc_D, d->efc_R, d->efc_frictionloss,
+                           jar, d->efc_type, d->efc_id, d->contact, d->efc_state, d->efc_force,
+                           cost, flg_coneHessian);
+  mj_mulJacTVec(m, d, d->qfrc_constraint, d->efc_force);
 }
diff --git a/src/engine/engine_core_constraint.h b/src/engine/engine_core_constraint.h
index 05c5fd57..f752b143 100644
--- a/src/engine/engine_core_constraint.h
+++ b/src/engine/engine_core_constraint.h
@@ -24,6 +24,7 @@
 extern "C" {
 #endif
 
+
 //-------------------------- Jacobian-related ------------------------------------------------------
 
 // determine type of friction cone
@@ -38,16 +39,9 @@ MJAPI int mj_isDual(const mjModel* m);
 // multiply Jacobian by vector
 MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
 
-// multiply Jacobian by vector, for one island
-MJAPI void mj_mulJacVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                               int island, int flg_resunc, int flg_vecunc);
-
 // multiply JacobianT by vector
 MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
 
-// multiply JacobianT by vector, for one island
-MJAPI void mj_mulJacTVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                                int island, int flg_resunc, int flg_vecunc);
 
 //-------------------------- utility functions -----------------------------------------------------
 
@@ -90,6 +84,7 @@ void mj_diagApprox(const mjModel* m, mjData* d);
 // compute efc_R, efc_D, efc_KDIP, adjust diagApprox
 void mj_makeImpedance(const mjModel* m, mjData* d);
 
+
 //---------------------------- top-level API for constraint construction ---------------------------
 
 // main driver: call all functions above
@@ -101,14 +96,19 @@ MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
 // compute efc_vel, efc_aref
 MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
 
+// compute efc_state, efc_force
+//  optional: cost(qacc) = shat(jar); cone Hessians
+MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
+                                    const mjtNum* D, const mjtNum* R, const mjtNum* floss,
+                                    const mjtNum* jar, const int* type, const int* id,
+                                    mjContact* contact, int* state, mjtNum* force, mjtNum cost[1],
+                                    int flg_coneHessian);
+
 // compute efc_state, efc_force, qfrc_constraint
 // optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
 MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
                                mjtNum cost[1], int flg_coneHessian);
 
-// compute efc_state, efc_force, qfrc_constraint for one island
-MJAPI void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
-                                      mjtNum cost[1], int flg_coneHessian, int island);
 
 #ifdef __cplusplus
 }
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 09ea01c2..efd74614 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1803,7 +1803,7 @@ void mj_solveLD_legacy(const mjModel* m, mjtNum* restrict x, int n,
 
 
 // in-place sparse backsubstitution:  x = inv(L'*D*L)*x
-void mj_solveLD(mjtNum* restrict x, const mjtNum* qLDs, const mjtNum* qLDiagInv, int nv, int n,
+void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
                 const int* rownnz, const int* rowadr, const int* diagnum, const int* colind) {
   // x <- L^-T x
   for (int i=nv-1; i > 0; i--) {
@@ -1819,7 +1819,7 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLDs, const mjtNum* qLDiagInv,
         int start = rowadr[i];
         int end = start + rownnz[i] - 1;
         for (int adr=start; adr < end; adr++) {
-          x[colind[adr]] -= qLDs[adr] * x_i;
+          x[colind[adr]] -= qLD[adr] * x_i;
         }
       }
     }
@@ -1832,7 +1832,7 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLDs, const mjtNum* qLDiagInv,
         mjtNum x_i;
         if ((x_i = x[i+offset])) {
           for (int adr=start; adr < end; adr++) {
-            x[offset + colind[adr]] -= qLDs[adr] * x_i;
+            x[offset + colind[adr]] -= qLD[adr] * x_i;
           }
         }
       }
@@ -1870,13 +1870,13 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLDs, const mjtNum* qLDiagInv,
 
       // one vector
       if (n == 1) {
-        x[i] -= mju_dotSparse(qLDs+adr, x, d, colind+adr, /*flg_unc1=*/0);
+        x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr, /*flg_unc1=*/0);
       }
 
       // multiple vectors
       else {
         for (int offset=0; offset < n*nv; offset+=nv) {
-          x[i+offset] -= mju_dotSparse(qLDs+adr, x+offset, d, colind+adr, /*flg_unc1=*/0);
+          x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr, /*flg_unc1=*/0);
         }
       }
     }
@@ -1896,65 +1896,6 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
 }
 
 
-// in-place sparse backsubstitution for one island:  x = inv(L'*D*L)*x
-//  L is in lower triangle of qLD; D is on diagonal of qLD
-void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* restrict x, int island) {
-  // if no islands, call mj_solveLD
-  const mjtNum* qLD = d->qLD;
-  const mjtNum* qLDiagInv = d->qLDiagInv;
-  if (island < 0) {
-    mj_solveLD(x, qLD, qLDiagInv, m->nv, 1,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
-    return;
-  }
-
-  // local copies of key variables
-  const int* rownnz = d->M_rownnz;
-  const int* rowadr = d->M_rowadr;
-  const int* colind = d->M_colind;
-  const int* diagnum = m->dof_simplenum;
-
-  // local constants: island specific
-  int ndof = d->island_dofnum[island];
-  const int* dofind = d->island_dofind + d->island_dofadr[island];
-  const int* islandind = d->dof_islandind;
-
-  // x <- inv(L') * x; skip simple, exploit sparsity of input vector
-  for (int k=ndof-1; k >= 0; k--) {
-    int i = dofind[k];
-    mjtNum x_k;
-    if (!diagnum[i] && (x_k = x[k])) {
-      int start = rowadr[i];
-      int end = start + rownnz[i] - 1;
-      for (int adr=end-1; adr >= start; adr--) {
-        x[islandind[colind[adr]]] -= qLD[adr] * x_k;
-      }
-    }
-  }
-
-  // x <- inv(D) * x
-  for (int k=ndof-1; k >= 0; k--) {
-    x[k] *= qLDiagInv[dofind[k]];  // x(i) /= L(i,i)
-  }
-
-  // x <- inv(L) * x; skip simple
-  for (int k=0; k < ndof; k++) {
-    int i = dofind[k];
-
-    // skip diagonal rows
-    if (diagnum[i]) {
-      continue;
-    }
-
-    int start = rowadr[i];
-    int end = start + rownnz[i] - 1;
-    for (int adr=end-1; adr >= start; adr--) {
-      x[k] -= x[islandind[colind[adr]]] * qLD[adr];
-    }
-  }
-}
-
-
 
 // half of sparse backsubstitution:  x = sqrt(inv(D))*inv(L')*y
 void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index 4bc124b0..38decdca 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -71,15 +71,12 @@ MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
 
 // in-place sparse backsubstitution:  x = inv(L'*D*L)*x
 //  handle n vectors at once
-MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, int nv, int n,
+MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
                       const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
 
 // sparse backsubstitution:  x = inv(L'*D*L)*y, use factorization in d
 MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
 
-// sparse backsubstitution for one island:  x = inv(L'*D*L)*x, use factorization in d
-MJAPI void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* x, int island);
-
 // half of sparse backsubstitution:  x = sqrt(inv(D))*inv(L')*y
 MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
                       const mjtNum* sqrtInvD, int n);
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index a720f156..b409e1ea 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -631,10 +631,10 @@ static void warmstart(const mjModel* m, mjData* d) {
 
     // have island structure: unconstrained qacc = qacc_smooth
     if (d->nisland > 0) {
-      for (int i=0; i < nv; i++) {
-        if (d->dof_island[i] < 0) {
-          d->qacc[i] = d->qacc_smooth[i];
-        }
+      // loop over unconstrained dofs in map_idof2dof[nidof, nv)
+      for (int i=d->nidof; i < nv; i++) {
+        int dof = d->map_idof2dof[i];
+        d->qacc[dof] = d->qacc_smooth[dof];
       }
     }
 
@@ -723,22 +723,37 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
 
   // check if islands are supported
   int islands_supported = mjENABLED(mjENBL_ISLAND)  &&
-                          d->nisland > 0            &&
+                          nisland > 0               &&
                           m->opt.solver == mjSOL_CG &&
                           m->opt.noslip_iterations == 0;
 
   // run solver over constraint islands
   if (islands_supported) {
-    // no threadpool, loop over islands
+    int nidof = d->nidof;
+
+    // copy CG inputs to islands (vel+acc deps, pos-dependent already copied in mj_island)
+    mju_gather(d->ifrc_smooth,     d->qfrc_smooth,     d->map_idof2dof, nidof);
+    mju_gather(d->ifrc_constraint, d->qfrc_constraint, d->map_idof2dof, nidof);
+    mju_gather(d->iacc_smooth,     d->qacc_smooth,     d->map_idof2dof, nidof);
+    mju_gather(d->iacc,            d->qacc,            d->map_idof2dof, nidof);
+    mju_gather(d->iefc_force,      d->efc_force,       d->map_iefc2efc, nefc);
+    mju_gather(d->iefc_aref,       d->efc_aref,        d->map_iefc2efc, nefc);
+
+    // solve per island
     if (!d->threadpool) {
+      // no threadpool, loop over islands
       for (int island=0; island < nisland; island++) {
         mj_solCG_island(m, d, island, m->opt.iterations);
       }
-    }
-    else {
-      // solve using threads
+    } else {
+      // have threadpool, solve using threads
       mj_solCG_island_multithreaded(m, d);
     }
+
+    // copy back solver outputs (scatter dofs since ni <= nv)
+    mju_scatter(d->qacc,            d->iacc,            d->map_idof2dof, nidof);
+    mju_scatter(d->qfrc_constraint, d->ifrc_constraint, d->map_idof2dof, nidof);
+    mju_gather(d->efc_force, d->iefc_force, d->map_efc2iefc, nefc);
   }
 
   // run solver over all constraints
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 78aed97d..31084c46 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1917,6 +1917,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   d->nJ = 0;
   d->nA = 0;
   d->nisland = 0;
+  d->nidof = 0;
 
   // clear global properties
   d->time = 0;
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
index 9a8be763..108844d8 100644
--- a/src/engine/engine_island.c
+++ b/src/engine/engine_island.c
@@ -16,6 +16,7 @@
 
 #include <stdio.h>
 #include <stddef.h>
+#include <string.h>
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
@@ -26,12 +27,65 @@
 #include "engine/engine_support.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
+#include "engine/engine_util_sparse.h"
 
 #ifdef MEMORY_SANITIZER
   #include <sanitizer/msan_interface.h>
 #endif
 
 
+//-------------------------- local utilities -------------------------------------------------------
+
+// clear island-related arena pointers in mjData
+static void clearIsland(mjData* d, size_t parena) {
+#define X(type, name, nr, nc) d->name = NULL;
+  MJDATA_ARENA_POINTERS_ISLAND
+#undef X
+  d->nefc = 0;
+  d->nisland = 0;
+  d->nidof = 0;
+  d->parena = parena;
+
+  // poison remaining memory
+#ifdef ADDRESS_SANITIZER
+  ASAN_POISON_MEMORY_REGION(
+    (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
+#endif
+}
+
+
+
+// allocate island arrays on arena, return 1 on success, 0 on failure
+static int arenaAllocIsland(const mjModel* m, mjData* d) {
+#undef MJ_M
+#define MJ_M(n) m->n
+#undef MJ_D
+#define MJ_D(n) d->n
+
+  size_t parena_old = d->parena;
+
+#define X(type, name, nr, nc)                                                 \
+  d->name = mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
+  if (!d->name) {                                                             \
+    mj_warning(d, mjWARN_CNSTRFULL, d->narena);                               \
+    clearIsland(d, parena_old);                                               \
+    return 0;                                                                 \
+  }
+
+  MJDATA_ARENA_POINTERS_ISLAND
+
+#undef X
+
+#undef MJ_M
+#define MJ_M(n) n
+#undef MJ_D
+#define MJ_D(n) n
+  return 1;
+}
+
+
+
+//-------------------------- flood-fill and graph construction  ------------------------------------
 
 // find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix
 //   arguments:
@@ -87,54 +141,6 @@ int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, cons
 
 
 
-// clear island-related arena pointers in mjData
-static void clearIsland(mjData* d, size_t parena) {
-#define X(type, name, nr, nc) d->name = NULL;
-  MJDATA_ARENA_POINTERS_ISLAND
-#undef X
-  d->nefc = 0;
-  d->nisland = 0;
-  d->parena = parena;
-
-  // poison remaining memory
-#ifdef ADDRESS_SANITIZER
-  ASAN_POISON_MEMORY_REGION(
-    (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
-#endif
-}
-
-
-
-// allocate island arrays on arena, return 1 on success, 0 on failure
-static int arenaAllocIsland(const mjModel* m, mjData* d) {
-#undef MJ_M
-#define MJ_M(n) m->n
-#undef MJ_D
-#define MJ_D(n) d->n
-
-  size_t parena_old = d->parena;
-
-#define X(type, name, nr, nc)                                                 \
-  d->name = mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
-  if (!d->name) {                                                             \
-    mj_warning(d, mjWARN_CNSTRFULL, d->narena);                               \
-    clearIsland(d, parena_old);                                               \
-    return 0;                                                                 \
-  }
-
-  MJDATA_ARENA_POINTERS_ISLAND
-
-#undef X
-
-#undef MJ_M
-#define MJ_M(n) n
-#undef MJ_D
-#define MJ_D(n) n
-  return 1;
-}
-
-
-
 // return upper bound on number of tree-tree edges
 static int countMaxEdge(const mjModel* m, const mjData* d) {
   int nedge_max = 0;
@@ -411,14 +417,17 @@ static int findEdges(const mjModel* m, const mjData* d, int* treenedge, int* edg
 
 
 
+//-------------------------- main entry-point  -----------------------------------------------------
+
 // discover islands:
-//   nisland, island_dofadr, dof_island, dof_islandnext, island_efcadr, efc_island, efc_islandnext
+//   nisland, island_idofadr, dof_island, dof_islandnext, island_efcadr, efc_island, efc_islandnext
 void mj_island(const mjModel* m, mjData* d) {
   int nv = m->nv, nefc = d->nefc, ntree=m->ntree;
 
   // no constraints: quick return
   if (!nefc || m->nflex) {  // TODO: add flex support to island discovery
     d->nisland = 0;
+    d->nidof = 0;
     return;
   }
 
@@ -454,86 +463,201 @@ void mj_island(const mjModel* m, mjData* d) {
   int* stack = mjSTACKALLOC(d, nedge, int);
   d->nisland = mj_floodFill(tree_island, ntree, rownnz, rowadr, colind, stack);
 
+  // no islands found: quick return
+  if (!d->nisland) {
+    d->nidof = 0;
+    mj_freeStack(d);
+    return;
+  }
+
+  // count ni: total number of dofs in islands
+  int nidof = 0;
+  for (int i=0; i < nv; i++) {
+    nidof += (tree_island[m->dof_treeid[i]] >= 0);
+  }
+  d->nidof = nidof;
+
   // allocate island arrays on arena
   if (!arenaAllocIsland(m, d)) {
     mj_freeStack(d);
     return;
   }
 
-  int nisland = d->nisland;  // local copy
+  // local copy
+  int nisland = d->nisland;
 
-  // compute dof_island, island_dofnum
-  int num_dof_unc = 0;  // number of unconstrained dofs
-  mju_zeroInt(d->island_dofnum, nisland);
+
+  // ------------------------------------- degrees of freedom --------------------------------------
+
+  // compute dof_island, island_nv
+  mju_zeroInt(d->island_nv, nisland);
   for (int i=0; i < nv; i++) {
-    // dof_island
-    int island = tree_island[m->dof_treeid[i]];
+    // assign dofs to islands
+    int island = tree_island[m->dof_treeid[i]];  // -1 if unconstrained
     d->dof_island[i] = island;
 
-    // island_dofnum
+    // increment island_nv
     if (island >= 0) {
-      d->island_dofnum[island]++;
-    } else {
-      num_dof_unc++;
+      d->island_nv[island]++;
     }
   }
 
-  // compute island_dofadr
-  if (nisland) d->island_dofadr[0] = 0;
+  // compute island_idofadr (cumsum of island_nv)
+  d->island_idofadr[0] = 0;
   for (int i=1; i < nisland; i++) {
-    d->island_dofadr[i] = d->island_dofadr[i-1] + d->island_dofnum[i-1];
+    d->island_idofadr[i] = d->island_idofadr[i-1] + d->island_nv[i-1];
   }
 
-  // reset island_dofnum
-  mju_zeroInt(d->island_dofnum, nisland);
-
-  // compute dof_islandind, island_dofind
-  int num_dof_island = 0;
-  for (int i=0; i < nv; i++) {
-    int island = d->dof_island[i];
+  // compute dof <-> idof maps
+  int* island_nv2 = mjSTACKALLOC(d, nisland + 1, int);  // last element counts unconstrained dofs
+  mju_zeroInt(island_nv2, nisland + 1);
+  for (int dof=0; dof < nv; dof++) {
+    int island = d->dof_island[dof];
+    int idof;
     if (island >= 0) {
-      d->island_dofind[d->island_dofadr[island] + d->island_dofnum[island]] = i;
-      d->dof_islandind[i] = d->island_dofnum[island]++;
-      num_dof_island++;
+      // constrained dof
+      idof = d->island_idofadr[island] + island_nv2[island]++;
     } else {
-      d->dof_islandind[i] = -1;
+      // unconstrained dof
+      idof = nidof + island_nv2[nisland]++;
     }
+
+    d->map_dof2idof[dof] = idof;
+    d->map_idof2dof[idof] = dof;  // only the first ni elements of map_idof2dof are in some island
   }
 
-  // sanity check, SHOULD NOT OCCUR
-  if (num_dof_island + num_dof_unc != nv) {
-    mjERROR("not all islands assigned to dofs");
+  // SHOULD NOT OCCUR
+  if (!mju_compare(island_nv2, d->island_nv, nisland)) mjERROR("island_nv miscount");
+  if (nidof + island_nv2[nisland] != nv) mjERROR("miscount of unconstrained dofs");
+
+  // compute island_dofadr (used for visualization)
+  for (int i=0; i < nisland; i++) {
+    d->island_dofadr[i] = d->map_idof2dof[d->island_idofadr[i]];
   }
 
-  // finalize dof_islandind: set remaining indices to -1
-  for (int i=num_dof_island; i < nv; i++) {
-    d->island_dofind[i] = -1;
+  // local CSR copy of qM
+  mjtNum* qM = mjSTACKALLOC(d, m->nM, mjtNum);
+  mju_gather(qM, d->qM, d->mapM2M, m->nM);
+
+  // inertia: block-diagonalize both iLD <- qLD and iM <- qM
+  mju_blockDiagSparse(d->iLD, d->iM_rownnz, d->iM_rowadr, d->iM_colind,
+                      d->qLD,  d->M_rownnz, d->M_rowadr, d->M_colind,
+                      nidof, nisland,
+                      d->map_idof2dof, d->map_dof2idof,
+                      d->island_idofadr, d->island_idofadr,
+                      d->iM, qM);
+  mju_gather(d->iLDiagInv, d->qLDiagInv, d->map_idof2dof, nidof);
+
+  // compute iM_diagnum (dof_simplenum per island)
+  int count = 0;
+  int dof_next = d->map_idof2dof[nidof-1];
+  for (int i=nidof-1; i >= 0; i--) {
+    // check if island boundary was crossed
+    int dof = d->map_idof2dof[i];
+    int island_boundary = (d->dof_island[dof] != d->dof_island[dof_next]);
+    dof_next = dof;
+
+    // accumulate and set simple dof (diagonal row) counter
+    if (m->dof_simplenum[dof] && !island_boundary) {
+      count++;    // increment counter
+    } else {
+      count = 0;  // reset
+    }
+    d->iM_diagnum[i] = count;
   }
 
-  // compute efc_island, island_efcnum
-  mju_zeroInt(d->island_efcnum, nisland);
+
+
+  // ------------------------------------- constraints ---------------------------------------------
+
+  // compute efc_island, island_{ne,nf,nefc}
+  mju_zeroInt(d->island_ne, nisland);
+  mju_zeroInt(d->island_nf, nisland);
+  mju_zeroInt(d->island_nefc, nisland);
   for (int i=0; i < nefc; i++) {
     int tree[2];
     treeFirst(m, d, tree, i);
     int island = tree_island[tree[0]];
     d->efc_island[i] = island;
-    d->island_efcnum[island]++;
+    d->island_nefc[island]++;
+    switch (d->efc_type[i]) {
+      case mjCNSTR_EQUALITY:
+        d->island_ne[island]++;
+        break;
+      case mjCNSTR_FRICTION_DOF:
+      case mjCNSTR_FRICTION_TENDON:
+        d->island_nf[island]++;
+        break;
+      default:
+        break;
+    }
   }
 
-  // compute island_efcadr
-  if (nisland) d->island_efcadr[0] = 0;
+  // compute island_iefcadr (cumsum of island_nefc)
+  d->island_iefcadr[0] = 0;
   for (int i=1; i < nisland; i++) {
-    d->island_efcadr[i] = d->island_efcadr[i-1] + d->island_efcnum[i-1];
+    d->island_iefcadr[i] = d->island_iefcadr[i-1] + d->island_nefc[i-1];
   }
 
-  // reset island_efcnum
-  mju_zeroInt(d->island_efcnum, nisland);
-
-  // compute efc_islandind
-  for (int i=0; i < nefc; i++) {
-    int island = d->efc_island[i];
-    d->island_efcind[d->island_efcadr[island] + (d->island_efcnum[island]++)] = i;
+  // compute efc <-> iefc maps
+  int* island_nefc2 = island_nv2;  // reuse island_nv2
+  mju_zeroInt(island_nefc2, nisland);
+  for (int c=0; c < nefc; c++) {
+    int island = d->efc_island[c];
+    int ic = d->island_iefcadr[island] + island_nefc2[island]++;
+    d->map_efc2iefc[c] = ic;
+    d->map_iefc2efc[ic] = c;
   }
 
+  // SHOULD NOT OCCUR
+  if (!mju_compare(island_nefc2, d->island_nefc, nisland)) mjERROR("island_nefc miscount");
+
+  // dense: block-diagonalize Jacobian
+  if (!mj_isSparse(m)) {
+    mju_blockDiag(d->iefc_J, d->efc_J,
+                  nv, nidof, nisland,
+                  d->map_iefc2efc, d->map_idof2dof,
+                  d->island_nefc, d->island_nv,
+                  d->island_iefcadr, d->island_idofadr);
+  }
+
+  // sparse
+  else {
+    // block-diagonalize Jacobian
+    mju_blockDiagSparse(d->iefc_J, d->iefc_J_rownnz, d->iefc_J_rowadr, d->iefc_J_colind,
+                        d->efc_J, d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
+                        nefc, nisland,
+                        d->map_iefc2efc, d->map_dof2idof,
+                        d->island_iefcadr, d->island_idofadr, NULL, NULL);
+
+    // recompute rowsuper per island
+    for (int island=0; island < nisland; island++) {
+      int adr = d->island_iefcadr[island];
+      mju_superSparse(d->island_nefc[island], d->iefc_J_rowsuper + adr,
+                      d->iefc_J_rownnz + adr, d->iefc_J_rowadr + adr, d->iefc_J_colind);
+    }
+
+    // block-diagonalize Jacobian-transpose
+    mju_blockDiagSparse(d->iefc_JT, d->iefc_JT_rownnz, d->iefc_JT_rowadr, d->iefc_JT_colind,
+                        d->efc_JT, d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,
+                        nidof, nisland,
+                        d->map_idof2dof, d->map_efc2iefc,
+                        d->island_idofadr, d->island_iefcadr, NULL, NULL);
+
+    // recompute rowsuper per island
+    for (int island=0; island < nisland; island++) {
+      int adr = d->island_idofadr[island];
+      mju_superSparse(d->island_nv[island], d->iefc_JT_rowsuper + adr,
+                      d->iefc_JT_rownnz + adr, d->iefc_JT_rowadr + adr, d->iefc_JT_colind);
+    }
+  }
+
+  // copy position-dependent efc vectors required by solver
+  mju_gatherInt(d->iefc_type, d->efc_type, d->map_iefc2efc, nefc);
+  mju_gatherInt(d->iefc_id, d->efc_id, d->map_iefc2efc, nefc);
+  mju_gather(d->iefc_frictionloss, d->efc_frictionloss, d->map_iefc2efc, nefc);
+  mju_gather(d->iefc_D, d->efc_D, d->map_iefc2efc, nefc);
+  mju_gather(d->iefc_R, d->efc_R, d->map_iefc2efc, nefc);
+
   mj_freeStack(d);
 }
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index 49d0afa3..61a9ef02 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -1392,27 +1392,30 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
     }
     fprintf(fp, "\n\n");
 
-    fprintf(fp, NAME_FORMAT, "ISLAND_DOFNUM");
+    fprintf(fp, NAME_FORMAT, "ISLAND_NV");
     for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_dofnum[i]);
+      fprintf(fp, " %d", d->island_nv[i]);
     }
     fprintf(fp, "\n\n");
 
-    fprintf(fp, NAME_FORMAT, "ISLAND_DOFADR");
+    fprintf(fp, NAME_FORMAT, "ISLAND_IDOFADR");
     for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_dofadr[i]);
+      fprintf(fp, " %d", d->island_idofadr[i]);
     }
     fprintf(fp, "\n\n");
 
-    fprintf(fp, NAME_FORMAT, "ISLAND_DOFIND");
+    fprintf(fp, NAME_FORMAT, "MAP_IDOF2DOF");
     for (int i = 0; i < m->nv; i++) {
-      fprintf(fp, " %d", d->island_dofind[i]);
-    }
-    fprintf(fp, "\n\n");
+      int dof = d->map_idof2dof[i];
+      if (i > 0) {
+        int dofprev = d->map_idof2dof[i-1];
 
-    fprintf(fp, NAME_FORMAT, "DOF_ISLANDIND");
-    for (int i = 0; i < m->nv; i++) {
-      fprintf(fp, " %d", d->dof_islandind[i]);
+        // print '|' at island boundaries
+        if (d->dof_island[dof] != d->dof_island[dofprev]) {
+          fprintf(fp, " |");
+        }
+      }
+      fprintf(fp, " %d", dof);
     }
     fprintf(fp, "\n\n");
 
@@ -1422,21 +1425,30 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
     }
     fprintf(fp, "\n\n");
 
-    fprintf(fp, NAME_FORMAT, "ISLAND_EFCNUM");
+    fprintf(fp, NAME_FORMAT, "ISLAND_NEFC");
     for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_efcnum[i]);
+      fprintf(fp, " %d", d->island_nefc[i]);
     }
     fprintf(fp, "\n\n");
 
-    fprintf(fp, NAME_FORMAT, "ISLAND_EFCADR");
+    fprintf(fp, NAME_FORMAT, "ISLAND_IEFCADR");
     for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_efcadr[i]);
+      fprintf(fp, " %d", d->island_iefcadr[i]);
     }
     fprintf(fp, "\n\n");
 
-    fprintf(fp, NAME_FORMAT, "ISLAND_EFCIND");
+    fprintf(fp, NAME_FORMAT, "MAP_IEFC2EFC");
     for (int i = 0; i < d->nefc; i++) {
-      fprintf(fp, " %d", d->island_efcind[i]);
+      int efc = d->map_iefc2efc[i];
+      if (i > 0) {
+        int efcprev = d->map_iefc2efc[i-1];
+
+        // print '|' at island boundaries
+        if (d->efc_island[efc] != d->efc_island[efcprev]) {
+          fprintf(fp, " |");
+        }
+      }
+      fprintf(fp, " %d", efc);
     }
     fprintf(fp, "\n\n");
   }
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 8e83ace5..fb9dedd1 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -766,13 +766,55 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
 // CG context
 struct _mjCGContext {
   int flg_Newton;         // 1: Newton, 0: CG
-
-  // island-related
   int island;             // current island index, -1 if monolithic
+
+  // sizes
   int nv;                 // number of dofs
-  int nefc;               // number of constraints
-  int* dofind;            // dof indices of this island, NULL if monolithic
-  int* efcind;            // constraint indices of this island, NULL if monolithic
+  int ne;                 // number of equalities
+  int nf;                 // number of friction constraints
+  int nefc;               // number of all constraints
+
+  // contact array
+  mjContact* contact;
+
+  // dof arrays
+  const mjtNum* qfrc_smooth;
+  const mjtNum* qacc_smooth;
+  mjtNum* qfrc_constraint;
+  mjtNum* qacc;
+
+  // inertia
+  const int* M_rownnz;
+  const int* M_rowadr;
+  const int* M_diagnum;
+  const int* M_colind;
+  const int* dof_Madr;
+  const int* dof_parentid;
+  const mjtNum* qM;
+  const mjtNum* qLD;
+  const mjtNum* qLDiagInv;
+
+  // efc arrays
+  const mjtNum* efc_D;
+  const mjtNum* efc_R;
+  const mjtNum* efc_frictionloss;
+  const mjtNum* efc_aref;
+  const int* efc_id;
+  const int* efc_type;
+  mjtNum* efc_force;
+  int* efc_state;
+
+  // Jacobians
+  const int* J_rownnz;
+  const int* J_rowadr;
+  const int* J_rowsuper;
+  const int* J_colind;
+  const int* JT_rownnz;
+  const int* JT_rowadr;
+  const int* JT_rowsuper;
+  const int* JT_colind;
+  const mjtNum* J;
+  const mjtNum* JT;
 
   // common arrays (CGallocate)
   mjtNum* Jaref;          // Jac*qacc - aref                              (nefc x 1)
@@ -793,7 +835,7 @@ struct _mjCGContext {
   int* L_rownnz;          // Hessian factor row nonzeros                  (nv x 1)
   int* L_rowadr;          // Hessian factor row addresses                 (nv x 1)
 
-  // Newton arrays, computed-size (HessianMake)
+  // Newton arrays, computed-size (MakeHessian)
   int nH;                 // number of nonzeros in Hessian H
   int* H_colind;          // Hessian column indices                       (nH x 1)
   mjtNum* H;              // Hessian                                      (nH x 1)
@@ -818,23 +860,130 @@ struct _mjCGContext {
 typedef struct _mjCGContext mjCGContext;
 
 
+
+// set sizes and pointers to mjData arrays in mjCGContext
+static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int island) {
+  int is_sparse = mj_isSparse(m);
+  ctx->contact = d->contact;
+  ctx->island = island;
+
+  // set sizes and pointers (monolithic)
+  if (island < 0) {
+    // sizes
+    ctx->nv               = m->nv;
+    ctx->ne               = d->ne;
+    ctx->nf               = d->nf;
+    ctx->nefc             = d->nefc;
+
+    // dof arrays
+    ctx->qfrc_smooth      = d->qfrc_smooth;
+    ctx->qfrc_constraint  = d->qfrc_constraint;
+    ctx->qacc_smooth      = d->qacc_smooth;
+    ctx->qacc             = d->qacc;
+
+    // inertia
+    ctx->M_rownnz         = d->M_rownnz;
+    ctx->M_rowadr         = d->M_rowadr;
+    ctx->M_diagnum        = m->dof_simplenum;
+    ctx->M_colind         = d->M_colind;
+    ctx->dof_Madr         = m->dof_Madr;
+    ctx->dof_parentid     = m->dof_parentid;
+    ctx->qM               = d->qM;
+    ctx->qLD              = d->qLD;
+    ctx->qLDiagInv        = d->qLDiagInv;
+
+    // efc arrays
+    ctx->efc_D            = d->efc_D;
+    ctx->efc_R            = d->efc_R;
+    ctx->efc_frictionloss = d->efc_frictionloss;
+    ctx->efc_aref         = d->efc_aref;
+    ctx->efc_id           = d->efc_id;
+    ctx->efc_type         = d->efc_type;
+    ctx->efc_force        = d->efc_force;
+    ctx->efc_state        = d->efc_state;
+
+    // Jacobians
+    ctx->J                = d->efc_J;
+    if (is_sparse) {
+      ctx->J_rownnz       = d->efc_J_rownnz;
+      ctx->J_rowadr       = d->efc_J_rowadr;
+      ctx->J_rowsuper     = d->efc_J_rowsuper;
+      ctx->J_colind       = d->efc_J_colind;
+      ctx->JT_rownnz      = d->efc_JT_rownnz;
+      ctx->JT_rowadr      = d->efc_JT_rowadr;
+      ctx->JT_rowsuper    = d->efc_JT_rowsuper;
+      ctx->JT_colind      = d->efc_JT_colind;
+      ctx->JT             = d->efc_JT;
+    }
+  }
+
+  // set sizes and pointers (per-island)
+  else {
+    // sizes
+    ctx->nv               = d->island_nv[island];
+    ctx->ne               = d->island_ne[island];
+    ctx->nf               = d->island_nf[island];
+    ctx->nefc             = d->island_nefc[island];
+
+    // dof arrays
+    int idofadr           = d->island_idofadr[island];
+    ctx->qfrc_smooth      = d->ifrc_smooth       + idofadr;
+    ctx->qfrc_constraint  = d->ifrc_constraint   + idofadr;
+    ctx->qacc_smooth      = d->iacc_smooth       + idofadr;
+    ctx->qacc             = d->iacc              + idofadr;
+
+    // inertia
+    ctx->M_rownnz         = d->iM_rownnz         + idofadr;
+    ctx->M_rowadr         = d->iM_rowadr         + idofadr;
+    ctx->M_diagnum        = d->iM_diagnum        + idofadr;
+    ctx->M_colind         = d->iM_colind;
+    ctx->qM               = d->iM;
+    ctx->qLD              = d->iLD;
+    ctx->qLDiagInv        = d->iLDiagInv         + idofadr;
+
+    // efc arrays
+    int iefcadr           = d->island_iefcadr[island];
+    ctx->efc_D            = d->iefc_D            + iefcadr;
+    ctx->efc_R            = d->iefc_R            + iefcadr;
+    ctx->efc_frictionloss = d->iefc_frictionloss + iefcadr;
+    ctx->efc_aref         = d->iefc_aref         + iefcadr;
+    ctx->efc_id           = d->iefc_id           + iefcadr;
+    ctx->efc_type         = d->iefc_type         + iefcadr;
+    ctx->efc_force        = d->iefc_force        + iefcadr;
+    ctx->efc_state        = d->iefc_state        + iefcadr;
+
+    // Jacobians
+    if (!is_sparse) {
+      ctx->J              = d->iefc_J + d->nidof * iefcadr;
+    } else {
+      ctx->J_rownnz       = d->iefc_J_rownnz     + iefcadr;
+      ctx->J_rowadr       = d->iefc_J_rowadr     + iefcadr;
+      ctx->J_rowsuper     = d->iefc_J_rowsuper   + iefcadr;
+      ctx->J_colind       = d->iefc_J_colind;
+      ctx->JT_rownnz      = d->iefc_JT_rownnz    + idofadr;
+      ctx->JT_rowadr      = d->iefc_JT_rowadr    + idofadr;
+      ctx->JT_rowsuper    = d->iefc_JT_rowsuper  + idofadr;
+      ctx->JT_colind      = d->iefc_JT_colind;
+      ctx->J              = d->iefc_J;
+      ctx->JT             = d->iefc_JT;
+    }
+  }
+}
+
+
+
 // allocate fixed-size arrays in mjCGContext
 //  mj_{mark/free}Stack in calling function!
-static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx,
-                       int island, int flg_Newton) {
+static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx, int island, int flg_Newton) {
   // clear everything
   memset(ctx, 0, sizeof(mjCGContext));
 
-  // get sizes
-  int nv      = island < 0 ? m->nv   : d->island_dofnum[island];
-  int nefc    = island < 0 ? d->nefc : d->island_efcnum[island];
+  // set sizes and pointers
+  CGpointers(m, d, ctx, island);
 
-  // island-related
-  ctx->island = island;
-  ctx->nv     = nv;
-  ctx->nefc   = nefc;
-  ctx->dofind = island < 0 ? NULL : d->island_dofind + d->island_dofadr[island];
-  ctx->efcind = island < 0 ? NULL : d->island_efcind + d->island_efcadr[island];
+  // local sizes
+  int nv = ctx->nv;
+  int nefc = ctx->nefc;
 
   // common arrays
   ctx->Jaref  = mjSTACKALLOC(d, nefc, mjtNum);
@@ -849,7 +998,7 @@ static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx,
   // Newton only, known-size arrays
   ctx->flg_Newton = flg_Newton;
   if (flg_Newton) {
-    ctx->D    = mjSTACKALLOC(d, nefc, mjtNum);
+    ctx->D = mjSTACKALLOC(d, nefc, mjtNum);
 
     // sparse Newton only
     if (mj_isSparse(m)) {
@@ -866,28 +1015,35 @@ static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx,
 
 
 // update efc_force, qfrc_constraint, cost-related
-static void CGupdateConstraint(const mjModel* m, mjData* d, mjCGContext* ctx) {
+static void CGupdateConstraint(mjCGContext* ctx) {
   int nefc = ctx->nefc, nv = ctx->nv;
-  const int* dofind = ctx->dofind;
-  const int* efcind = ctx->efcind;
 
   // update constraints
-  mj_constraintUpdate_island(m, d, ctx->Jaref, &(ctx->cost), ctx->flg_Newton, ctx->island);
+  mj_constraintUpdate_impl(ctx->ne, ctx->nf, ctx->nefc, ctx->efc_D, ctx->efc_R,
+                           ctx->efc_frictionloss, ctx->Jaref, ctx->efc_type, ctx->efc_id,
+                           ctx->contact, ctx->efc_state, ctx->efc_force,
+                           &(ctx->cost), ctx->flg_Newton);
+
+  // compute qfrc_constraint (dense or sparse)
+  if (!ctx->JT) {
+    mju_mulMatTVec(ctx->qfrc_constraint, ctx->J, ctx->efc_force, nefc, nv);
+  } else {
+    mju_mulMatVecSparse(ctx->qfrc_constraint, ctx->JT, ctx->efc_force, nv,
+                        ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper);
+  }
 
   // count active and cone
   ctx->nactive = 0;
   ctx->ncone = 0;
-  for (int c=0; c < nefc; c++) {
-    int i = efcind ? efcind[c] : c;
-    ctx->nactive += (d->efc_state[i] != mjCNSTRSTATE_SATISFIED);
-    ctx->ncone += (d->efc_state[i] == mjCNSTRSTATE_CONE);
+  for (int i=0; i < nefc; i++) {
+    ctx->nactive += (ctx->efc_state[i] != mjCNSTRSTATE_SATISFIED);
+    ctx->ncone += (ctx->efc_state[i] == mjCNSTRSTATE_CONE);
   }
 
   // add Gauss cost, set in quadratic[0]
   mjtNum Gauss = 0;
-  for (int c=0; c < nv; c++) {
-    int i = dofind ? dofind[c] : c;
-    Gauss += 0.5 * (ctx->Ma[c] - d->qfrc_smooth[i]) * (d->qacc[i] - d->qacc_smooth[i]);
+  for (int i=0; i < nv; i++) {
+    Gauss += 0.5 * (ctx->Ma[i] - ctx->qfrc_smooth[i]) * (ctx->qacc[i] - ctx->qacc_smooth[i]);
   }
 
   ctx->quadGauss[0] = Gauss;
@@ -895,22 +1051,20 @@ static void CGupdateConstraint(const mjModel* m, mjData* d, mjCGContext* ctx) {
 }
 
 
-// TODO(tassa): Restore mjData const-ness.
+
 // update grad, Mgrad
-static void CGupdateGradient(const mjModel* m, mjData* d, mjCGContext* ctx) {
+static void CGupdateGradient(mjCGContext* ctx) {
   int nv = ctx->nv;
-  const int* dofind = ctx->dofind;
 
   // grad = M*qacc - qfrc_smooth - qfrc_constraint
-  for (int c=0; c < nv; c++) {
-    int i = dofind ? dofind[c] : c;
-    ctx->grad[c] = ctx->Ma[c] - d->qfrc_smooth[i] - d->qfrc_constraint[i];
+  for (int i=0; i < nv; i++) {
+    ctx->grad[i] = ctx->Ma[i] - ctx->qfrc_smooth[i] - ctx->qfrc_constraint[i];
   }
 
   // Newton: Mgrad = H \ grad
   // TODO: b/295296178 - add island support to Newton solver
   if (ctx->flg_Newton) {
-    if (mj_isSparse(m)) {
+    if (ctx->L_rowadr) {
       mju_cholSolveSparse(ctx->Mgrad, (ctx->ncone ? ctx->Lcone : ctx->L),
                           ctx->grad, nv, ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind);
     } else {
@@ -921,44 +1075,32 @@ static void CGupdateGradient(const mjModel* m, mjData* d, mjCGContext* ctx) {
   // CG: Mgrad = M \ grad
   else {
     mju_copy(ctx->Mgrad, ctx->grad, nv);
-    mj_solveM_island(m, d, ctx->Mgrad, ctx->island);
+    mj_solveLD(ctx->Mgrad, ctx->qLD, ctx->qLDiagInv, nv, 1,
+               ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
   }
 }
 
 
 
 // prepare quadratic polynomials and contact cone quantities
-static void CGprepare(const mjModel* m, const mjData* d, mjCGContext* ctx) {
-  int nv = ctx->nv, nefc = ctx->nefc, island = ctx->island;
-  const int* dofind = ctx->dofind;
-  const int* efcind = ctx->efcind;
+static void CGprepare(mjCGContext* ctx) {
+  int nv = ctx->nv, nefc = ctx->nefc;
   const mjtNum* v = ctx->search;
 
   // Gauss: alpha^2*0.5*v'*M*v + alpha*v'*(Ma-qfrc_smooth) + 0.5*(a-qacc_smooth)'*(Ma-qfrc_smooth)
   //  quadGauss[0] already computed in CGupdateConstraint
-  mjtNum v_dot_smooth;
-  if (island < 0) {
-    v_dot_smooth = mju_dot(d->qfrc_smooth, v, nv);
-  } else {
-    v_dot_smooth = 0;
-    for (int c=0; c < nv; c++) {
-      v_dot_smooth += d->qfrc_smooth[dofind[c]] * v[c];
-    }
-  }
-  ctx->quadGauss[1] = mju_dot(v, ctx->Ma, nv) - v_dot_smooth;
+  ctx->quadGauss[1] = mju_dot(v, ctx->Ma, nv) - mju_dot(ctx->qfrc_smooth, v, nv);
   ctx->quadGauss[2] = 0.5*mju_dot(v, ctx->Mv, nv);
 
   // process constraints
-  for (int c=0; c < nefc; c++) {
-    int i = efcind ? efcind[c] : c;
-
+  for (int i=0; i < nefc; i++) {
     // pointers to numeric data
-    const mjtNum* Jv = ctx->Jv + c;
-    const mjtNum* Jaref = ctx->Jaref + c;
-    const mjtNum* D = d->efc_D + i;
+    const mjtNum* Jv = ctx->Jv + i;
+    const mjtNum* Jaref = ctx->Jaref + i;
+    const mjtNum* D = ctx->efc_D + i;
 
     // pointer to this quadratic
-    mjtNum* quad = ctx->quad + 3*c;
+    mjtNum* quad = ctx->quad + 3*i;
 
     // init with scalar quadratic
     mjtNum DJ0 = D[0]*Jaref[0];
@@ -967,12 +1109,12 @@ static void CGprepare(const mjModel* m, const mjData* d, mjCGContext* ctx) {
     quad[2] = Jv[0]*D[0]*Jv[0];
 
     // elliptic cone: extra processing
-    if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
+    if (ctx->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
       // extract contact info
-      mjContact* con = d->contact + d->efc_id[i];
+      const mjContact* con = ctx->contact + ctx->efc_id[i];
       int dim = con->dim;
       mjtNum U[6], V[6], UU = 0, UV = 0, VV = 0, mu = con->mu;
-      mjtNum* friction = con->friction;
+      const mjtNum* friction = con->friction;
 
       // complete vector quadratic (for bottom zone)
       for (int j=1; j < dim; j++) {
@@ -1006,7 +1148,7 @@ static void CGprepare(const mjModel* m, const mjData* d, mjCGContext* ctx) {
       quad[8] = D[0] / ((mu*mu) * (1 + (mu*mu)));
 
       // advance to next constraint
-      c += (dim-1);
+      i += (dim-1);
     }
 
     // apply scaling
@@ -1028,9 +1170,8 @@ typedef struct _mjCGPnt mjCGPnt;
 
 
 // evaluate linesearch cost, return first and second derivatives
-static void CGeval(const mjModel* m, const mjData* d, mjCGContext* ctx, mjCGPnt* p) {
-  int ne = d->ne, nf = d->nf, nefc = ctx->nefc;
-  const int* efcind = ctx->efcind;
+static void CGeval(mjCGContext* ctx, mjCGPnt* p) {
+  int ne = ctx->ne, nf = ctx->nf, nefc = ctx->nefc;
 
   // clear result
   mjtNum cost = 0, alpha = p->alpha;
@@ -1041,26 +1182,24 @@ static void CGeval(const mjModel* m, const mjData* d, mjCGContext* ctx, mjCGPnt*
   mju_copy3(quadTotal, ctx->quadGauss);
 
   // process constraints
-  for (int c=0; c < nefc; c++) {
-    int i = efcind ? efcind[c] : c;
-
+  for (int i=0; i < nefc; i++) {
     // equality
     if (i < ne) {
-      mju_addTo3(quadTotal, ctx->quad+3*c);
+      mju_addTo3(quadTotal, ctx->quad+3*i);
       continue;
     }
 
     // friction
     if (i < ne + nf) {
       // search point, friction loss, bound (Rf)
-      mjtNum start = ctx->Jaref[c], dir = ctx->Jv[c];
+      mjtNum start = ctx->Jaref[i], dir = ctx->Jv[i];
       mjtNum x = start + alpha*dir;
-      mjtNum f = d->efc_frictionloss[i];
-      mjtNum Rf = d->efc_R[i]*f;
+      mjtNum f = ctx->efc_frictionloss[i];
+      mjtNum Rf = ctx->efc_R[i]*f;
 
       // -bound < x < bound : quadratic
       if (-Rf < x && x < Rf) {
-        mju_addTo3(quadTotal, ctx->quad+3*c);
+        mju_addTo3(quadTotal, ctx->quad+3*i);
       }
 
       // x < -bound : linear negative
@@ -1078,10 +1217,10 @@ static void CGeval(const mjModel* m, const mjData* d, mjCGContext* ctx, mjCGPnt*
     }
 
     // limit and contact
-    if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {         // elliptic cone
+    if (ctx->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {         // elliptic cone
       // extract contact info
-      mjContact* con = d->contact + d->efc_id[i];
-      mjtNum* quad = ctx->quad + 3*c;
+      const mjContact* con = ctx->contact + ctx->efc_id[i];
+      mjtNum* quad = ctx->quad + 3*i;
       int dim = con->dim;
       mjtNum mu = con->mu;
 
@@ -1137,14 +1276,14 @@ static void CGeval(const mjModel* m, const mjData* d, mjCGContext* ctx, mjCGPnt*
       }
 
       // advance to next constraint
-      c += (dim-1);
+      i += (dim-1);
     } else {                                                  // inequality
       // search point
-      mjtNum x = ctx->Jaref[c] + alpha*ctx->Jv[c];
+      mjtNum x = ctx->Jaref[i] + alpha*ctx->Jv[i];
 
       // active
       if (x < 0) {
-        mju_addTo3(quadTotal, ctx->quad+3*c);
+        mju_addTo3(quadTotal, ctx->quad+3*i);
       }
     }
   }
@@ -1170,7 +1309,7 @@ static void CGeval(const mjModel* m, const mjData* d, mjCGContext* ctx, mjCGPnt*
 
 
 // update bracket point given 3 candidate points
-static int updateBracket(const mjModel* m, const mjData* d, mjCGContext* ctx,
+static int updateBracket(mjCGContext* ctx,
                          mjCGPnt* p, const mjCGPnt candidates[3], mjCGPnt* pnext) {
   int flag = 0;
   for (int i=0; i < 3; i++) {
@@ -1192,7 +1331,7 @@ static int updateBracket(const mjModel* m, const mjData* d, mjCGContext* ctx,
   // compute next point if updated
   if (flag) {
     pnext->alpha = p->alpha - p->deriv[0]/p->deriv[1];
-    CGeval(m, d, ctx, pnext);
+    CGeval(ctx, pnext);
   }
 
   return flag;
@@ -1201,8 +1340,8 @@ static int updateBracket(const mjModel* m, const mjData* d, mjCGContext* ctx,
 
 
 // line search
-static mjtNum CGsearch(const mjModel* m, const mjData* d, mjCGContext* ctx) {
-  int nv = ctx->nv;
+static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations) {
+  int nv = ctx->nv, nefc = ctx->nefc;
   mjCGPnt p0, p1, p2, pmid, p1next, p2next;
 
   // clear results
@@ -1218,23 +1357,36 @@ static mjtNum CGsearch(const mjModel* m, const mjData* d, mjCGContext* ctx) {
   }
 
   // compute scaled gradtol and slope scaling
-  mjtNum gtol = m->opt.tolerance * m->opt.ls_tolerance * snorm / ctx->scale;
+  mjtNum gtol = tolerance * snorm / ctx->scale;
   mjtNum slopescl = ctx->scale / snorm;
 
-  // compute Mv, Jv
-  mj_mulM_island(m, d, ctx->Mv, ctx->search, ctx->island, /*flg_vecunc=*/0);
-  mj_mulJacVec_island(m, d, ctx->Jv, ctx->search, ctx->island, /*flg_resunc=*/0, /*flg_vecunc=*/0);
+  // compute Mv = M * v  (island or monolithic)
+  if (ctx->island >= 0) {
+    mju_mulSymVecSparse(ctx->Mv, ctx->qM, ctx->search, nv,
+                        ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
+  } else {
+    mj_mulM_impl(ctx->Mv, ctx->search, nv, ctx->qM,
+                 ctx->dof_Madr, ctx->dof_parentid, ctx->M_diagnum);
+  }
+
+  // compute Jv = J * search  (dense or sparse)
+  if (!ctx->J_rowadr) {
+    mju_mulMatVec(ctx->Jv, ctx->J, ctx->search, nefc, nv);
+  } else {
+    mju_mulMatVecSparse(ctx->Jv, ctx->J, ctx->search, nefc,
+                        ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind, ctx->J_rowsuper);
+  }
 
   // prepare quadratics and cones
-  CGprepare(m, d, ctx);
+  CGprepare(ctx);
 
   // init at alpha = 0, save
   p0.alpha = 0;
-  CGeval(m, d, ctx, &p0);
+  CGeval(ctx, &p0);
 
   // always attempt one Newton step
   p1.alpha = p0.alpha - p0.deriv[0]/p0.deriv[1];
-  CGeval(m, d, ctx, &p1);
+  CGeval(ctx, &p1);
   if (p0.cost < p1.cost) {
     p1 = p0;
   }
@@ -1289,14 +1441,14 @@ static mjtNum CGsearch(const mjModel* m, const mjData* d, mjCGContext* ctx) {
 
   // one-sided search
   int p2update = 0;
-  while (p1.deriv[0]*dir <= -gtol && ctx->LSiter < m->opt.ls_iterations) {
+  while (p1.deriv[0]*dir <= -gtol && ctx->LSiter < ls_iterations) {
     // save current
     p2 = p1;
     p2update = 1;
 
     // move to Newton point w.r.t current
     p1.alpha -= p1.deriv[0]/p1.deriv[1];
-    CGeval(m, d, ctx, &p1);
+    CGeval(ctx, &p1);
 
     // check for convergence
     if (mju_abs(p1.deriv[0]) < gtol) {
@@ -1306,7 +1458,7 @@ static mjtNum CGsearch(const mjModel* m, const mjData* d, mjCGContext* ctx) {
   }
 
   // check for failure to bracket
-  if (ctx->LSiter >= m->opt.ls_iterations) {
+  if (ctx->LSiter >= ls_iterations) {
     ctx->LSresult = 3;                          // could not bracket
     ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
     return p1.alpha;
@@ -1322,13 +1474,13 @@ static mjtNum CGsearch(const mjModel* m, const mjData* d, mjCGContext* ctx) {
   // compute next-points for bracket
   p2next = p1;
   p1next.alpha = p1.alpha - p1.deriv[0]/p1.deriv[1];
-  CGeval(m, d, ctx, &p1next);
+  CGeval(ctx, &p1next);
 
   // bracketed search
-  while (ctx->LSiter < m->opt.ls_iterations) {
+  while (ctx->LSiter < ls_iterations) {
     // evaluate at midpoint
     pmid.alpha = 0.5*(p1.alpha + p2.alpha);
-    CGeval(m, d, ctx, &pmid);
+    CGeval(ctx, &pmid);
 
     // make list of candidates
     mjCGPnt candidates[3] = {p1next, p2next, pmid};
@@ -1349,8 +1501,8 @@ static mjtNum CGsearch(const mjModel* m, const mjData* d, mjCGContext* ctx) {
     }
 
     // update brackets
-    int b1 = updateBracket(m, d, ctx, &p1, candidates, &p1next);
-    int b2 = updateBracket(m, d, ctx, &p2, candidates, &p2next);
+    int b1 = updateBracket(ctx, &p1, candidates, &p1next);
+    int b2 = updateBracket(ctx, &p2, candidates, &p2next);
 
     // no update possible: numerical accuracy reached, use midpoint
     if (!b1 && !b2) {
@@ -1730,8 +1882,6 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   // local copies
   int nv   = ctx.nv;
   int nefc = ctx.nefc;
-  const int* dofind = ctx.dofind;
-  const int* efcind = ctx.efcind;
 
   // allocate local storage
   if (!flg_Newton) {
@@ -1741,27 +1891,32 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   }
   int* oldstate = mjSTACKALLOC(d, nefc, int);
 
-  // initialize matrix-vector products
-  int flg_vecunc = 1;  // d->qacc is uncompressed
-  mj_mulM_island(m, d, ctx.Ma, d->qacc, island, flg_vecunc);
-  int flg_resunc = 0;  // ctx.Jaref is compressed
-  mj_mulJacVec_island(m, d, ctx.Jaref, d->qacc, island, flg_resunc, flg_vecunc);
-  if (island < 0) {
-    mju_subFrom(ctx.Jaref, d->efc_aref, nefc);
+  // compute Ma = M * qacc  (island or monolithic)
+  if (island >= 0) {
+    mju_mulSymVecSparse(ctx.Ma, ctx.qM, ctx.qacc, nv,
+                        ctx.M_rownnz, ctx.M_rowadr, ctx.M_diagnum, ctx.M_colind);
   } else {
-    for (int c=0; c < nefc; c++) {
-      ctx.Jaref[c] -= d->efc_aref[efcind[c]];
-    }
+    mj_mulM_impl(ctx.Ma, ctx.qacc, nv, ctx.qM,
+                 ctx.dof_Madr, ctx.dof_parentid, ctx.M_diagnum);
   }
 
+  // compute Jaref = J * qacc - aref  (dense or sparse)
+  if (!ctx.J_rownnz) {
+    mju_mulMatVec(ctx.Jaref, ctx.J, ctx.qacc, nefc, nv);
+  } else {
+    mju_mulMatVecSparse(ctx.Jaref, ctx.J, ctx.qacc, nefc,
+                        ctx.J_rownnz, ctx.J_rowadr, ctx.J_colind, ctx.J_rowsuper);
+  }
+  mju_subFrom(ctx.Jaref, ctx.efc_aref, nefc);
+
   // first update
-  CGupdateConstraint(m, d, &ctx);
+  CGupdateConstraint(&ctx);
   if (flg_Newton) {
     // compute and factorize Hessian
     MakeHessian(m, d, &ctx);
     FactorizeHessian(m, d, &ctx, /*flg_recompute=*/0);
   }
-  CGupdateGradient(m, d, &ctx);
+  CGupdateGradient(&ctx);
 
   // start both with preconditioned gradient
   mju_scl(ctx.search, ctx.Mgrad, -1, nv);
@@ -1772,8 +1927,9 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
     scale = 1 / (m->stat.meaninertia * mjMAX(1, m->nv));
   } else {
     mjtNum island_inertia = 0;
-    for (int c=0; c < nv; c++) {
-      island_inertia += d->qM[m->dof_Madr[dofind[c]]];
+    for (int i=0; i < nv; i++) {
+      int* map2dof = d->map_idof2dof + d->island_idofadr[island];
+      island_inertia += d->qM[m->dof_Madr[map2dof[i]]];
     }
     scale = 1 / island_inertia;
   }
@@ -1782,7 +1938,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   // main loop
   while (iter < maxiter) {
     // perform linesearch
-    alpha = CGsearch(m, d, &ctx);
+    alpha = CGsearch(&ctx, m->opt.tolerance * m->opt.ls_tolerance, m->opt.ls_iterations);
 
     // no improvement: done
     if (alpha == 0) {
@@ -1790,13 +1946,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
     }
 
     // move to new solution
-    if (island < 0) {
-      mju_addToScl(d->qacc, ctx.search, alpha, nv);
-    } else {
-      for (int c=0; c < nv; c++) {
-        d->qacc[dofind[c]] += alpha * ctx.search[c];
-      }
-    }
+    mju_addToScl(ctx.qacc, ctx.search, alpha, nv);
     mju_addToScl(ctx.Ma, ctx.Mv, alpha, nv);
     mju_addToScl(ctx.Jaref, ctx.Jv, alpha, nefc);
 
@@ -1805,27 +1955,20 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
       mju_copy(gradold, ctx.grad, nv);
       mju_copy(Mgradold, ctx.Mgrad, nv);
     }
-    if (island < 0) {
-      mju_copyInt(oldstate, d->efc_state, nefc);
-    } else {
-      for (int c=0; c < nefc; c++) {
-        oldstate[c] = d->efc_state[efcind[c]];
-      }
-    }
+    mju_copyInt(oldstate, ctx.efc_state, nefc);
     mjtNum oldcost = ctx.cost;
 
     // update
-    CGupdateConstraint(m, d, &ctx);
+    CGupdateConstraint(&ctx);
     if (flg_Newton) {
       HessianIncremental(m, d, &ctx, oldstate);
     }
-    CGupdateGradient(m, d, &ctx);
+    CGupdateGradient(&ctx);
 
     // count state changes
     int nchange = 0;
-    for (int c=0; c < nefc; c++) {
-      int i = efcind ? efcind[c] : c;
-      nchange += (d->efc_state[i] != oldstate[c]);
+    for (int i=0; i < nefc; i++) {
+      nchange += (ctx.efc_state[i] != oldstate[i]);
     }
 
     // scale improvement, gradient, save stats
@@ -1857,8 +2000,8 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
       }
 
       // update
-      for (int c=0; c < nv; c++) {
-        ctx.search[c] = -ctx.Mgrad[c] + beta*ctx.search[c];
+      for (int i=0; i < nv; i++) {
+        ctx.search[i] = -ctx.Mgrad[i] + beta*ctx.search[i];
       }
     }
   }
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 2b3960e8..541cf31f 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -972,14 +972,9 @@ void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M) {
 
 
 
-// multiply vector by inertia matrix
-void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
-  int nv = m->nv;
-  const mjtNum* M = d->qM;
-  const int* Madr = m->dof_Madr;
-  const int* parentid = m->dof_parentid;
-  const int* simplenum = m->dof_simplenum;
-
+// multiply vector by inertia matrix (implementation)
+void mj_mulM_impl(mjtNum* res, const mjtNum* vec, int nv, const mjtNum* M,
+                  const int* Madr, const int* parentid, const int* simplenum) {
   mju_zero(res, nv);
 
   for (int i=0; i < nv; i++) {
@@ -1031,64 +1026,9 @@ void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
 
 
 
-// multiply vector by inertia matrix for one dof island
-void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                    int island, int flg_vecunc) {
-  // if no island, call regular function
-  if (island < 0) {
-    mj_mulM(m, d, res, vec);
-    return;
-  }
-
-  // local constants: general
-  const mjtNum* M = d->qM;
-  const int* Madr = m->dof_Madr;
-  const int* parentid = m->dof_parentid;
-  const int* simplenum = m->dof_simplenum;
-
-  // local constants: island specific
-  int ndof = d->island_dofnum[island];
-  const int* dofind = d->island_dofind + d->island_dofadr[island];
-  const int* islandind = d->dof_islandind;
-
-  mju_zero(res, ndof);
-
-  for (int k=0; k < ndof; k++) {
-    // address in full dof vector
-    int i = dofind[k];
-
-    // address in M
-    int adr = Madr[i];
-
-    // diagonal
-    if (flg_vecunc) {
-      res[k] = M[adr]*vec[i];
-    } else {
-      res[k] = M[adr]*vec[k];
-    }
-
-    // simple dof: continue
-    if (simplenum[i]) {
-      continue;
-    }
-
-    // off-diagonal
-    int j = parentid[i];
-    while (j >= 0) {
-      adr++;
-      int l = islandind[j];
-      if (flg_vecunc) {
-        res[k] += M[adr]*vec[j];
-        res[l] += M[adr]*vec[i];
-      } else {
-        res[k] += M[adr]*vec[l];
-        res[l] += M[adr]*vec[k];
-      }
-
-      // advance to parent
-      j = parentid[j];
-    }
-  }
+// multiply vector by inertia matrix
+void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
+  mj_mulM_impl(res, vec, m->nv, d->qM, m->dof_Madr, m->dof_parentid, m->dof_simplenum);
 }
 
 
diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h
index c188ea38..220979da 100644
--- a/src/engine/engine_support.h
+++ b/src/engine/engine_support.h
@@ -120,13 +120,13 @@ MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
 // convert sparse inertia matrix M into full matrix
 MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
 
+// multiply vector by inertia matrix (implementation)
+MJAPI void mj_mulM_impl(mjtNum* res, const mjtNum* vec, int nv, const mjtNum* M,
+                        const int* Madr, const int* parentid, const int* simplenum);
+
 // multiply vector by inertia matrix
 MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
 
-// multiply vector by inertia matrix for one dof island
-MJAPI void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
-                          int island, int flg_vecunc);
-
 // multiply vector by (inertia matrix)^(1/2)
 MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
 
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index bec28aa3..b7f06601 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -1408,6 +1408,24 @@ void mju_scatter(mjtNum* restrict res, const mjtNum* restrict vec, const int* re
 
 
 
+// gather integers
+void mju_gatherInt(int* restrict res, const int* restrict vec, const int* restrict ind, int n) {
+  for (int i=0; i < n; i++) {
+    res[i] = vec[ind[i]];
+  }
+}
+
+
+
+// scatter integers
+void mju_scatterInt(int* restrict res, const int* restrict vec, const int* restrict ind, int n) {
+  for (int i=0; i < n; i++) {
+    res[ind[i]] = vec[i];
+  }
+}
+
+
+
 // insertion sort, increasing order
 void mju_insertionSort(mjtNum* list, int n) {
   for (int i=1; i < n; i++) {
diff --git a/src/engine/engine_util_misc.h b/src/engine/engine_util_misc.h
index de10f907..f7f23782 100644
--- a/src/engine/engine_util_misc.h
+++ b/src/engine/engine_util_misc.h
@@ -156,12 +156,18 @@ MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
 // convert from mjtNum to double
 MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
 
-// gather
+// gather mjtNums
 MJAPI void mju_gather(mjtNum* res, const mjtNum* vec, const int* ind, int n);
 
-// scatter
+// scatter mjtNums
 MJAPI void mju_scatter(mjtNum* res, const mjtNum* vec, const int* ind, int n);
 
+// gather integers
+MJAPI void mju_gatherInt(int* res, const int* vec, const int* ind, int n);
+
+// scatter integers
+MJAPI void mju_scatterInt(int* res, const int* vec, const int* ind, int n);
+
 // insertion sort, increasing order
 MJAPI void mju_insertionSort(mjtNum* list, int n);
 
diff --git a/src/engine/engine_vis_state.c b/src/engine/engine_vis_state.c
index 9a0ea210..ff305f05 100644
--- a/src/engine/engine_vis_state.c
+++ b/src/engine/engine_vis_state.c
@@ -98,7 +98,6 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
 
   // buffer space required for islands
   scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->island_dofadr) * m->ntree);
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->island_dofind) * m->nv);
   scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->dof_island) * m->nv);
   scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->efc_island) * maxgeom * condimmax);
   scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->tendon_efcadr) * m->ntendon);
@@ -136,9 +135,6 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
   scnstate->data.island_dofadr = (int*)ptr;
   ptr += roundUpToCacheLine(sizeof(*scnstate->data.island_dofadr) * scnstate->model.ntree);
 
-  scnstate->data.island_dofind = (int*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.island_dofind) * scnstate->model.nv);
-
   scnstate->data.dof_island = (int*)ptr;
   ptr += roundUpToCacheLine(sizeof(*scnstate->data.dof_island) * scnstate->model.nv);
 
@@ -224,7 +220,6 @@ void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData*
     d->contact = scnstate->data.contact;
     d->efc_force = scnstate->data.efc_force;
     d->island_dofadr = scnstate->data.island_dofadr;
-    d->island_dofind = scnstate->data.island_dofind;
     d->dof_island = scnstate->data.dof_island;
     d->efc_island = scnstate->data.efc_island;
     d->tendon_efcadr = scnstate->data.tendon_efcadr;
@@ -385,7 +380,6 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
   scnstate->data.nisland = d->nisland;
   if (d->nisland) {
     memcpy(scnstate->data.island_dofadr, d->island_dofadr, sizeof(*d->island_dofadr) * d->nisland);
-    memcpy(scnstate->data.island_dofind, d->island_dofind, sizeof(*d->island_dofind) *  m->nv);
     memcpy(scnstate->data.dof_island, d->dof_island, sizeof(*d->dof_island) * m->nv);
     memcpy(scnstate->data.tendon_efcadr, d->tendon_efcadr, sizeof(*d->tendon_efcadr) * m->ntendon);
   }
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 1e665a2c..012cb966 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -91,9 +91,9 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
 
 // assign pseudo-random rgba to constraint island using Halton sequence
 static void islandColor(float rgba[4], int islanddofadr) {
-  rgba[0] = 0.1f + 0.8f*mju_Halton(islanddofadr + 1, 2);
-  rgba[1] = 0.1f + 0.8f*mju_Halton(islanddofadr + 1, 3);
-  rgba[2] = 0.1f + 0.8f*mju_Halton(islanddofadr + 1, 5);
+  rgba[0] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 2);
+  rgba[1] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 3);
+  rgba[2] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 5);
   rgba[3] = 1;
 }
 
@@ -152,7 +152,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
       // override standard colors if visualizing islands
       if (vopt->flags[mjVIS_ISLAND] && d->nisland && efc_adr >= 0) {
         // set color using island's first dof
-        islandColor(thisgeom->rgba, d->island_dofind[d->island_dofadr[d->efc_island[efc_adr]]]);
+        islandColor(thisgeom->rgba, d->island_dofadr[d->efc_island[efc_adr]]);
       }
 
       // otherwise regular colors (different for included and excluded contacts)
@@ -1344,7 +1344,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           int island = d->dof_island[m->body_dofadr[weld_id]];
           if (island > -1) {
             // color using island's first dof
-            islandColor(rgba_island, d->island_dofind[d->island_dofadr[island]]);
+            islandColor(rgba_island, d->island_dofadr[island]);
           }
         }
       }
@@ -1835,7 +1835,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
                 if (d->tendon_efcadr[i] != -1) {
                   // set color using island's first dof
                   int island = d->efc_island[d->tendon_efcadr[i]];
-                  islandColor(rgba_island, d->island_dofind[d->island_dofadr[island]]);
+                  islandColor(rgba_island, d->island_dofadr[island]);
                 }
               }
               setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);
diff --git a/test/engine/engine_core_constraint_test.cc b/test/engine/engine_core_constraint_test.cc
index a0a8f149..3704bdfc 100644
--- a/test/engine/engine_core_constraint_test.cc
+++ b/test/engine/engine_core_constraint_test.cc
@@ -25,6 +25,7 @@
 #include <mujoco/mujoco.h>
 #include "src/engine/engine_core_constraint.h"
 #include "src/engine/engine_support.h"
+#include "src/engine/engine_util_misc.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -284,205 +285,15 @@ TEST_F(CoreConstraintTest, EqualityBodySite) {
   mj_deleteModel(model);
 }
 
-
 static const char* const kIlslandEfcPath =
     "engine/testdata/island/island_efc.xml";
 
-TEST_F(CoreConstraintTest, MulJacVecIsland) {
+// validate mj_constraintUpdate_impl
+TEST_F(CoreConstraintTest, ConstraintUpdateImpl) {
   const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
   mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // allocate vec_nv, fill with arbitrary values
-  mjtNum* vec_nv = (mjtNum*) mju_malloc(sizeof(mjtNum)*model->nv);
-  for (int i=0; i < model->nv; i++) {
-    vec_nv[i] = 0.2 + 0.3*i;
-  }
-
-  // iterate through dense and sparse
-  for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-    model->opt.jacobian = sparsity;
-
-    // simulate for 0.2 seconds
-    mj_resetData(model, data);
-    while (data->time < 0.2) {
-      mj_step(model, data);
-    }
-    mj_forward(model, data);
-
-    // multiply by Jacobian: vec_nefc = J * vec_nv
-    mjtNum* vec_nefc = (mjtNum*) mju_malloc(sizeof(mjtNum)*data->nefc);
-    mj_mulJacVec(model, data, vec_nefc, vec_nv);
-    mjtNum* vec_nefc_tmp = (mjtNum*) mju_malloc(sizeof(mjtNum)*data->nefc);
-
-    // iterate over islands
-    for (int i=0; i < data->nisland; i++) {
-      // allocate dof and efc vectors for island
-      int dofnum = data->island_dofnum[i];
-      mjtNum* vec_nvi = (mjtNum*)mju_malloc(sizeof(mjtNum) * dofnum);
-      int efcnum = data->island_efcnum[i];
-      mjtNum* vec_nefci = (mjtNum*)mju_malloc(sizeof(mjtNum) * efcnum);
-
-      // get indices
-      int* dofind = data->island_dofind + data->island_dofadr[i];
-      int* efcind = data->island_efcind + data->island_efcadr[i];
-
-      // copy values into vec_nvi
-      for (int j=0; j < dofnum; j++) {
-        vec_nvi[j] = vec_nv[dofind[j]];
-      }
-
-      // ===== both compressed
-      int flg_resunc = 0;
-      int flg_vecunc = 0;
-      mju_zero(vec_nefci, efcnum);  // clear output
-      mj_mulJacVec_island(model, data, vec_nefci, vec_nvi,
-                          i, flg_resunc, flg_vecunc);
-
-      // expect corresponding values to match
-      for (int j=0; j < efcnum; j++) {
-        EXPECT_THAT(vec_nefci[j], DoubleNear(vec_nefc[efcind[j]], 1e-12));
-      }
-
-      // ===== input uncompressed: read from vec_nv
-      flg_resunc = 0;
-      flg_vecunc = 1;
-      mju_zero(vec_nefci, efcnum);  // clear output
-      mj_mulJacVec_island(model, data, vec_nefci, vec_nv,
-                          i, flg_resunc, flg_vecunc);
-
-      // expect corresponding values to match
-      for (int j=0; j < efcnum; j++) {
-        EXPECT_THAT(vec_nefci[j], DoubleNear(vec_nefc[efcind[j]], 1e-12));
-      }
-
-      // ===== output uncompressed: write to vec_nefc_tmp
-      flg_resunc = 1;
-      flg_vecunc = 0;
-      mju_zero(vec_nefc_tmp, data->nefc);  // clear output
-      mj_mulJacVec_island(model, data, vec_nefc_tmp, vec_nvi,
-                          i, flg_resunc, flg_vecunc);
-
-      // expect corresponding values to match
-      for (int j=0; j < efcnum; j++) {
-        EXPECT_THAT(vec_nefc_tmp[efcind[j]],
-                    DoubleNear(vec_nefc[efcind[j]], 1e-12));
-      }
-
-      mju_free(vec_nvi);
-      mju_free(vec_nefci);
-    }
-
-    mju_free(vec_nefc_tmp);
-    mju_free(vec_nefc);
-  }
-
-  mju_free(vec_nv);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(CoreConstraintTest, MulJacTVecIsland) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // allocate vec_nv
-  mjtNum* vec_nv = (mjtNum*) mju_malloc(sizeof(mjtNum)*model->nv);
-  mjtNum* vec_nv_tmp = (mjtNum*) mju_malloc(sizeof(mjtNum)*model->nv);
-
-  // iterate through dense and sparse
-  for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-    model->opt.jacobian = sparsity;
-
-    // simulate for 0.3 seconds
-    mj_resetData(model, data);
-    while (data->time < 0.3) {
-      mj_step(model, data);
-    }
-    mj_forward(model, data);
-
-    // allocate vec_nefc, fill with arbitrary values
-    mjtNum* vec_nefc = (mjtNum*) mju_malloc(sizeof(mjtNum)*data->nefc);
-    for (int i=0; i < data->nefc; i++) {
-      vec_nefc[i] = 0.2 + 0.3*i;
-    }
-
-    // multiply by Jacobian: vec_nv = J^T * vec_nefc
-    mj_mulJacTVec(model, data, vec_nv, vec_nefc);
-
-    // iterate over islands
-    for (int i=0; i < data->nisland; i++) {
-      // allocate dof and efc vectors for island
-      int dofnum = data->island_dofnum[i];
-      mjtNum* vec_nvi = (mjtNum*)mju_malloc(sizeof(mjtNum) * dofnum);
-      int efcnum = data->island_efcnum[i];
-      mjtNum* vec_nefci = (mjtNum*)mju_malloc(sizeof(mjtNum) * efcnum);
-
-      // get indices
-      int* efcind = data->island_efcind + data->island_efcadr[i];
-      int* dofind = data->island_dofind + data->island_dofadr[i];
-
-      // copy values into vec_nefci
-      for (int j=0; j < efcnum; j++) {
-        vec_nefci[j] = vec_nefc[efcind[j]];
-      }
-
-      // ==== both compressed
-      int flg_resunc = 0;
-      int flg_vecunc = 0;
-      mju_zero(vec_nvi, dofnum);  // clear output
-      mj_mulJacTVec_island(model, data, vec_nvi, vec_nefci,
-                           i, flg_resunc, flg_vecunc);
-
-      // expect corresponding values to match
-      for (int j=0; j < dofnum; j++) {
-        EXPECT_THAT(vec_nvi[j], DoubleNear(vec_nv[dofind[j]], 1e-12));
-      }
-
-      // ===== input uncompressed: read from vec_nefc
-      flg_resunc = 0;
-      flg_vecunc = 1;
-      mju_zero(vec_nvi, dofnum);  // clear output
-      mj_mulJacTVec_island(model, data, vec_nvi, vec_nefc,
-                           i, flg_resunc, flg_vecunc);
-
-      // expect corresponding values to match
-      for (int j=0; j < dofnum; j++) {
-        EXPECT_THAT(vec_nvi[j], DoubleNear(vec_nv[dofind[j]], 1e-12));
-      }
-
-      // ===== output uncompressed: write to vec_nv_tmp
-      flg_resunc = 1;
-      flg_vecunc = 0;
-      mju_zero(vec_nv_tmp, model->nv);  // clear output
-      mj_mulJacTVec_island(model, data, vec_nv_tmp, vec_nefci,
-                           i, flg_resunc, flg_vecunc);
-
-      // expect corresponding values to match
-      for (int j=0; j < dofnum; j++) {
-        EXPECT_THAT(vec_nv_tmp[dofind[j]],
-                    DoubleNear(vec_nv[dofind[j]], 1e-12));
-      }
-
-      mju_free(vec_nvi);
-      mju_free(vec_nefci);
-    }
-    mju_free(vec_nefc);
-  }
-
-  mju_free(vec_nv_tmp);
-  mju_free(vec_nv);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// compare mj_constraintUpdate and mj_constraintUpdate_island
-TEST_F(CoreConstraintTest, ConstraintUpdateIsland) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data1 = mj_makeData(model);
-  mjData* data2 = mj_makeData(model);
+  mjData* d1 = mj_makeData(model);
+  mjData* d2 = mj_makeData(model);
 
   // iterate over sparsity and cone
   for (mjtJacobian sparsity : {mjJAC_SPARSE, mjJAC_DENSE}) {
@@ -491,81 +302,84 @@ TEST_F(CoreConstraintTest, ConstraintUpdateIsland) {
       model->opt.cone = cone;
 
       // simulate for 0.2 seconds
-      mj_resetData(model, data1);
-      mj_resetData(model, data2);
-      while (data1->time < 0.2) {
-        mj_step(model, data1);
-        mj_step(model, data2);
+      mj_resetData(model, d1);
+      mj_resetData(model, d2);
+      while (d1->time < 0.2) {
+        mj_step(model, d1);
+        mj_step(model, d2);
       }
-      mj_forward(model, data1);
-      mj_forward(model, data2);
+      mj_forward(model, d1);
+      mj_forward(model, d2);
 
       // get sizes
-      int nefc = data1->nefc;
+      int nefc = d1->nefc;
       int nv = model->nv;
-      int nisland = data1->nisland;
+      int nisland = d1->nisland;
       EXPECT_GT(nisland, 0);
 
       // get jar = J*a - aref
       mjtNum* jar = (mjtNum*)mju_malloc(sizeof(mjtNum) * nefc);
-      mj_mulJacVec(model, data1, jar, data1->qacc);
-      mju_subFrom(jar, data1->efc_aref, nefc);
+      mj_mulJacVec(model, d1, jar, d1->qacc);
+      mju_subFrom(jar, d1->efc_aref, nefc);
 
       // constraint update for data1 given jar
       mjtNum cost1;
-      mj_constraintUpdate(model, data1, jar, &cost1, /*flg_coneHessian=*/1);
+      mj_constraintUpdate(model, d1, jar, &cost1, /*flg_coneHessian=*/1);
 
       // iterate over islands, check match
       mjtNum cost2 = 0;
       for (int island=0; island < nisland; island++) {
         // clear outputs from data2
-        for (int i=0; i < nefc; i++) data2->efc_state[i] = -1;
-        mju_zero(data2->efc_force, nefc);
-        mju_zero(data2->qfrc_constraint, nv);
-        for (int i=0; i < data2->ncon; i++) mju_zero(data2->contact[i].H, 36);
+        for (int i=0; i < nefc; i++) d2->efc_state[i] = -1;
+        mju_zero(d2->efc_force, nefc);
+        mju_zero(d2->qfrc_constraint, nv);
+        for (int i=0; i < d2->ncon; i++) mju_zero(d2->contact[i].H, 36);
 
         // sizes and indices, in this island
-        int dofnum = data2->island_dofnum[island];
-        int efcnum = data2->island_efcnum[island];
-        int* dofind = data2->island_dofind + data2->island_dofadr[island];
-        int* efcind = data2->island_efcind + data2->island_efcadr[island];
+        int efcnum = d2->island_nefc[island];
 
-        // get jar restricted to island
+        // gather values into jari
         mjtNum* jari = (mjtNum*)mju_malloc(sizeof(mjtNum) * efcnum);
-        for (int c=0; c < efcnum; c++) {
-          jari[c] = jar[efcind[c]];
-        }
+        int* map2efc = d2->map_iefc2efc + d2->island_iefcadr[island];
+        mju_gather(jari, jar, map2efc, efcnum);
 
         // update constraints for this island
         mjtNum cost2i;
-        mj_constraintUpdate_island(model, data2, jari, &cost2i,
-                                  /*flg_coneHessian=*/1, island);
+        int ne  = d2->island_ne[island];
+        int nf  = d2->island_nf[island];
+        int adr = d2->island_iefcadr[island];
+        int* state = d2->iefc_state + adr;
+        mjtNum *force = d2->iefc_force + adr;
+        mj_constraintUpdate_impl(ne, nf, efcnum,
+                                 d2->iefc_D + adr,
+                                 d2->iefc_R + adr,
+                                 d2->iefc_frictionloss + adr,
+                                 jari,
+                                 d2->iefc_type + adr,
+                                 d2->iefc_id + adr,
+                                 d2->contact,
+                                 state,
+                                 force,
+                                 &cost2i,
+                                 /*flg_coneHessian=*/1);
 
         // compare nefc vectors
         for (int c=0; c < efcnum; c++) {
-          int i = efcind[c];
-          EXPECT_EQ(data2->efc_island[i], island);
-          EXPECT_EQ(data2->efc_state[i], data1->efc_state[i]);
-          EXPECT_THAT(data2->efc_force[i],
-                      DoubleNear(data1->efc_force[i], 1e-12));
-        }
-
-        // compare qfrc_constraint
-        for (int c=0; c < dofnum; c++) {
-          int i = dofind[c];
-          EXPECT_THAT(data2->qfrc_constraint[i],
-                      DoubleNear(data1->qfrc_constraint[i], 1e-12));
+          int i = map2efc[c];
+          EXPECT_EQ(d2->efc_island[i], island);
+          EXPECT_EQ(state[c], d1->efc_state[i]);
+          EXPECT_THAT(force[c], DoubleNear(d1->efc_force[i], 1e-12));
         }
 
         // compare cone Hessians
         if (cone == mjCONE_ELLIPTIC) {
-          for (int c=0; c < data2->ncon; c++) {
-            int efcadr = data2->contact[c].efc_address;
-            if (data2->efc_island[efcadr] == island &&
-                data2->efc_state[efcadr] == mjCNSTRSTATE_CONE) {
+          for (int c=0; c < d2->ncon; c++) {
+            int efcadr = d2->contact[c].efc_address;
+            if (d2->efc_island[efcadr] == island &&
+                d2->efc_state[efcadr] == mjCNSTRSTATE_CONE) {
               for (int j=0; j < 36; j++) {
-                EXPECT_THAT(data2->contact[c].H[j],
-                            DoubleNear(data1->contact[c].H[j], 1e-12));
+                EXPECT_THAT(d2->contact[c].H[j],
+                            DoubleNear(d1->contact[c].H[j], 1e-12));
               }
             }
           }
@@ -584,8 +398,8 @@ TEST_F(CoreConstraintTest, ConstraintUpdateIsland) {
     }
   }
 
-  mj_deleteData(data2);
-  mj_deleteData(data1);
+  mj_deleteData(d2);
+  mj_deleteData(d1);
   mj_deleteModel(model);
 }
 
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 1c71475a..7e4c113a 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -634,66 +634,6 @@ TEST_F(CoreSmoothTest, RefsiteConservesMomentum) {
   mj_deleteModel(model);
 }
 
-static const char* const kIlslandEfcPath =
-    "engine/testdata/island/island_efc.xml";
-static const char* const kModelPath =
-    "testdata/model.xml";
-
-TEST_F(CoreSmoothTest, SolveMIsland) {
-  for (auto model_path : {kModelPath, kIlslandEfcPath}) {
-    const std::string xml_path = GetTestDataFilePath(model_path);
-    mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-    mjData* data = mj_makeData(model);
-    int nv = model->nv;
-
-    // allocate vec, fill with arbitrary values, copy to sol
-    mjtNum* vec = (mjtNum*) mju_malloc(sizeof(mjtNum) * nv);
-    mjtNum* res = (mjtNum*) mju_malloc(sizeof(mjtNum) * nv);
-    for (int i=0; i < nv; i++) {
-      vec[i] = 0.2 + 0.3*i;
-    }
-    mju_copy(res, vec, nv);
-
-    if (model->nkey > 0) mj_resetDataKeyframe(model, data, 0);
-
-    for (int i=0; i < 6; i++) {
-      mj_step(model, data);
-    }
-
-    mj_forward(model, data);
-
-    // divide by mass matrix: sol = M^-1 * vec
-    mj_solveM(model, data, res, res, 1);
-
-    // iterate over islands
-    for (int i=0; i < data->nisland; i++) {
-      // allocate dof vectors for island
-      int dofnum = data->island_dofnum[i];
-      mjtNum* res_i = (mjtNum*)mju_malloc(sizeof(mjtNum) * dofnum);
-
-      // copy values into sol_i
-      int* dofind = data->island_dofind + data->island_dofadr[i];
-      for (int j=0; j < dofnum; j++) {
-        res_i[j] = vec[dofind[j]];
-      }
-
-      // divide by mass matrix, for this island
-      mj_solveM_island(model, data, res_i, i);
-
-      // expect corresponding values to match
-      for (int j=0; j < dofnum; j++) {
-        EXPECT_THAT(res_i[j], DoubleNear(res[dofind[j]], 1e-12));
-      }
-      mju_free(res_i);
-    }
-
-    mju_free(res);
-    mju_free(vec);
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
 static const char* const kInertiaPath = "engine/testdata/inertia.xml";
 
 TEST_F(CoreSmoothTest, FactorI) {
diff --git a/test/engine/engine_island_test.cc b/test/engine/engine_island_test.cc
index 3688c15b..e59ac3b4 100644
--- a/test/engine/engine_island_test.cc
+++ b/test/engine/engine_island_test.cc
@@ -208,17 +208,19 @@ TEST_F(IslandTest, Abacus) {
   int nv      = model->nv;
   int nefc    = data->nefc;
   int nisland = data->nisland;
+  int nidof   = data->nidof;
 
   // 4 dofs, 12 constraints, 2 islands
   EXPECT_EQ(nv, 4);
+  EXPECT_EQ(nidof, 3);
   EXPECT_EQ(nefc, 12);  // 3 pyramidal contacts
   EXPECT_EQ(nisland, 2);
 
   // the islands begin at dofs 0 and 1
-  EXPECT_THAT(AsVector(data->island_dofadr, nisland), ElementsAre(0, 1));
+  EXPECT_THAT(AsVector(data->island_idofadr, nisland), ElementsAre(0, 1));
 
   // number of dofs in the 2 islands
-  EXPECT_THAT(AsVector(data->island_dofnum, nisland), ElementsAre(1, 2));
+  EXPECT_THAT(AsVector(data->island_nv, nisland), ElementsAre(1, 2));
 
   // dof 0 in    island 0
   // dof 1 in no island
@@ -228,19 +230,19 @@ TEST_F(IslandTest, Abacus) {
   // dof 0 constitutes first island
   // dofs 2, 3 are the second island
   // last index is unassigned since dof 1 is unconstrained
-  EXPECT_THAT(AsVector(data->island_dofind, nv), ElementsAre(0, 2, 3, -1));
+  EXPECT_THAT(AsVector(data->map_idof2dof, nv), ElementsAre(0, 2, 3, 1));
 
   // dof 0 constitutes first island
   // dofs 1 is unassigned
   // dofs 2, 3 are second island
-  EXPECT_THAT(AsVector(data->dof_islandind, nv), ElementsAre(0, -1, 0, 1));
+  EXPECT_THAT(AsVector(data->map_dof2idof, nv), ElementsAre(0, 3, 1, 2));
 
   // island 0 starts at constraint 0
   // island 1 starts at constraint 4
-  EXPECT_THAT(AsVector(data->island_efcadr, nisland), ElementsAre(0, 4));
+  EXPECT_THAT(AsVector(data->island_iefcadr, nisland), ElementsAre(0, 4));
 
   // number of constraints in the 2 islands
-  EXPECT_THAT(AsVector(data->island_efcnum, nisland), ElementsAre(4, 8));
+  EXPECT_THAT(AsVector(data->island_nefc, nisland), ElementsAre(4, 8));
 
   // first contact (4 constraints) is in island 0
   // second contact (8 constraints) is in island 1
@@ -248,7 +250,7 @@ TEST_F(IslandTest, Abacus) {
               ElementsAre(0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1));
 
   // index lists for islands 0 and 1
-  EXPECT_THAT(AsVector(data->island_efcind, nefc),
+  EXPECT_THAT(AsVector(data->map_iefc2efc, nefc),
               ElementsAre(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11));
 
   // reset, push 0 to the left, 3 to the right, 1,2 to the middle
@@ -266,18 +268,20 @@ TEST_F(IslandTest, Abacus) {
   // local variables
   nefc           = data->nefc;
   nisland        = data->nisland;
+  nidof          = data->nidof;
 
   EXPECT_EQ(nisland, 3);
-  EXPECT_THAT(AsVector(data->island_dofadr, nisland), ElementsAre(0, 1, 3));
-  EXPECT_THAT(AsVector(data->island_dofnum, nisland), ElementsAre(1, 2, 1));
+  EXPECT_EQ(nidof, 4);
+  EXPECT_THAT(AsVector(data->island_idofadr, nisland), ElementsAre(0, 1, 3));
+  EXPECT_THAT(AsVector(data->island_nv, nisland), ElementsAre(1, 2, 1));
   EXPECT_THAT(AsVector(data->dof_island, nv), ElementsAre(0, 1, 1, 2));
-  EXPECT_THAT(AsVector(data->island_dofind, nv), ElementsAre(0, 1, 2, 3));
-  EXPECT_THAT(AsVector(data->dof_islandind, nv), ElementsAre(0, 0, 1, 0));
-  EXPECT_THAT(AsVector(data->island_efcadr, nisland), ElementsAre(0, 4, 8));
-  EXPECT_THAT(AsVector(data->island_efcnum, nisland), ElementsAre(4, 4, 4));
+  EXPECT_THAT(AsVector(data->map_idof2dof, nv), ElementsAre(0, 1, 2, 3));
+  EXPECT_THAT(AsVector(data->map_dof2idof, nv), ElementsAre(0, 1, 2, 3));
+  EXPECT_THAT(AsVector(data->island_iefcadr, nisland), ElementsAre(0, 4, 8));
+  EXPECT_THAT(AsVector(data->island_nefc, nisland), ElementsAre(4, 4, 4));
   EXPECT_THAT(AsVector(data->efc_island, nefc),
               ElementsAre(0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2));
-  EXPECT_THAT(AsVector(data->island_efcind, nefc),
+  EXPECT_THAT(AsVector(data->map_iefc2efc, nefc),
               ElementsAre(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11));
 
   mj_deleteData(data);
@@ -311,27 +315,30 @@ TEST_F(IslandTest, DenseSparse) {
   int nisland = data1->nisland;
 
   // expect sparse and dense to be identical
+  EXPECT_EQ(data1->nidof, data2->nidof);
   EXPECT_EQ(data1->nefc, data2->nefc);
   EXPECT_EQ(data1->nisland, data2->nisland);
   EXPECT_EQ(data1->nefc, data2->nefc);
-  EXPECT_EQ(AsVector(data1->island_dofadr, nisland),
-            AsVector(data2->island_dofadr, nisland));
-  EXPECT_EQ(AsVector(data1->island_dofnum, nisland),
-            AsVector(data2->island_dofnum, nisland));
+  EXPECT_EQ(AsVector(data1->island_idofadr, nisland),
+            AsVector(data2->island_idofadr, nisland));
+  EXPECT_EQ(AsVector(data1->island_nv, nisland),
+            AsVector(data2->island_nv, nisland));
   EXPECT_EQ(AsVector(data1->dof_island, nv),
             AsVector(data2->dof_island, nv));
-  EXPECT_EQ(AsVector(data1->island_dofind, nv),
-            AsVector(data2->island_dofind, nv));
-  EXPECT_EQ(AsVector(data1->dof_islandind, nv),
-            AsVector(data2->dof_islandind, nv));
-  EXPECT_EQ(AsVector(data1->island_efcadr, nisland),
-            AsVector(data2->island_efcadr, nisland));
-  EXPECT_EQ(AsVector(data1->island_efcnum, nisland),
-            AsVector(data2->island_efcnum, nisland));
+  EXPECT_EQ(AsVector(data1->map_idof2dof, nv),
+            AsVector(data2->map_idof2dof, nv));
+  EXPECT_EQ(AsVector(data1->map_dof2idof, nv),
+            AsVector(data2->map_dof2idof, nv));
+  EXPECT_EQ(AsVector(data1->island_iefcadr, nisland),
+            AsVector(data2->island_iefcadr, nisland));
+  EXPECT_EQ(AsVector(data1->island_nefc, nisland),
+            AsVector(data2->island_nefc, nisland));
   EXPECT_EQ(AsVector(data1->efc_island, nefc),
             AsVector(data2->efc_island, nefc));
-  EXPECT_EQ(AsVector(data1->island_efcind, nefc),
-            AsVector(data2->island_efcind, nefc));
+  EXPECT_EQ(AsVector(data1->map_iefc2efc, nefc),
+            AsVector(data2->map_iefc2efc, nefc));
+  EXPECT_EQ(AsVector(data1->map_efc2iefc, nefc),
+            AsVector(data2->map_efc2iefc, nefc));
 
   mj_deleteData(data2);
   mj_deleteData(data1);
@@ -361,6 +368,156 @@ TEST_F(IslandTest, IslandEfc) {
   mj_deleteModel(model);
 }
 
+static const char* const k2H100Path = "engine/testdata/island/2humanoid100.xml";
+
+TEST_F(IslandTest, IslandJacobian) {
+  for (const char* local_path : {kIlslandEfcPath, k2H100Path}) {
+    const std::string xml_path = GetTestDataFilePath(local_path);
+    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
+    int jac0 = m->opt.jacobian;
+    mjData* d = mj_makeData(m);
+
+    for (mjtNum t_stop : {0.0, 0.2, 2.0}) {
+      while (d->time < t_stop) {
+        mj_step(m, d);
+      }
+
+      for (mjtJacobian jac : {mjJAC_DENSE, mjJAC_SPARSE}) {
+        m->opt.jacobian = jac;
+        mj_forward(m, d);
+
+        int nv = m->nv;
+        int nefc = d->nefc;
+        int nisland = d->nisland;
+        int nidof = d->nidof;
+
+        mjtNum* J = (mjtNum*)mju_malloc(sizeof(mjtNum) * nefc * nv);
+        mjtNum* iJ = (mjtNum*)mju_malloc(sizeof(mjtNum) * nefc * nidof);
+
+        // get local dense Jacobian
+        if (jac == mjJAC_DENSE) {
+          mju_copy(J, d->efc_J, nefc * nv);
+          mju_copy(iJ, d->iefc_J, nefc * nidof);
+        } else {
+          mju_sparse2dense(J, d->efc_J, nefc, nv, d->efc_J_rownnz,
+                           d->efc_J_rowadr, d->efc_J_colind);
+        }
+
+        // compare random access in efc_J to contiguous memory in iefc_J
+        for (int island=0; island < nisland; island++) {
+          int idof = d->island_idofadr[island];
+          int iefc = d->island_iefcadr[island];
+          int nefc_island = d->island_nefc[island];
+          int nv_island = d->island_nv[island];
+
+          // === test J
+
+          // get pointer to J_island, dense (nefc_island x nv_island) submatrix
+          mjtNum* J_island;
+          if (jac == mjJAC_DENSE) {
+            // point to starting address of island in efc_J
+            J_island = iJ + iefc * nidof;
+          } else {
+            // dense copy of island in iJ (here used as scratch)
+            mju_sparse2dense(iJ, d->iefc_J, nefc_island, nv_island,
+                             d->iefc_J_rownnz + iefc,
+                             d->iefc_J_rowadr + iefc,
+                             d->iefc_J_colind);
+            J_island = iJ;
+          }
+
+          // sequential memory in J_island equals random access memory in J
+          for (int i=0; i < nefc_island; i++) {
+            for (int j=0; j < nv_island; j++) {
+              int efc = d->map_iefc2efc[iefc + i];
+              int dof = d->map_idof2dof[idof + j];
+              EXPECT_EQ(J_island[i * nv_island + j], J[efc * nv + dof]);
+            }
+          }
+
+          // === test JT (if sparse)
+
+          // get pointer to J_island, dense (nefc_island x nv_island) submatrix
+          if (jac == mjJAC_SPARSE) {
+            // dense copy of island in iJ (here used as scratch)
+            mju_sparse2dense(iJ, d->iefc_JT, nv_island, nefc_island,
+                             d->iefc_JT_rownnz + idof,
+                             d->iefc_JT_rowadr + idof,
+                             d->iefc_JT_colind);
+            J_island = iJ;
+
+            // sequential memory in J_island equals random access memory in J
+            for (int i=0; i < nv_island; i++) {
+              for (int j=0; j < nefc_island; j++) {
+                int dof = d->map_idof2dof[idof + i];
+                int efc = d->map_iefc2efc[iefc + j];
+                EXPECT_EQ(J_island[i * nefc_island + j], J[efc * nv + dof]);
+              }
+            }
+          }
+        }
+
+        mju_free(iJ);
+        mju_free(J);
+      }
+
+      // reset opt.jacobian to initial value
+      m->opt.jacobian = jac0;
+    }
+
+    mj_deleteData(d);
+    mj_deleteModel(m);
+  }
+}
+
+TEST_F(IslandTest, IslandInertia) {
+  for (const char* local_path : {kIlslandEfcPath, k2H100Path}) {
+    const std::string xml_path = GetTestDataFilePath(local_path);
+    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
+    int nv = m->nv;
+    mjData* d = mj_makeData(m);
+    mjtNum* M = (mjtNum*)mju_malloc(sizeof(mjtNum) * nv * nv);
+
+    for (mjtNum t_stop : {0.0, 0.2, 2.0}) {
+      while (d->time < t_stop) {
+        mj_step(m, d);
+      }
+      mj_forward(m, d);
+
+      int nisland = d->nisland;
+
+      // get dense inertia (lower only)
+      mj_fullM(m, M, d->qM);
+
+      // compare iM sub-matrix to full M
+      for (int island=0; island < nisland; island++) {
+        int nvi = d->island_nv[island];
+        mjtNum* Mi = (mjtNum*)mju_malloc(sizeof(mjtNum) * nvi * nvi);
+
+        int adr = d->island_idofadr[island];
+        mju_sparse2dense(Mi, d->iM, nvi, nvi,
+                         d->iM_rownnz + adr,
+                         d->iM_rowadr + adr,
+                         d->iM_colind);
+
+        // compare Mi to M (lower triangle only)
+        for (int i=0; i < nvi; i++) {
+          for (int j=0; j <= i; j++) {
+            int dofi = d->map_idof2dof[adr + j];
+            int dofj = d->map_idof2dof[adr + i];
+            EXPECT_EQ(Mi[i * nvi + j], M[dofi * nv + dofj]);
+          }
+        }
+        mju_free(Mi);
+      }
+    }
+
+    mju_free(M);
+    mj_deleteData(d);
+    mj_deleteModel(m);
+  }
+}
+
 TEST_F(IslandTest, IslandEfcElliptic) {
   const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
   mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
diff --git a/test/engine/engine_solver_test.cc b/test/engine/engine_solver_test.cc
index b5b2db6d..75b42cf7 100644
--- a/test/engine/engine_solver_test.cc
+++ b/test/engine/engine_solver_test.cc
@@ -17,7 +17,6 @@
 #include <algorithm>
 #include <cstdlib>
 #include <string>
-#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -29,19 +28,9 @@ namespace {
 
 using ::testing::DoubleNear;
 using ::testing::NotNull;
-using ::std::vector;
 using ::std::abs;
 using ::std::max;
 
-// compare two vectors, relative error (increase tolerance for large elements)
-inline void ExpectEqRel(vector<mjtNum> v1, vector<mjtNum> v2, mjtNum rtol) {
-  ASSERT_TRUE(v1.size() == v2.size());
-  for (int i = 0; i < v1.size(); i++) {
-    mjtNum scale = 0.5 * max(2.0, abs(v1[i]) + abs(v2[i]));
-    EXPECT_THAT(v1[i], DoubleNear(v2[i], scale*rtol));
-  }
-}
-
 using SolverTest = MujocoTest;
 
 static const char* const kModelPath =
@@ -169,79 +158,5 @@ TEST_F(SolverTest, IslandsEquivalentForward) {
   mj_deleteModel(model);
 }
 
-static const char* const kIlslandEfcPath =
-    "engine/testdata/island/island_efc.xml";
-
-// compare qacc from 1 iteration of monolithic CG solver and one big island
-TEST_F(SolverTest, OneBigIsland) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  model->opt.solver = mjSOL_CG;                 // use CG solver
-  model->opt.disableflags |= mjDSBL_WARMSTART;  // disable warmstart
-  model->opt.tolerance = 0;                     // set tolerance to 0
-  model->opt.enableflags &= ~mjENBL_ISLAND;     // disable islands
-
-  int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
-  mjtNum* state = (mjtNum*) mju_malloc(sizeof(mjtNum)*state_size);
-
-  mjData* data_island = mj_makeData(model);
-  mjData* data_noisland = mj_makeData(model);
-
-  int nv = model->nv;
-  mjtNum rtol = 1e-7;
-
-  // save current (default) iterations
-  int iterations_default = model->opt.iterations;
-
-  while (data_noisland->time < .2) {
-    // step and copy the state to data_island
-    mj_step(model, data_noisland);
-    mj_getState(model, data_noisland, state, mjSTATE_INTEGRATION);
-    mj_setState(model, data_island, state, mjSTATE_INTEGRATION);
-
-    // set small number of iterations
-    model->opt.iterations = 1;
-
-    // call forward on data_noisland
-    mj_forward(model, data_noisland);
-
-    // enable islands
-    model->opt.enableflags |= mjENBL_ISLAND;
-
-    // call forward (just for smooth dynamics and to allocate islands)
-    mj_forward(model, data_island);
-
-    // overwrite island structure with one big island
-    data_island->nisland = 1;
-    data_island->island_dofnum[0] = nv;
-    data_island->island_dofadr[0] = 0;
-    for (int i = 0; i < nv; i++) {
-      data_island->island_dofind[i] = data_island->dof_islandind[i] = i;
-    }
-    int nefc = data_island->nefc;
-    data_island->island_efcnum[0] = nefc;
-    data_island->island_efcadr[0] = 0;
-    for (int i = 0; i < nefc; i++) data_island->island_efcind[i] = i;
-
-    // solve using using one big island
-    mj_fwdConstraint(model, data_island);
-
-    // re-disable islands and reset iterations
-    model->opt.enableflags &= ~mjENBL_ISLAND;
-    model->opt.iterations = iterations_default;
-
-    // compare accelerations (relative error)
-    ExpectEqRel(AsVector(data_noisland->qacc, nv),
-                AsVector(data_island->qacc, nv), rtol);
-  }
-
-  mj_deleteData(data_noisland);
-  mj_deleteData(data_island);
-  mju_free(state);
-  mj_deleteModel(model);
-}
-
-
 }  // namespace
 }  // namespace mujoco
diff --git a/test/engine/engine_support_test.cc b/test/engine/engine_support_test.cc
index c7d4f018..71b8e820 100644
--- a/test/engine/engine_support_test.cc
+++ b/test/engine/engine_support_test.cc
@@ -830,77 +830,6 @@ TEST_F(InertiaTest, mulM2) {
   mj_deleteModel(model);
 }
 
-static const char* const kIlslandEfcPath =
-    "engine/testdata/island/island_efc.xml";
-
-TEST_F(SupportTest, MulMIsland) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // allocate vec, fill with arbitrary values
-  mjtNum* vec = (mjtNum*) mju_malloc(sizeof(mjtNum)*model->nv);
-  for (int i=0; i < model->nv; i++) {
-    vec[i] = 0.2 + 0.3*i;
-  }
-
-  // simulate for 0.2 seconds
-  mj_resetData(model, data);
-  while (data->time < 0.2) {
-    mj_step(model, data);
-  }
-  mj_forward(model, data);
-
-  // multiply by Mass matrix: Mvec = M * vec
-  mjtNum* Mvec = (mjtNum*) mju_malloc(sizeof(mjtNum)*data->nefc);
-  mj_mulM(model, data, Mvec, vec);
-
-  // iterate over islands
-  for (int i=0; i < data->nisland; i++) {
-    // allocate dof vectors for island
-    int dofnum = data->island_dofnum[i];
-    mjtNum* vec_i = (mjtNum*)mju_malloc(sizeof(mjtNum) * dofnum);
-    mjtNum* Mvec_i = (mjtNum*)mju_malloc(sizeof(mjtNum) * dofnum);
-
-    // copy values into vec_i
-    int* dofind = data->island_dofind + data->island_dofadr[i];
-    for (int j=0; j < dofnum; j++) {
-      vec_i[j] = vec[dofind[j]];
-    }
-
-    // === compressed: use vec_i
-
-    // multiply by Jacobian, for this island
-    int flg_vecunc = 0;
-    mj_mulM_island(model, data, Mvec_i, vec_i, i, flg_vecunc);
-
-    // expect corresponding values to match
-    for (int j=0; j < dofnum; j++) {
-      EXPECT_THAT(Mvec_i[j], DoubleNear(Mvec[dofind[j]], 1e-12));
-    }
-
-    // === uncompressed: use vec
-    mju_zero(Mvec_i, dofnum);  // clear output
-
-    // multiply by Jacobian, for this island
-    flg_vecunc = 1;
-    mj_mulM_island(model, data, Mvec_i, vec, i, flg_vecunc);
-
-    // expect corresponding values to match
-    for (int j=0; j < dofnum; j++) {
-      EXPECT_THAT(Mvec_i[j], DoubleNear(Mvec[dofind[j]], 1e-12));
-    }
-
-    mju_free(vec_i);
-    mju_free(Mvec_i);
-  }
-
-  mju_free(Mvec);
-  mju_free(vec);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
 static constexpr char GeomDistanceTestingModel[] = R"(
 <mujoco>
   <option>
diff --git a/test/engine/testdata/island/2humanoid100.xml b/test/engine/testdata/island/2humanoid100.xml
new file mode 100644
index 00000000..424ed2c4
--- /dev/null
+++ b/test/engine/testdata/island/2humanoid100.xml
@@ -0,0 +1,123 @@
+<mujoco model="2 Humanoids and 100 objects">
+<!--
+     Model designed for a maximally-elaborate island structure.
+     More horizontal gravity leads to larger, fewer islands.
+-->
+  <option timestep="0.005" solver="CG" gravity="-1 -1 -10">
+    <flag island="enable"/>
+  </option>
+
+  <size memory="100M"/>
+
+  <default>
+    <geom solimp=".9 .9 .01"/>
+    <default class="capsule">
+      <geom type="capsule" material="capsule" size="0.1 0.05"/>
+    </default>
+    <default class="ellipsoid">
+      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
+    </default>
+    <default class="box">
+      <geom type="box" material="box" size="0.15 0.1 0.05"/>
+    </default>
+    <default class="cylinder">
+      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
+    </default>
+    <default class="sphere">
+      <geom type="sphere" material="sphere" size="0.1"/>
+    </default>
+    <default class="border">
+      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
+    </default>
+    <default class="borderpost">
+      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
+    </default>
+  </default>
+
+  <asset>
+    <model file="humanoid.xml"/>
+    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
+    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
+    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
+    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
+    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
+    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
+    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
+    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
+  </asset>
+
+  <visual>
+    <quality shadowsize="4096" offsamples="8"/>
+    <map znear="0.1" force="0.05"/>
+  </visual>
+
+  <statistic extent="4"/>
+
+  <worldbody>
+    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
+    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
+    <geom class="border" fromto="-3 3 0 3 3 0"/>
+    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
+    <geom class="border" fromto="3 3 0 3 -3 0"/>
+    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
+    <geom class="borderpost" pos="3 3 0"/>
+    <geom class="borderpost" pos="-3 3 0"/>
+    <geom class="borderpost" pos="3 -3 0"/>
+    <geom class="borderpost" pos="-3 -3 0"/>
+
+    <replicate count="4" euler="0 0 90">
+      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
+    </replicate>
+
+    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+      <body pos="-2 0 0.5" euler="30 40 0">
+        <freejoint/>
+        <geom class="capsule"/>
+      </body>
+    </replicate>
+
+    <attach model="Humanoid" body="torso" prefix="1_"/>
+
+    <frame euler="0 0 72">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="20 40 60">
+          <freejoint/>
+          <geom class="ellipsoid"/>
+        </body>
+      </replicate>
+    </frame>
+
+    <frame euler="0 0 144">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="30 70 110">
+          <freejoint/>
+          <geom class="box"/>
+        </body>
+      </replicate>
+    </frame>
+
+    <frame pos="1 1 0" euler="0 0 144">
+      <attach model="Humanoid" body="torso" prefix="2_"/>
+    </frame>
+
+    <frame euler="0 0 216">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="60 30 0">
+          <freejoint/>
+          <geom class="cylinder"/>
+        </body>
+      </replicate>
+    </frame>
+
+    <frame euler="0 0 288">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="60 30 0">
+          <freejoint/>
+          <geom class="sphere"/>
+        </body>
+      </replicate>
+    </frame>
+
+  </worldbody>
+</mujoco>
diff --git a/test/engine/testdata/island/humanoid.xml b/test/engine/testdata/island/humanoid.xml
new file mode 100644
index 00000000..7545e193
--- /dev/null
+++ b/test/engine/testdata/island/humanoid.xml
@@ -0,0 +1,252 @@
+<mujoco model="Humanoid">
+  <option timestep="0.005"/>
+
+  <visual>
+    <map force="0.1" zfar="30"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
+  </visual>
+
+  <statistic center="0 0 0.7"/>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
+    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
+    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+  </asset>
+
+  <default>
+    <motor ctrlrange="-1 1" ctrllimited="true"/>
+    <default class="body">
+
+      <!-- geoms -->
+      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
+      <default class="thigh">
+        <geom size=".06"/>
+      </default>
+      <default class="shin">
+        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
+      </default>
+      <default class="foot">
+        <geom size=".027"/>
+        <default class="foot1">
+          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
+        </default>
+        <default class="foot2">
+          <geom fromto="-.07 .01 0 .14  .03 0"/>
+        </default>
+      </default>
+      <default class="arm_upper">
+        <geom size=".04"/>
+      </default>
+      <default class="arm_lower">
+        <geom size=".031"/>
+      </default>
+      <default class="hand">
+        <geom type="sphere" size=".04"/>
+      </default>
+
+      <!-- joints -->
+      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
+      <default class="joint_big">
+        <joint damping="5" stiffness="10"/>
+        <default class="hip_x">
+          <joint range="-30 10"/>
+        </default>
+        <default class="hip_z">
+          <joint range="-60 35"/>
+        </default>
+        <default class="hip_y">
+          <joint axis="0 1 0" range="-150 20"/>
+        </default>
+        <default class="joint_big_stiff">
+          <joint stiffness="20"/>
+        </default>
+      </default>
+      <default class="knee">
+        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
+      </default>
+      <default class="ankle">
+        <joint range="-50 50"/>
+        <default class="ankle_y">
+          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
+        </default>
+        <default class="ankle_x">
+          <joint pos="0 0 .04" stiffness="3"/>
+        </default>
+      </default>
+      <default class="shoulder">
+        <joint range="-85 60"/>
+      </default>
+      <default class="elbow">
+        <joint range="-100 50" stiffness="0"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
+    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="torso" pos="0 0 1.282" childclass="body">
+      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <freejoint name="root"/>
+      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
+      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
+      <body name="head" pos="0 0 .19">
+        <geom name="head" type="sphere" size=".09"/>
+        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
+      </body>
+      <body name="waist_lower" pos="-.01 0 -.26">
+        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
+        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
+        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
+        <body name="pelvis" pos="0 0 -.165">
+          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
+          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
+          <body name="thigh_right" pos="0 -.1 -.04">
+            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
+            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
+            <joint name="hip_y_right" class="hip_y"/>
+            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
+            <body name="shin_right" pos="0 .01 -.4">
+              <joint name="knee_right" class="knee"/>
+              <geom name="shin_right" class="shin"/>
+              <body name="foot_right" pos="0 0 -.39">
+                <joint name="ankle_y_right" class="ankle_y"/>
+                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
+                <geom name="foot1_right" class="foot1"/>
+                <geom name="foot2_right" class="foot2"/>
+              </body>
+            </body>
+          </body>
+          <body name="thigh_left" pos="0 .1 -.04">
+            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
+            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
+            <joint name="hip_y_left" class="hip_y"/>
+            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
+            <body name="shin_left" pos="0 -.01 -.4">
+              <joint name="knee_left" class="knee"/>
+              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
+              <body name="foot_left" pos="0 0 -.39">
+                <joint name="ankle_y_left" class="ankle_y"/>
+                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
+                <geom name="foot1_left" class="foot1"/>
+                <geom name="foot2_left" class="foot2"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="upper_arm_right" pos="0 -.17 .06">
+        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
+        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
+        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
+        <body name="lower_arm_right" pos=".18 -.18 -.18">
+          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
+          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
+          <body name="hand_right" pos=".18 .18 .18">
+            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
+          </body>
+        </body>
+      </body>
+      <body name="upper_arm_left" pos="0 .17 .06">
+        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
+        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
+        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
+        <body name="lower_arm_left" pos=".18 .18 -.18">
+          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
+          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
+          <body name="hand_left" pos=".18 -.18 .18">
+            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="waist_lower" body2="thigh_right"/>
+    <exclude body1="waist_lower" body2="thigh_left"/>
+  </contact>
+
+  <tendon>
+    <fixed name="hamstring_right" limited="true" range="-0.3 2">
+      <joint joint="hip_y_right" coef=".5"/>
+      <joint joint="knee_right" coef="-.5"/>
+    </fixed>
+    <fixed name="hamstring_left" limited="true" range="-0.3 2">
+      <joint joint="hip_y_left" coef=".5"/>
+      <joint joint="knee_left" coef="-.5"/>
+    </fixed>
+  </tendon>
+
+  <actuator>
+    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
+    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
+    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
+    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
+    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
+    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
+    <motor name="knee_right"      gear="80"  joint="knee_right"/>
+    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
+    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
+    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
+    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
+    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
+    <motor name="knee_left"       gear="80"  joint="knee_left"/>
+    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
+    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
+    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
+    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
+    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
+    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
+    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
+    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
+  </actuator>
+
+  <keyframe>
+    <!--
+    The values below are split into rows for readibility:
+      torso position
+      torso orientation
+      spinal
+      right leg
+      left leg
+      arms
+    -->
+    <key name="squat"
+         qpos="0 0 0.596
+               0.988015 0 0.154359 0
+               0 0.4 0
+               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
+               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
+               0 0 0 0 0 0"/>
+    <key name="stand_on_left_leg"
+         qpos="0 0 1.21948
+               0.971588 -0.179973 0.135318 -0.0729076
+               -0.0516 -0.202 0.23
+               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
+               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
+               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
+    <key name="prone"
+         qpos="0.4 0 0.0757706
+               0.7325 0 0.680767 0
+               0 0.0729 0
+               0.0077 0.0019 -0.026 -0.351 -0.27 0
+               0.0077 0.0019 -0.026 -0.351 -0.27 0
+               0.56 -0.62 -1.752
+               0.56 -0.62 -1.752"/>
+    <key name="supine"
+         qpos="-0.4 0 0.08122
+               0.722788 0 -0.69107 0
+               0 -0.25 0
+               0.0182 0.0142 0.3 0.042 -0.44 -0.02
+               0.0182 0.0142 0.3 0.042 -0.44 -0.02
+               0.186 -0.73 -1.73
+               0.186 -0.73 -1.73"/>
+  </keyframe>
+</mujoco>
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index a3637d62..b7137723 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -4860,6 +4860,7 @@ public unsafe struct mjData_ {
   public int nJ;
   public int nA;
   public int nisland;
+  public int nidof;
   public double time;
   public fixed double energy[2];
   public void* buffer;
@@ -4991,14 +4992,43 @@ public unsafe struct mjData_ {
   public double* efc_R;
   public int* tendon_efcadr;
   public int* dof_island;
-  public int* island_dofnum;
+  public int* island_nv;
+  public int* island_idofadr;
   public int* island_dofadr;
-  public int* island_dofind;
-  public int* dof_islandind;
+  public int* map_dof2idof;
+  public int* map_idof2dof;
+  public double* ifrc_smooth;
+  public double* iacc_smooth;
+  public int* iM_rownnz;
+  public int* iM_rowadr;
+  public int* iM_diagnum;
+  public int* iM_colind;
+  public double* iM;
+  public double* iLD;
+  public double* iLDiagInv;
+  public double* iacc;
   public int* efc_island;
-  public int* island_efcnum;
-  public int* island_efcadr;
-  public int* island_efcind;
+  public int* island_ne;
+  public int* island_nf;
+  public int* island_nefc;
+  public int* island_iefcadr;
+  public int* map_efc2iefc;
+  public int* map_iefc2efc;
+  public int* iefc_type;
+  public int* iefc_id;
+  public int* iefc_J_rownnz;
+  public int* iefc_J_rowadr;
+  public int* iefc_J_rowsuper;
+  public int* iefc_J_colind;
+  public int* iefc_JT_rownnz;
+  public int* iefc_JT_rowadr;
+  public int* iefc_JT_rowsuper;
+  public int* iefc_JT_colind;
+  public double* iefc_J;
+  public double* iefc_JT;
+  public double* iefc_frictionloss;
+  public double* iefc_D;
+  public double* iefc_R;
   public int* efc_AR_rownnz;
   public int* efc_AR_rowadr;
   public int* efc_AR_colind;
@@ -5006,8 +5036,12 @@ public unsafe struct mjData_ {
   public double* efc_vel;
   public double* efc_aref;
   public double* efc_b;
-  public double* efc_force;
+  public double* iefc_aref;
+  public int* iefc_state;
+  public double* iefc_force;
   public int* efc_state;
+  public double* efc_force;
+  public double* ifrc_constraint;
   public UIntPtr threadpool;
   public UInt64 signature;
 }
@@ -6479,7 +6513,6 @@ public unsafe struct data {
   public double* bvh_aabb_dyn;
   public byte* bvh_active;
   public int* island_dofadr;
-  public int* island_dofind;
   public int* dof_island;
   public int* efc_island;
   public int* tendon_efcadr;

From 421c487d9df3bbe48c92d347867916b6e0ead2ab Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Wed, 7 May 2025 10:12:29 -0700
Subject: [PATCH 098/191] Set mocap_pos/quat in make_data. Fixes #2606.

PiperOrigin-RevId: 755903897
Change-Id: Ied04e9bd3febfe1bbbba24ed1f52b3c0c6e50f38
---
 doc/changelog.rst         |  2 ++
 mjx/mujoco/mjx/_src/io.py | 11 +++++++++++
 2 files changed, 13 insertions(+)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 3e40dc9a..4dbaf0b2 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -17,6 +17,8 @@ MJX
 ^^^
 1. Added inverse dynamics.
 2. Added tendon actuator force sensor.
+3. Fix :github:issue:`2606` such that ``make_data`` copies over ``mocap_pos`` and ``mocap_quat``
+   from ``body_pos`` and ``body_quat``.
 
 Version 3.3.1 (Apr 9, 2025)
 ----------------------------
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 01815012..77b1655c 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -401,6 +401,17 @@ def make_data(
       eq_active=m.eq_active0,
       **zero_fields,
   )
+
+  if m.nmocap:
+    # Set mocap_pos/quat = body_pos/quat for mocap bodies as done in C MuJoCo.
+    body_mask = m.body_mocapid >= 0
+    body_pos = m.body_pos[body_mask]
+    body_quat = m.body_quat[body_mask]
+    d = d.replace(
+        mocap_pos=body_pos[m.body_mocapid[body_mask]],
+        mocap_quat=body_quat[m.body_mocapid[body_mask]],
+    )
+
   d = jax.device_put(d, device=device)
 
   return d

From 6cfea719850f7dbc91b9d6fb36deafb3c5d04eaf Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Wed, 7 May 2025 11:27:57 -0700
Subject: [PATCH 099/191] Allow for different MJX backend implementations.

PiperOrigin-RevId: 755935704
Change-Id: Ic135cd00137c2857c73c683ed9fdc5ac4418715d
---
 mjx/mujoco/mjx/_src/collision_convex.py      |    7 +-
 mjx/mujoco/mjx/_src/collision_driver.py      |   15 +-
 mjx/mujoco/mjx/_src/collision_driver_test.py |  186 +--
 mjx/mujoco/mjx/_src/collision_sdf.py         |    2 +
 mjx/mujoco/mjx/_src/constraint.py            |   84 +-
 mjx/mujoco/mjx/_src/constraint_test.py       |   32 +-
 mjx/mujoco/mjx/_src/dataclasses.py           |   31 +
 mjx/mujoco/mjx/_src/derivative.py            |    8 +-
 mjx/mujoco/mjx/_src/forward.py               |   36 +-
 mjx/mujoco/mjx/_src/inverse.py               |   10 +-
 mjx/mujoco/mjx/_src/inverse_test.py          |    2 -
 mjx/mujoco/mjx/_src/io.py                    | 1199 +++++++++++++-----
 mjx/mujoco/mjx/_src/io_test.py               |  566 +++++++--
 mjx/mujoco/mjx/_src/passive.py               |   14 +-
 mjx/mujoco/mjx/_src/sensor.py                |   59 +-
 mjx/mujoco/mjx/_src/sensor_test.py           |   16 +-
 mjx/mujoco/mjx/_src/smooth.py                |  149 ++-
 mjx/mujoco/mjx/_src/smooth_test.py           |   53 +-
 mjx/mujoco/mjx/_src/solver.py                |  101 +-
 mjx/mujoco/mjx/_src/solver_test.py           |   16 +-
 mjx/mujoco/mjx/_src/support.py               |   39 +-
 mjx/mujoco/mjx/_src/support_test.py          |    8 +-
 mjx/mujoco/mjx/_src/test_util.py             |   20 +-
 mjx/mujoco/mjx/_src/types.py                 | 1033 +++++----------
 24 files changed, 2182 insertions(+), 1504 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/collision_convex.py b/mjx/mujoco/mjx/_src/collision_convex.py
index 31ce2057..90a709ab 100644
--- a/mjx/mujoco/mjx/_src/collision_convex.py
+++ b/mjx/mujoco/mjx/_src/collision_convex.py
@@ -28,8 +28,10 @@ from mujoco.mjx._src.collision_types import FunctionKey
 from mujoco.mjx._src.collision_types import GeomInfo
 from mujoco.mjx._src.collision_types import HFieldInfo
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import GeomType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 # pylint: enable=g-importing-member
 
 _GeomInfo = Union[GeomInfo, ConvexInfo]
@@ -42,6 +44,9 @@ def collider(ncon: int):
     def collide(
         m: Model, d: Data, key: FunctionKey, geom: jax.Array
     ) -> Collision:
+      if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+        raise ValueError('collider requires JAX backend implementation.')
+
       g1, g2 = geom.T
       infos = [
           GeomInfo(d.geom_xpos[g1], d.geom_xmat[g1], m.geom_size[g1]),
@@ -56,7 +61,7 @@ def collider(ncon: int):
               pos=0, mat=0, size=0, face=0, vert=0
           )
         elif key.types[i] == GeomType.MESH:
-          c, cm = infos[i], m.mesh_convex[key.data_ids[i]]
+          c, cm = infos[i], m._impl.mesh_convex[key.data_ids[i]]
           infos[i] = ConvexInfo(**vars(c), **vars(cm))
           in_axes[i] = jax.tree_util.tree_map(lambda x: None, infos[i]).replace(
               pos=0, mat=0, size=0
diff --git a/mjx/mujoco/mjx/_src/collision_driver.py b/mjx/mujoco/mjx/_src/collision_driver.py
index 7b947ce1..e618fe19 100644
--- a/mjx/mujoco/mjx/_src/collision_driver.py
+++ b/mjx/mujoco/mjx/_src/collision_driver.py
@@ -71,9 +71,11 @@ from mujoco.mjx._src.collision_sdf import sphere_ellipsoid
 from mujoco.mjx._src.collision_types import FunctionKey
 from mujoco.mjx._src.types import Contact
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import GeomType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 # pylint: enable=g-importing-member
 import numpy as np
 
@@ -227,7 +229,7 @@ def _geom_groups(
     if types[0] == mujoco.mjtGeom.mjGEOM_HFIELD:
       # add static grid bounds to the grouping key for hfield collisions
       geom_rbound_hfield = (
-          m.geom_rbound_hfield if isinstance(m, Model) else m.geom_rbound
+          m._impl.geom_rbound_hfield if isinstance(m, Model) else m.geom_rbound  # pytype: disable=attribute-error
       )
       nrow, ncol = m.hfield_nrow[data_ids[0]], m.hfield_ncol[data_ids[0]]
       xsize, ysize = m.hfield_size[data_ids[0]][:2]
@@ -323,11 +325,11 @@ def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
         solref=solref,
         solreffriction=solreffriction,
         solimp=solimp,
-        dim=d.contact.dim,
+        dim=d._impl.contact.dim,  # pytype: disable=attribute-error
         geom1=jp.array(geom[:, 0]),
         geom2=jp.array(geom[:, 1]),
         geom=jp.array(geom[:, :2]),
-        efc_address=d.contact.efc_address,
+        efc_address=d._impl.contact.efc_address,  # pytype: disable=attribute-error
     )
 
   return groups
@@ -374,7 +376,10 @@ def make_condim(m: Union[Model, mujoco.MjModel]) -> np.ndarray:
 
 def collision(m: Model, d: Data) -> Data:
   """Collides geometries."""
-  if d.ncon == 0:
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('collision requires JAX backend implementation.')
+
+  if d._impl.ncon == 0:  # pytype: disable=attribute-error
     return d
 
   max_geom_pairs = _numeric(m, 'max_geom_pairs')
@@ -424,4 +429,4 @@ def collision(m: Model, d: Data) -> Data:
   contacts = sum([condim_groups[k] for k in sorted(condim_groups)], [])
   contact = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *contacts)
 
-  return d.replace(contact=contact)
+  return d.replace(_impl=d._impl.replace(contact=contact))  # pytype: disable=attribute-error
diff --git a/mjx/mujoco/mjx/_src/collision_driver_test.py b/mjx/mujoco/mjx/_src/collision_driver_test.py
index f33cbb07..ab41bc26 100644
--- a/mjx/mujoco/mjx/_src/collision_driver_test.py
+++ b/mjx/mujoco/mjx/_src/collision_driver_test.py
@@ -119,7 +119,7 @@ class SphereCollisionTest(parameterized.TestCase):
   def test_sphere(self, name, mjcf):
     d, dx = _collide(mjcf)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, name, 1e-5)
+      _assert_attr_eq(dx._impl.contact, d.contact, field.name, name, 1e-5)
 
   _SPHERE_CONVEX = """
     <mujoco>
@@ -143,7 +143,7 @@ class SphereCollisionTest(parameterized.TestCase):
     )
     d, dx = _collide(xml)
     self.assertEmpty(d.contact.dist)
-    self.assertGreater(dx.contact.dist, 0)
+    self.assertGreater(dx._impl.contact.dist, 0)
 
     # face contact
     xml = self._SPHERE_CONVEX.replace(
@@ -151,38 +151,38 @@ class SphereCollisionTest(parameterized.TestCase):
     )
     d, dx = _collide(xml)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'face', 1e-4)
+      _assert_attr_eq(dx._impl.contact, d.contact, field.name, 'face', 1e-4)
 
     # deep face contact
     xml = self._SPHERE_CONVEX.replace(
         '<body pos="0.52 0 0.52">', '<body pos="0.48 0 0.47">'
     )
     d, dx = _collide(xml)
-    self.assertTrue((dx.contact.dist < 0).all())
+    self.assertTrue((dx._impl.contact.dist < 0).all())
     self.assertTrue((d.contact.dist < 0).all())
-    np.testing.assert_allclose(dx.contact.dist, [-0.07], atol=1e-5)
-    np.testing.assert_array_almost_equal(dx.contact.pos, d.contact.pos)
+    np.testing.assert_allclose(dx._impl.contact.dist, [-0.07], atol=1e-5)
+    np.testing.assert_array_almost_equal(dx._impl.contact.pos, d.contact.pos)
     np.testing.assert_array_almost_equal(
-        dx.contact.frame, d.contact.frame.reshape((-1, 3, 3))
+        dx._impl.contact.frame, d.contact.frame.reshape((-1, 3, 3))
     )
 
   def test_sphere_convex_edge(self):
     # edge contact
     d, dx = _collide(self._SPHERE_CONVEX)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'edge', 1e-4)
+      _assert_attr_eq(dx._impl.contact, d.contact, field.name, 'edge', 1e-4)
 
     # deep edge penetration
     xml = self._SPHERE_CONVEX.replace(
         '<body pos="0.52 0 0.52">', '<body pos="0.49 0 0.49">'
     )
     d, dx = _collide(xml)
-    self.assertTrue((dx.contact.dist < 0).all())
+    self.assertTrue((dx._impl.contact.dist < 0).all())
     self.assertTrue((d.contact.dist < 0).all())
-    np.testing.assert_allclose(dx.contact.dist, [-0.06], atol=1e-5)
-    np.testing.assert_array_almost_equal(dx.contact.pos, d.contact.pos)
+    np.testing.assert_allclose(dx._impl.contact.dist, [-0.06], atol=1e-5)
+    np.testing.assert_array_almost_equal(dx._impl.contact.pos, d.contact.pos)
     np.testing.assert_array_almost_equal(
-        dx.contact.frame, d.contact.frame.reshape((-1, 3, 3))
+        dx._impl.contact.frame, d.contact.frame.reshape((-1, 3, 3))
     )
 
     # vertex contact
@@ -191,7 +191,7 @@ class SphereCollisionTest(parameterized.TestCase):
     )
     d, dx = _collide(xml)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'vertex', 1e-4)
+      _assert_attr_eq(dx._impl.contact, d.contact, field.name, 'vertex', 1e-4)
 
     # sphere center on vertex
     xml = self._SPHERE_CONVEX.replace(
@@ -199,7 +199,9 @@ class SphereCollisionTest(parameterized.TestCase):
     )
     d, dx = _collide(xml)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'vertex_center', 1e-4)
+      _assert_attr_eq(
+          dx._impl.contact, d.contact, field.name, 'vertex_center', 1e-4
+      )
 
 
 class EllipsoidCollisionTest(parameterized.TestCase):
@@ -219,10 +221,10 @@ class EllipsoidCollisionTest(parameterized.TestCase):
   def test_plane_ellipsoid(self):
     """Tests ellipsoid plane contact."""
     d, dx = _collide(self._ELLIPSOID_PLANE)
-    self.assertLess(dx.contact.dist[0], 0)
+    self.assertLess(dx._impl.contact.dist[0], 0)
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(
-          dx.contact, d.contact, field.name, 'ellipsoid-plane', 1e-5
+          dx._impl.contact, d.contact, field.name, 'ellipsoid-plane', 1e-5
       )
 
   _ELLIPSOID_ELLIPSOID = """
@@ -242,10 +244,10 @@ class EllipsoidCollisionTest(parameterized.TestCase):
   def test_ellipsoid_ellipsoid(self):
     """Tests ellipsoid ellipsoid contact."""
     d, dx = _collide(self._ELLIPSOID_ELLIPSOID)
-    self.assertLess(dx.contact.dist[0], 0)
+    self.assertLess(dx._impl.contact.dist[0], 0)
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(
-          dx.contact, d.contact, field.name, 'ellipsoid-ellipsoid', 1e-2
+          dx._impl.contact, d.contact, field.name, 'ellipsoid-ellipsoid', 1e-2
       )
 
   _ELLIPSOID_SPHERE = """
@@ -266,10 +268,10 @@ class EllipsoidCollisionTest(parameterized.TestCase):
     """Tests ellipsoid capsule contact."""
     d, dx = _collide(self._ELLIPSOID_SPHERE)
     d.contact.pos[0][2] = 0.03  # MJX finds the point on the surface
-    self.assertLess(dx.contact.dist[0], 0)
+    self.assertLess(dx._impl.contact.dist[0], 0)
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(
-          dx.contact, d.contact, field.name, 'ellipsoid-sphere', 1e-4
+          dx._impl.contact, d.contact, field.name, 'ellipsoid-sphere', 1e-4
       )
 
   _ELLIPSOID_CAPSULE = """
@@ -289,10 +291,10 @@ class EllipsoidCollisionTest(parameterized.TestCase):
   def test_capsule_ellipsoid(self):
     """Tests ellipsoid capsule contact."""
     d, dx = _collide(self._ELLIPSOID_CAPSULE)
-    self.assertLess(dx.contact.dist[0], 0)
+    self.assertLess(dx._impl.contact.dist[0], 0)
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(
-          dx.contact, d.contact, field.name, 'ellipsoid-capsule', 1e-5
+          dx._impl.contact, d.contact, field.name, 'ellipsoid-capsule', 1e-5
       )
 
   _ELLIPSOID_CYLINDER = """
@@ -313,10 +315,10 @@ class EllipsoidCollisionTest(parameterized.TestCase):
     """Tests ellipsoid cylinder contact."""
     d, dx = _collide(self._ELLIPSOID_CYLINDER)
     d.contact.pos[0][2] = 0.04  # MJX finds the deepest point on the surface
-    self.assertLess(dx.contact.dist[0], 0)
+    self.assertLess(dx._impl.contact.dist[0], 0)
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(
-          dx.contact, d.contact, field.name, 'ellipsoid-cylinder', 1e-4
+          dx._impl.contact, d.contact, field.name, 'ellipsoid-cylinder', 1e-4
       )
 
 
@@ -357,7 +359,7 @@ class CapsuleCollisionTest(parameterized.TestCase):
   def test_capsule(self, name, mjcf):
     d, dx = _collide(mjcf)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, name, 1e-4)
+      _assert_attr_eq(dx._impl.contact, d.contact, field.name, name, 1e-4)
 
   _PARALLEL_CAP = """
     <mujoco>
@@ -378,14 +380,14 @@ class CapsuleCollisionTest(parameterized.TestCase):
     """Tests that two parallel capsules are colliding at the midpoint."""
     _, dx = _collide(self._PARALLEL_CAP)
 
-    np.testing.assert_allclose(dx.contact.dist, -0.05)
+    np.testing.assert_allclose(dx._impl.contact.dist, -0.05)
     np.testing.assert_allclose(
-        dx.contact.pos[0],
+        dx._impl.contact.pos[0],
         np.array([0.0, 0.1, (0.15 + 0.2) / 2.0]),
         atol=1e-5,
     )
     np.testing.assert_allclose(
-        dx.contact.frame[0, 0, :], np.array([0, 0.0, -1.0]), atol=1e-5
+        dx._impl.contact.frame[0, 0, :], np.array([0, 0.0, -1.0]), atol=1e-5
     )
 
   _CAP_BOX = """
@@ -408,30 +410,32 @@ class CapsuleCollisionTest(parameterized.TestCase):
     d, dx = _collide(self._CAP_BOX)
 
     # sort positions for comparison
-    idx = np.lexsort((dx.contact.pos[:, 0], dx.contact.pos[:, 1]))
-    dx = dx.tree_replace({'contact.pos': dx.contact.pos[idx]})
+    idx = np.lexsort((dx._impl.contact.pos[:, 0], dx._impl.contact.pos[:, 1]))
+    dx = dx.tree_replace({'_impl.contact.pos': dx._impl.contact.pos[idx]})
     idx = np.lexsort((d.contact.pos[:, 0], d.contact.pos[:, 1]))
     d.contact.pos[:] = d.contact.pos[idx]
     d.contact.frame[:] = d.contact.frame[idx]
     d.contact.dist[:] = d.contact.dist[idx]
 
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'capsule_convex', 1e-4)
+      _assert_attr_eq(
+          dx._impl.contact, d.contact, field.name, 'capsule_convex', 1e-4
+      )
 
   def test_capsule_convex_face_deep(self):
     """Tests deep face penetration."""
     xml = self._CAP_BOX.replace('<body pos="0 0 0.54">', '<body pos="0 0 0.4">')
 
     _, dx = _collide(xml)
-    self.assertTrue((dx.contact.dist < 0).all())
+    self.assertTrue((dx._impl.contact.dist < 0).all())
     np.testing.assert_array_almost_equal(
-        dx.contact.pos, np.array([[0.5, 0, 0.425], [-0.4, 0, 0.425]])
+        dx._impl.contact.pos, np.array([[0.5, 0, 0.425], [-0.4, 0, 0.425]])
     )
     np.testing.assert_array_almost_equal(
-        dx.contact.dist, np.array([-0.15, -0.15])
+        dx._impl.contact.dist, np.array([-0.15, -0.15])
     )
     np.testing.assert_array_almost_equal(
-        dx.contact.frame[:, 0], np.array([[0, 0, -1]] * 2)
+        dx._impl.contact.frame[:, 0], np.array([[0, 0, -1]] * 2)
     )
 
   _CAP_EDGE_BOX = """
@@ -453,11 +457,11 @@ class CapsuleCollisionTest(parameterized.TestCase):
     """Tests edge contact."""
     d, dx = _collide(self._CAP_EDGE_BOX)
 
-    c = dx.contact
+    c = dx._impl.contact
     self.assertEqual(c.pos.shape[0], 2)
     self.assertGreater(c.dist[1], 0)
     # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx.contact)
+    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
     c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'capsule_convex_edge', 1e-4)
@@ -469,13 +473,17 @@ class CapsuleCollisionTest(parameterized.TestCase):
     )
     _, dx = _collide(xml)
 
-    np.testing.assert_array_equal(dx.contact.dist < 0, np.array([True, False]))
-    np.testing.assert_array_almost_equal(dx.contact.dist[0], np.array([-0.13]))
-    np.testing.assert_array_almost_equal(
-        dx.contact.pos[0], np.array([0.5, 0, 0.435]), decimal=3
+    np.testing.assert_array_equal(
+        dx._impl.contact.dist < 0, np.array([True, False])
     )
     np.testing.assert_array_almost_equal(
-        dx.contact.frame[0, 0], np.array([0, 0, -1]), decimal=3
+        dx._impl.contact.dist[0], np.array([-0.13])
+    )
+    np.testing.assert_array_almost_equal(
+        dx._impl.contact.pos[0], np.array([0.5, 0, 0.435]), decimal=3
+    )
+    np.testing.assert_array_almost_equal(
+        dx._impl.contact.frame[0, 0], np.array([0, 0, -1]), decimal=3
     )
 
   def test_capsule_convex_edge_shallow_tip(self):
@@ -489,16 +497,16 @@ class CapsuleCollisionTest(parameterized.TestCase):
     xml = xml.replace('<body pos="0.5 0 0.55"', '<body pos="0.58 0 0.55"')
     d, dx = _collide(xml)
 
-    c = dx.contact
+    c = dx._impl.contact
     self.assertEqual(c.pos.shape[0], 2)
     self.assertGreater(c.dist[1], 0)
     # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx.contact)
+    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
     c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'edge_shallow_tip1', 1e-4)
     np.testing.assert_array_almost_equal(
-        dx.contact.frame[0][0, :3], np.array([-0.43952, 0.0, -0.898233])
+        dx._impl.contact.frame[0][0, :3], np.array([-0.43952, 0.0, -0.898233])
     )
 
     # the capsule sphere is outside the edge voronoi region, so there is a
@@ -510,16 +518,16 @@ class CapsuleCollisionTest(parameterized.TestCase):
     xml = xml.replace('<body pos="0.5 0 0.55"', '<body pos="0.5 0 0.52"')
     d, dx = _collide(xml)
 
-    c = dx.contact
+    c = dx._impl.contact
     self.assertEqual(c.pos.shape[0], 2)
     self.assertGreater(c.dist[1], 0)
     # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx.contact)
+    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
     c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'edge_shallow_tip2', 1e-4)
     np.testing.assert_array_almost_equal(
-        dx.contact.frame[0][0, :3], np.array([0.0, 0.0, -1.0])
+        dx._impl.contact.frame[0][0, :3], np.array([0.0, 0.0, -1.0])
     )
 
 
@@ -542,17 +550,17 @@ class CylinderTest(absltest.TestCase):
     d, dx = _collide(self._CYLINDER_PLANE)
 
     # cylinder is lying flat
-    np.testing.assert_array_less(dx.contact.dist[:2], 0)
-    np.testing.assert_array_less(-dx.contact.dist[2:], 0)
+    np.testing.assert_array_less(dx._impl.contact.dist[:2], 0)
+    np.testing.assert_array_less(-dx._impl.contact.dist[2:], 0)
 
     # sort position for comparison
-    idx = np.lexsort((dx.contact.pos[:, 0], dx.contact.pos[:, 1]))
-    dx = dx.tree_replace({'contact.pos': dx.contact.pos[idx]})
+    idx = np.lexsort((dx._impl.contact.pos[:, 0], dx._impl.contact.pos[:, 1]))
+    dx = dx.tree_replace({'_impl.contact.pos': dx._impl.contact.pos[idx]})
     idx = np.lexsort((d.contact.pos[:, 0], d.contact.pos[:, 1]))
     d.contact.pos[:] = d.contact.pos[idx]
 
     # extract the contact points with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:2], dx.contact)
+    c = jax.tree_util.tree_map(lambda x: x[:2], dx._impl.contact)
     c = c.replace(dim=c.dim[:2], efc_address=c.efc_address[:2])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'cylinder_plane', 1e-5)
@@ -564,9 +572,11 @@ class CylinderTest(absltest.TestCase):
     xml = xml.replace('pos="0 0 0.04"', 'pos="0 0 0.095"')
     d, dx = _collide(xml)
 
-    np.testing.assert_array_less(dx.contact.dist, 0)
+    np.testing.assert_array_less(dx._impl.contact.dist, 0)
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'cylinder_plane', 1e-5)
+      _assert_attr_eq(
+          dx._impl.contact, d.contact, field.name, 'cylinder_plane', 1e-5
+      )
 
   _SPHERE_CYLINDER = """
     <mujoco>
@@ -586,10 +596,10 @@ class CylinderTest(absltest.TestCase):
     """Tests sphere cylinder contact."""
     d, dx = _collide(self._SPHERE_CYLINDER)
     d.contact.pos[0][2] = 0.05  # MJX finds the deepest point on the surface
-    self.assertLess(dx.contact.dist[0], 0)
+    self.assertLess(dx._impl.contact.dist[0], 0)
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(
-          dx.contact, d.contact, field.name, 'sphere-cylinder', 1e-4
+          dx._impl.contact, d.contact, field.name, 'sphere-cylinder', 1e-4
       )
 
 
@@ -612,11 +622,11 @@ class ConvexTest(absltest.TestCase):
     """Tests box collision with a plane."""
     d, dx = _collide(self._BOX_PLANE)
 
-    np.testing.assert_array_less(dx.contact.dist[:2], 0)
-    np.testing.assert_array_less(-dx.contact.dist[2:], 0)
+    np.testing.assert_array_less(dx._impl.contact.dist[:2], 0)
+    np.testing.assert_array_less(-dx._impl.contact.dist[2:], 0)
     # extract the contact points with penetration
     c = jax.tree_util.tree_map(
-        lambda x: jp.take(x, jp.array([0, 1]), axis=0), dx.contact
+        lambda x: jp.take(x, jp.array([0, 1]), axis=0), dx._impl.contact
     )
     c = c.replace(dim=c.dim[[0, 1]], efc_address=c.efc_address[[0, 1]])
     for field in dataclasses.fields(Contact):
@@ -638,16 +648,18 @@ class ConvexTest(absltest.TestCase):
     """Tests box collision with a plane."""
     d, dx = _collide(self._FLAT_BOX_PLANE)
 
-    np.testing.assert_array_less(dx.contact.dist, 0)
+    np.testing.assert_array_less(dx._impl.contact.dist, 0)
 
     # sort positions for comparison
-    idx = np.lexsort((dx.contact.pos[:, 0], dx.contact.pos[:, 1]))
-    dx = dx.tree_replace({'contact.pos': dx.contact.pos[idx]})
+    idx = np.lexsort((dx._impl.contact.pos[:, 0], dx._impl.contact.pos[:, 1]))
+    dx = dx.tree_replace({'_impl.contact.pos': dx._impl.contact.pos[idx]})
     idx = np.lexsort((d.contact.pos[:, 0], d.contact.pos[:, 1]))
     d.contact.pos[:] = d.contact.pos[idx]
 
     for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx.contact, d.contact, field.name, 'flat_box_plane', 1e-5)
+      _assert_attr_eq(
+          dx._impl.contact, d.contact, field.name, 'flat_box_plane', 1e-5
+      )
 
   _BOX_BOX = """
     <mujoco>
@@ -669,7 +681,7 @@ class ConvexTest(absltest.TestCase):
   def test_box_box(self):
     """Tests a face contact for a box-box collision."""
     d, dx = _collide(self._BOX_BOX, keyframe=0)
-    c = dx.contact
+    c = dx._impl.contact
 
     self.assertEqual(c.pos.shape[0], 4)
     np.testing.assert_array_less(c.dist, 0)
@@ -701,10 +713,10 @@ class ConvexTest(absltest.TestCase):
     d, dx = _collide(self._BOX_BOX_EDGE)
 
     # Only one contact point.
-    np.testing.assert_array_less(dx.contact.dist[:1], 0)
-    np.testing.assert_array_less(-dx.contact.dist[1:], 0)
+    np.testing.assert_array_less(dx._impl.contact.dist[:1], 0)
+    np.testing.assert_array_less(-dx._impl.contact.dist[1:], 0)
     # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx.contact)
+    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
     c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'box_box_edge', 1e-2)
@@ -736,7 +748,7 @@ class ConvexTest(absltest.TestCase):
         ).read_bytes(),
     }
     _, dx = _collide(self._CONVEX_CONVEX, assets=assets)
-    c = dx.contact
+    c = dx._impl.contact
 
     # Only one contact point for an edge contact.
     self.assertLess(c.dist[0], 0)
@@ -766,7 +778,7 @@ class ConvexTest(absltest.TestCase):
   def test_convex_convex_edge(self):
     """Tests convex-convex collisions with edge contact via _sat_gaussmap."""
     _, dx = _collide(self._CONVEX_CONVEX_THIN)
-    c = dx.contact
+    c = dx._impl.contact
 
     # Only one contact point for an edge contact.
     self.assertLess(c.dist[0], 0)
@@ -781,7 +793,7 @@ class ConvexTest(absltest.TestCase):
             'pos="0.0 2.0 0.35"', 'pos="0.0 2.0 0"'
         )
     )
-    c = dx.contact
+    c = dx._impl.contact
     self.assertTrue((c.dist > 0).all())
 
 
@@ -837,8 +849,8 @@ class HFieldTest(absltest.TestCase):
 
     # check that all geoms are colliding with the hfield
     for geom_id in [1, 2, 3]:
-      mask = (dx.contact.geom == np.array([0, geom_id])).all(axis=1)
-      c = jax.tree_util.tree_map(lambda x, m=mask: x[m], dx.contact)
+      mask = (dx._impl.contact.geom == np.array([0, geom_id])).all(axis=1)
+      c = jax.tree_util.tree_map(lambda x, m=mask: x[m], dx._impl.contact)
       self.assertTrue((c.dist < 0).any())
       self.assertTrue((c.dist > -1e-3).any())
       # all contact normals are roughly pointing in the right direction
@@ -850,7 +862,7 @@ class HFieldTest(absltest.TestCase):
     for p in positions:
       xml = self._HFIELD.replace('<body pos="0 0', f'<body pos="{p}')
       _, dx = _collide(xml)
-      self.assertTrue((dx.contact.dist >= 0).all())
+      self.assertTrue((dx._impl.contact.dist >= 0).all())
 
   def test_hfield_deep(self):
     """Tests that objects with deep penetration do not get stuck."""
@@ -868,8 +880,8 @@ class HFieldTest(absltest.TestCase):
 
     # check that all geoms are colliding with the hfield
     for geom_id in [1, 2, 3]:
-      mask = (dx.contact.geom == np.array([0, geom_id])).all(axis=1)
-      c = jax.tree_util.tree_map(lambda x, m=mask: x[m], dx.contact)
+      mask = (dx._impl.contact.geom == np.array([0, geom_id])).all(axis=1)
+      c = jax.tree_util.tree_map(lambda x, m=mask: x[m], dx._impl.contact)
       # all contact normals are in the top half-face of the hfield
       self.assertTrue((c.frame[:, 0].dot(np.array([0, 0, 1])) > 0.7).all())
 
@@ -892,8 +904,8 @@ class BodyPairFilterTest(absltest.TestCase):
   def test_filter_self_collision(self):
     """Tests that self collisions get filtered."""
     d, dx = _collide(self._SELF_COLLISION)
-    self.assertEqual(dx.contact.pos.shape[0], d.contact.pos.shape[0])
-    self.assertEqual(dx.contact.pos.shape[0], 0)
+    self.assertEqual(dx._impl.contact.pos.shape[0], d.contact.pos.shape[0])
+    self.assertEqual(dx._impl.contact.pos.shape[0], 0)
 
   _PARENT_CHILD = """
     <mujoco>
@@ -923,8 +935,8 @@ class BodyPairFilterTest(absltest.TestCase):
     dx = kinematics_jit_fn(mx, dx)
     dx = collision_jit_fn(mx, dx)
 
-    self.assertEqual(dx.contact.pos.shape[0], d.contact.pos.shape[0])
-    self.assertEqual(dx.contact.pos.shape[0], 0)
+    self.assertEqual(dx._impl.contact.pos.shape[0], d.contact.pos.shape[0])
+    self.assertEqual(dx._impl.contact.pos.shape[0], 0)
 
   def test_disable_filter_parent_child(self):
     """Tests that filterparent flag disables parent-child filtering."""
@@ -941,8 +953,8 @@ class BodyPairFilterTest(absltest.TestCase):
     dx = collision_jit_fn(mx, dx)
 
     # one collision between parent-child spheres
-    self.assertEqual(dx.contact.pos.shape[0], d.contact.pos.shape[0])
-    self.assertEqual(dx.contact.pos.shape[0], 1)
+    self.assertEqual(dx._impl.contact.pos.shape[0], d.contact.pos.shape[0])
+    self.assertEqual(dx._impl.contact.pos.shape[0], 1)
 
 
 class DimTest(parameterized.TestCase):
@@ -1027,8 +1039,8 @@ class TopKContactTest(absltest.TestCase):
     dx_all = collision_jit_fn(mx_all, dx)
     dx_top_k = collision_jit_fn(mx_top_k, dx)
 
-    self.assertEqual(dx_all.contact.dist.shape, (3,))
-    self.assertEqual(dx_top_k.contact.dist.shape, (2,))
+    self.assertEqual(dx_all._impl.contact.dist.shape, (3,))
+    self.assertEqual(dx_top_k._impl.contact.dist.shape, (2,))
 
   _CAPSULES_MAX_PAIR = """
     <mujoco>
@@ -1073,9 +1085,9 @@ class TopKContactTest(absltest.TestCase):
     dx_all = collision_jit_fn(mx_all, dx)
     dx_top_k = collision_jit_fn(mx_top_k, dx)
 
-    self.assertEqual(dx_all.contact.dist.shape, (6,))
-    self.assertEqual(dx_top_k.contact.dist.shape, (2,))
-    self.assertTrue((dx_top_k.contact.dist < 0).all())
+    self.assertEqual(dx_all._impl.contact.dist.shape, (6,))
+    self.assertEqual(dx_top_k._impl.contact.dist.shape, (2,))
+    self.assertTrue((dx_top_k._impl.contact.dist < 0).all())
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/collision_sdf.py b/mjx/mujoco/mjx/_src/collision_sdf.py
index 1874211d..3bf8b824 100644
--- a/mjx/mujoco/mjx/_src/collision_sdf.py
+++ b/mjx/mujoco/mjx/_src/collision_sdf.py
@@ -32,7 +32,9 @@ from mujoco.mjx._src.collision_types import Collision
 from mujoco.mjx._src.collision_types import GeomInfo
 from mujoco.mjx._src.dataclasses import PyTreeNode
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 # pylint: enable=g-importing-member
 
 # the SDF function takes position in, and returns a distance or objective
diff --git a/mjx/mujoco/mjx/_src/constraint.py b/mjx/mujoco/mjx/_src/constraint.py
index e778bcd8..9b41daa7 100644
--- a/mjx/mujoco/mjx/_src/constraint.py
+++ b/mjx/mujoco/mjx/_src/constraint.py
@@ -28,10 +28,12 @@ from mujoco.mjx._src.types import ConeType
 from mujoco.mjx._src.types import ConstraintType
 from mujoco.mjx._src.types import Contact
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import EqType
 from mujoco.mjx._src.types import JointType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 from mujoco.mjx._src.types import ObjType
 # pylint: enable=g-importing-member
 import numpy as np
@@ -281,6 +283,10 @@ def _efc_equality_joint(m: Model, d: Data) -> Optional[_Efc]:
 
 def _efc_equality_tendon(m: Model, d: Data) -> Optional[_Efc]:
   """Calculates constraint rows for tendon equality constraints."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError(
+        '_efc_equality_tendon requires JAX backend implementation.'
+    )
 
   eq_id = np.nonzero(m.eq_type == EqType.TENDON)[0]
 
@@ -314,9 +320,9 @@ def _efc_equality_tendon(m: Model, d: Data) -> Optional[_Efc]:
     return jax.tree_util.tree_map(lambda x: x * active, efc)
 
   inv1, inv2 = m.tendon_invweight0[obj1id], m.tendon_invweight0[obj2id]
-  jac1, jac2 = d.ten_J[obj1id], d.ten_J[obj2id]
-  pos1 = d.ten_length[obj1id] - m.tendon_length0[obj1id]
-  pos2 = d.ten_length[obj2id] - m.tendon_length0[obj2id]
+  jac1, jac2 = d._impl.ten_J[obj1id], d._impl.ten_J[obj2id]
+  pos1 = d._impl.ten_length[obj1id] - m.tendon_length0[obj1id]
+  pos2 = d._impl.ten_length[obj2id] - m.tendon_length0[obj2id]
   invweight = inv1 + inv2 * (obj2id > -1)
 
   return rows(
@@ -326,8 +332,11 @@ def _efc_equality_tendon(m: Model, d: Data) -> Optional[_Efc]:
 
 def _efc_friction(m: Model, d: Data) -> Optional[_Efc]:
   """Calculates constraint rows for dof frictionloss."""
-  dof_id = np.nonzero(m.dof_hasfrictionloss)[0]
-  tendon_id = np.nonzero(m.tendon_hasfrictionloss)[0]
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('_efc_friction requires JAX backend implementation.')
+
+  dof_id = np.nonzero(m._impl.dof_hasfrictionloss)[0]
+  tendon_id = np.nonzero(m._impl.tendon_hasfrictionloss)[0]
 
   size = dof_id.size + tendon_id.size
   if (m.opt.disableflags & DisableBit.FRICTIONLOSS) or (size == 0):
@@ -337,7 +346,7 @@ def _efc_friction(m: Model, d: Data) -> Optional[_Efc]:
   args_dof += (m.dof_solimp,)
   args_dof = jax.tree_util.tree_map(lambda x: x[dof_id], args_dof)
 
-  args_ten = (d.ten_J, m.tendon_frictionloss, m.tendon_invweight0)
+  args_ten = (d._impl.ten_J, m.tendon_frictionloss, m.tendon_invweight0)
   args_ten += (m.tendon_solref_fri, m.tendon_solimp_fri)
   args_ten = jax.tree_util.tree_map(lambda x: x[tendon_id], args_ten)
 
@@ -415,6 +424,9 @@ def _efc_limit_slide_hinge(m: Model, d: Data) -> Optional[_Efc]:
 
 def _efc_limit_tendon(m: Model, d: Data) -> Optional[_Efc]:
   """Calculates constraint rows for tendon limits."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('_efc_limit_tendon requires JAX backend implementation.')
+
   tendon_id = np.nonzero(m.tendon_limited)[0]
 
   if (m.opt.disableflags & DisableBit.LIMIT) or tendon_id.size == 0:
@@ -423,8 +435,8 @@ def _efc_limit_tendon(m: Model, d: Data) -> Optional[_Efc]:
   length, j, range_, margin, invweight, solref, solimp = jax.tree_util.tree_map(
       lambda x: x[tendon_id],
       (
-          d.ten_length,
-          d.ten_J,
+          d._impl.ten_length,
+          d._impl.ten_J,
           m.tendon_range,
           m.tendon_margin,
           m.tendon_invweight0,
@@ -446,8 +458,12 @@ def _efc_limit_tendon(m: Model, d: Data) -> Optional[_Efc]:
 
 def _efc_contact_frictionless(m: Model, d: Data) -> Optional[_Efc]:
   """Calculates constraint rows for frictionless contacts."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError(
+        '_efc_contact_frictionless requires JAX backend implementation.'
+    )
 
-  con_id = np.nonzero(d.contact.dim == 1)[0]
+  con_id = np.nonzero(d._impl.contact.dim == 1)[0]
 
   if con_id.size == 0:
     return None
@@ -473,15 +489,19 @@ def _efc_contact_frictionless(m: Model, d: Data) -> Optional[_Efc]:
         jp.zeros_like(pos),
     )
 
-  contact = jax.tree_util.tree_map(lambda x: x[con_id], d.contact)
+  contact = jax.tree_util.tree_map(lambda x: x[con_id], d._impl.contact)
 
   return rows(contact)
 
 
 def _efc_contact_pyramidal(m: Model, d: Data, condim: int) -> Optional[_Efc]:
   """Calculates constraint rows for frictional pyramidal contacts."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError(
+        '_efc_contact_pyramidal requires JAX backend implementation.'
+    )
 
-  con_id = np.nonzero(d.contact.dim == condim)[0]
+  con_id = np.nonzero(d._impl.contact.dim == condim)[0]
 
   if con_id.size == 0:
     return None
@@ -518,15 +538,19 @@ def _efc_contact_pyramidal(m: Model, d: Data, condim: int) -> Optional[_Efc]:
         jp.zeros_like(pos),
     )
 
-  contact = jax.tree_util.tree_map(lambda x: x[con_id], d.contact)
+  contact = jax.tree_util.tree_map(lambda x: x[con_id], d._impl.contact)
   # concatenate to drop row grouping
   return jax.tree_util.tree_map(jp.concatenate, rows(contact))
 
 
 def _efc_contact_elliptic(m: Model, d: Data, condim: int) -> Optional[_Efc]:
   """Calculates constraint rows for frictional elliptic contacts."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError(
+        '_efc_contact_elliptic requires JAX backend implementation.'
+    )
 
-  con_id = np.nonzero(d.contact.dim == condim)[0]
+  con_id = np.nonzero(d._impl.contact.dim == condim)[0]
 
   if con_id.size == 0:
     return None
@@ -563,7 +587,7 @@ def _efc_contact_elliptic(m: Model, d: Data, condim: int) -> Optional[_Efc]:
         jp.zeros_like(pos),
     )
 
-  contact = jax.tree_util.tree_map(lambda x: x[con_id], d.contact)
+  contact = jax.tree_util.tree_map(lambda x: x[con_id], d._impl.contact)
   # concatenate to drop row grouping
   return jax.tree_util.tree_map(jp.concatenate, rows(contact))
 
@@ -602,14 +626,14 @@ def make_efc_type(
 
   if not m.opt.disableflags & DisableBit.FRICTIONLOSS:
     nf_dof = (
-        m.dof_hasfrictionloss.sum()
-        if isinstance(m, Model)
+        m._impl.dof_hasfrictionloss.sum()
+        if isinstance(m, Model) and isinstance(m._impl, ModelJAX)
         else (m.dof_frictionloss > 0).sum()
     )
     efc_types += [ConstraintType.FRICTION_DOF] * nf_dof
     nf_tendon = (
-        m.tendon_hasfrictionloss.sum()
-        if isinstance(m, Model)
+        m._impl.tendon_hasfrictionloss.sum()
+        if isinstance(m, Model) and isinstance(m._impl, ModelJAX)
         else (m.tendon_frictionloss > 0).sum()
     )
     efc_types += [ConstraintType.FRICTION_TENDON] * nf_tendon
@@ -683,10 +707,14 @@ def make_constraint(m: Model, d: Data) -> Data:
 
   if not efcs:
     z = jp.empty(0)
-    d = d.replace(efc_J=jp.empty((0, m.nv)))
-    d = d.replace(
-        efc_D=z, efc_aref=z, efc_frictionloss=z, efc_pos=z, efc_margin=z
-    )
+    d = d.tree_replace({'_impl.efc_J': jp.empty((0, m.nv))})
+    d = d.tree_replace({
+        '_impl.efc_D': z,
+        '_impl.efc_aref': z,
+        '_impl.efc_frictionloss': z,
+        '_impl.efc_pos': z,
+        '_impl.efc_margin': z,
+    })
     return d
 
   efc = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *efcs)
@@ -699,9 +727,13 @@ def make_constraint(m: Model, d: Data) -> Data:
     return aref, r, efc.pos_aref + efc.margin, efc.margin, efc.frictionloss
 
   aref, r, pos, margin, frictionloss = fn(efc)
-  d = d.replace(
-      efc_J=efc.J, efc_D=1 / r, efc_aref=aref, efc_pos=pos, efc_margin=margin
-  )
-  d = d.replace(efc_frictionloss=frictionloss)
+  d = d.tree_replace({
+      '_impl.efc_J': efc.J,
+      '_impl.efc_D': 1 / r,
+      '_impl.efc_aref': aref,
+      '_impl.efc_pos': pos,
+      '_impl.efc_margin': margin,
+  })
+  d = d.tree_replace({'_impl.efc_frictionloss': frictionloss})
 
   return d
diff --git a/mjx/mujoco/mjx/_src/constraint_test.py b/mjx/mujoco/mjx/_src/constraint_test.py
index 4e53fb13..f94873ff 100644
--- a/mjx/mujoco/mjx/_src/constraint_test.py
+++ b/mjx/mujoco/mjx/_src/constraint_test.py
@@ -69,16 +69,16 @@ class ConstraintTest(parameterized.TestCase):
 
       order = test_util.efc_order(m, d, dx)
       d_efc_j = d.efc_J.reshape((-1, m.nv))
-      _assert_eq(d_efc_j, dx.efc_J[order][: d.nefc], 'efc_J')
-      _assert_eq(0, dx.efc_J[order][d.nefc :], 'efc_J')
-      _assert_eq(d.efc_aref, dx.efc_aref[order][: d.nefc], 'efc_aref')
-      _assert_eq(0, dx.efc_aref[order][d.nefc :], 'efc_aref')
-      _assert_eq(d.efc_D, dx.efc_D[order][: d.nefc], 'efc_D')
-      _assert_eq(d.efc_pos, dx.efc_pos[order][: d.nefc], 'efc_pos')
-      _assert_eq(dx.efc_pos[order][d.nefc :], 0, 'efc_pos')
+      _assert_eq(d_efc_j, dx._impl.efc_J[order][: d.nefc], 'efc_J')
+      _assert_eq(0, dx._impl.efc_J[order][d.nefc :], 'efc_J')
+      _assert_eq(d.efc_aref, dx._impl.efc_aref[order][: d.nefc], 'efc_aref')
+      _assert_eq(0, dx._impl.efc_aref[order][d.nefc :], 'efc_aref')
+      _assert_eq(d.efc_D, dx._impl.efc_D[order][: d.nefc], 'efc_D')
+      _assert_eq(d.efc_pos, dx._impl.efc_pos[order][: d.nefc], 'efc_pos')
+      _assert_eq(dx._impl.efc_pos[order][d.nefc :], 0, 'efc_pos')
       _assert_eq(
           d.efc_frictionloss,
-          dx.efc_frictionloss[order][: d.nefc],
+          dx._impl.efc_frictionloss[order][: d.nefc],
           'efc_frictionloss',
       )
 
@@ -104,7 +104,7 @@ class ConstraintTest(parameterized.TestCase):
     self.assertEqual(nl, 0)
     self.assertEqual(nc, 0)
     dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(dx.efc_J.shape[0], 0)
+    self.assertEqual(dx._impl.efc_J.shape[0], 0)
 
   def test_disable_equality(self):
     m = test_util.load_test_file('constraints.xml')
@@ -115,7 +115,9 @@ class ConstraintTest(parameterized.TestCase):
     self.assertEqual(nl, 5)
     self.assertEqual(nc, 180)
     dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(dx.efc_J.shape[0], 187)  # only joint/tendon limit, contact
+    self.assertEqual(
+        dx._impl.efc_J.shape[0], 187
+    )  # only joint/tendon limit, contact
 
   def test_disable_contact(self):
     m = test_util.load_test_file('constraints.xml')
@@ -126,7 +128,9 @@ class ConstraintTest(parameterized.TestCase):
     self.assertEqual(nl, 5)
     self.assertEqual(nc, 0)
     dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(dx.efc_J.shape[0], 27)  # only equality, joint/tendon limit
+    self.assertEqual(
+        dx._impl.efc_J.shape[0], 27
+    )  # only equality, joint/tendon limit
 
   def test_disable_frictionloss(self):
     m = test_util.load_test_file('constraints.xml')
@@ -137,7 +141,7 @@ class ConstraintTest(parameterized.TestCase):
     self.assertEqual(nl, 5)
     self.assertEqual(nc, 180)
     dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(dx.efc_J.shape[0], 205)
+    self.assertEqual(dx._impl.efc_J.shape[0], 205)
 
   def test_margin(self):
     """Test margin."""
@@ -163,8 +167,8 @@ class ConstraintTest(parameterized.TestCase):
     dx = mjx.make_constraint(mx, dx)
 
     order = test_util.efc_order(m, d, dx)
-    _assert_eq(d.efc_pos, dx.efc_pos[order][: d.nefc], 'efc_pos')
-    _assert_eq(d.efc_margin, dx.efc_margin[order][: d.nefc], 'efc_margin')
+    _assert_eq(d.efc_pos, dx._impl.efc_pos[order][: d.nefc], 'efc_pos')
+    _assert_eq(d.efc_margin, dx._impl.efc_margin[order][: d.nefc], 'efc_margin')
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/dataclasses.py b/mjx/mujoco/mjx/_src/dataclasses.py
index 85a18e60..c2d8fb63 100644
--- a/mjx/mujoco/mjx/_src/dataclasses.py
+++ b/mjx/mujoco/mjx/_src/dataclasses.py
@@ -18,6 +18,7 @@ import copy
 import dataclasses
 import typing
 from typing import Dict, Optional, Sequence, Tuple, TypeVar, Union
+import warnings
 import jax
 import numpy as np
 
@@ -49,6 +50,36 @@ def dataclass(clz: _T, register_as_pytree: bool) -> _T:
   """
   data_clz = dataclasses.dataclass(frozen=True)(clz)
   data_clz.replace = dataclasses.replace
+  # def replace(self, **updates):
+  #   """Returns a new object replacing the specified fields with new values."""
+  #   if not hasattr(self, '_impl'):
+  #     return dataclasses.replace(self, **updates)
+
+  #   # Private fields under `_impl` are allowed to be replaced directly as if
+  #   # they were on the base class. This logic will be removed in a future
+  #   # release.
+  #   impl_updates = {}
+  #   for k in tuple(updates.keys()):
+  #     # Recall that getattr is overridden for '_impl' fields.
+  #     hasattr_ = k in self.__annotations__
+  #     if not hasattr_ and hasattr(self._impl, k):  # pylint: disable=protected-access
+  #       impl_updates[k] = updates[k]
+  #       del updates[k]
+
+  #   if impl_updates:
+  #     updates['_impl'] = self._impl.replace(**impl_updates)
+  #     warnings.warn(
+  #         f'Accessing/replacing fields `{tuple(impl_updates.keys())}` directly'
+  #         f' from `{self.__class__.__name__}` will be deprecated. Refrain from'
+  #         ' using private fields that were moved to'
+  #         f' `{self.__class__.__name__}`._impl.',
+  #         DeprecationWarning,
+  #         stacklevel=2,
+  #     )
+
+  #   return dataclasses.replace(self, **updates)
+
+  # data_clz.replace = replace
 
   if register_as_pytree:
     meta_fields, data_fields = [], []
diff --git a/mjx/mujoco/mjx/_src/derivative.py b/mjx/mujoco/mjx/_src/derivative.py
index b0fc65f7..5ca84a42 100644
--- a/mjx/mujoco/mjx/_src/derivative.py
+++ b/mjx/mujoco/mjx/_src/derivative.py
@@ -40,7 +40,9 @@ def deriv_smooth_vel(m: Model, d: Data) -> Optional[jax.Array]:
     gain_vel = m.actuator_gainprm[:, 2] * affine_gain
     ctrl = d.ctrl.at[m.actuator_dyntype != DynType.NONE].set(d.act)
     vel = bias_vel + gain_vel * ctrl
-    qderiv = d.actuator_moment.T @ jax.vmap(jp.multiply)(d.actuator_moment, vel)
+    qderiv = d._impl.actuator_moment.T @ jax.vmap(jp.multiply)(
+        d._impl.actuator_moment, vel
+    )
 
   # qDeriv += d qfrc_passive / d qvel
   if not m.opt.disableflags & DisableBit.PASSIVE:
@@ -49,9 +51,9 @@ def deriv_smooth_vel(m: Model, d: Data) -> Optional[jax.Array]:
     else:
       qderiv -= jp.diag(m.dof_damping)
     if m.ntendon:
-      qderiv -= d.ten_J.T @ jp.diag(m.tendon_damping) @ d.ten_J
+      qderiv -= d._impl.ten_J.T @ jp.diag(m.tendon_damping) @ d._impl.ten_J
     # TODO(robotics-simulation): fluid drag model
-    if m.opt.has_fluid_params:
+    if m.opt.has_fluid_params:  # pytype: disable=attribute-error
       raise NotImplementedError('fluid drag not supported for implicitfast')
 
   # TODO(team): rne derivative
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 967aa639..62535122 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -33,12 +33,14 @@ from mujoco.mjx._src import support
 # pylint: disable=g-importing-member
 from mujoco.mjx._src.types import BiasType
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import DynType
 from mujoco.mjx._src.types import GainType
 from mujoco.mjx._src.types import IntegratorType
 from mujoco.mjx._src.types import JointType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 from mujoco.mjx._src.types import TrnType
 # pylint: enable=g-importing-member
 import numpy as np
@@ -81,10 +83,13 @@ def fwd_position(m: Model, d: Data) -> Data:
 @named_scope
 def fwd_velocity(m: Model, d: Data) -> Data:
   """Velocity-dependent computations."""
-  d = d.replace(
-      actuator_velocity=d.actuator_moment @ d.qvel,
-      ten_velocity=d.ten_J @ d.qvel,
-  )
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('fwd_velocity requires JAX backend implementation.')
+
+  d = d.tree_replace({
+      '_impl.actuator_velocity': d._impl.actuator_moment @ d.qvel,
+      '_impl.ten_velocity': d._impl.ten_J @ d.qvel,
+  })
   d = smooth.com_vel(m, d)
   d = passive.passive(m, d)
   d = smooth.rne(m, d)
@@ -173,8 +178,8 @@ def fwd_actuation(m: Model, d: Data) -> Data:
       m.actuator_gainprm,
       m.actuator_biastype,
       m.actuator_biasprm,
-      d.actuator_length,
-      d.actuator_velocity,
+      d._impl.actuator_length,
+      d._impl.actuator_velocity,
       ctrl_act,
       jp.array(m.actuator_lengthrange),
       jp.array(m.actuator_acc0),
@@ -215,7 +220,7 @@ def fwd_actuation(m: Model, d: Data) -> Data:
   )
   force = jp.clip(force, forcerange[:, 0], forcerange[:, 1])
 
-  qfrc_actuator = d.actuator_moment.T @ force
+  qfrc_actuator = d._impl.actuator_moment.T @ force
 
   if m.ngravcomp:
     # actuator-level gravity compensation, skip if added as passive force
@@ -331,13 +336,17 @@ def _advance(
 @named_scope
 def euler(m: Model, d: Data) -> Data:
   """Euler integrator, semi-implicit in velocity."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('euler requires JAX backend implementation.')
+
   # integrate damping implicitly
   qacc = d.qacc
   if not m.opt.disableflags & DisableBit.EULERDAMP:
     if support.is_sparse(m):
-      dh = d.replace(qM=d.qM.at[m.dof_Madr].add(m.opt.timestep * m.dof_damping))
+      qM = d._impl.qM.at[m.dof_Madr].add(m.opt.timestep * m.dof_damping)
     else:
-      dh = d.replace(qM=d.qM + jp.diag(m.opt.timestep * m.dof_damping))
+      qM = d._impl.qM + jp.diag(m.opt.timestep * m.dof_damping)
+    dh = d.tree_replace({'_impl.qM': qM})
     dh = smooth.factor_m(m, dh)
     qfrc = d.qfrc_smooth + d.qfrc_constraint
     qacc = smooth.solve_m(m, dh, qfrc)
@@ -392,13 +401,15 @@ def rungekutta4(m: Model, d: Data) -> Data:
 @named_scope
 def implicit(m: Model, d: Data) -> Data:
   """Integrates fully implicit in velocity."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('implicit requires JAX backend implementation.')
 
   qderiv = derivative.deriv_smooth_vel(m, d)
 
   qacc = d.qacc
   if qderiv is not None:
     # TODO(robotics-simulation): use smooth.factor_m / solve_m here:
-    qm = support.full_m(m, d) if support.is_sparse(m) else d.qM
+    qm = support.full_m(m, d) if support.is_sparse(m) else d._impl.qM
     qm -= m.opt.timestep * qderiv
     qh, _ = jax.scipy.linalg.cho_factor(qm)
     qfrc = d.qfrc_smooth + d.qfrc_constraint
@@ -410,6 +421,9 @@ def implicit(m: Model, d: Data) -> Data:
 @named_scope
 def forward(m: Model, d: Data) -> Data:
   """Forward dynamics."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('forward requires JAX backend implementation.')
+
   d = fwd_position(m, d)
   d = sensor.sensor_pos(m, d)
   d = fwd_velocity(m, d)
@@ -418,7 +432,7 @@ def forward(m: Model, d: Data) -> Data:
   d = fwd_acceleration(m, d)
   d = sensor.sensor_acc(m, d)
 
-  if d.efc_J.size == 0:
+  if d._impl.efc_J.size == 0:
     d = d.replace(qacc=d.qacc_smooth)
     return d
 
diff --git a/mjx/mujoco/mjx/_src/inverse.py b/mjx/mujoco/mjx/_src/inverse.py
index 5ad3e1ad..5df72de9 100644
--- a/mjx/mujoco/mjx/_src/inverse.py
+++ b/mjx/mujoco/mjx/_src/inverse.py
@@ -69,16 +69,16 @@ def inv_constraint(m: Model, d: Data) -> Data:
   """Inverse constraint solver."""
 
   # no constraints
-  if d.efc_J.size == 0:
+  if d._impl.efc_J.size == 0:  # pytype: disable=attribute-error
     return d.replace(qfrc_constraint=jp.zeros(m.nv))
 
   # update
   ctx = solver.Context.create(m, d, grad=False)
 
-  return d.replace(
-      qfrc_constraint=ctx.qfrc_constraint,
-      efc_force=ctx.efc_force,
-  )
+  return d.tree_replace({
+      'qfrc_constraint': ctx.qfrc_constraint,
+      '_impl.efc_force': ctx.efc_force,
+  })
 
 
 def inverse(m: Model, d: Data) -> Data:
diff --git a/mjx/mujoco/mjx/_src/inverse_test.py b/mjx/mujoco/mjx/_src/inverse_test.py
index 556f2a7e..227406e3 100644
--- a/mjx/mujoco/mjx/_src/inverse_test.py
+++ b/mjx/mujoco/mjx/_src/inverse_test.py
@@ -15,12 +15,10 @@
 """Tests for inverse dynamics functions."""
 from absl.testing import absltest
 from absl.testing import parameterized
-import jax
 from jax import numpy as jp
 import mujoco
 from mujoco import mjx
 from mujoco.mjx._src import support
-from mujoco.mjx._src import test_util
 import numpy as np
 
 # tolerance for difference between MuJoCo and MJX calculations - mostly
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 77b1655c..1d2ad234 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -15,7 +15,10 @@
 """Functions to initialize, load, or save data."""
 
 import copy
-from typing import List, Tuple, Union
+import logging
+import os
+from typing import Any, Dict, List, Optional, Tuple, Union
+import warnings
 
 import jax
 from jax import numpy as jp
@@ -29,6 +32,130 @@ import numpy as np
 import scipy
 
 
+def _is_cuda_gpu_device(device: jax.Device) -> bool:
+  try:
+    cuda_devices = jax.devices('cuda')
+  except RuntimeError:
+    logging.info('No CUDA GPU devices found in jax.devices("cuda").')
+    return False
+  return device in cuda_devices
+
+
+def _resolve_backend_impl(
+    device: jax.Device,
+) -> types.BackendImpl:
+  """Pick a default backend impl based on the device specified."""
+  if _is_cuda_gpu_device(device):
+    # TODO(btaba): Remove flag once Warp is ready to launch.
+    mjx_warp_enabled = os.environ.get('MJX_WARP_ENABLED', 'f').lower() == 'true'
+    if mjx_warp_enabled:
+      logging.debug('Picking default backend implementation: Warp.')
+      return types.BackendImpl.WARP
+    logging.info('MJX Warp is disabled via MJX_WARP_ENABLED=false.')
+
+  if device.platform in ('gpu', 'tpu'):
+    logging.debug('Picking default backend implementation: JAX.')
+    return types.BackendImpl.JAX
+
+  if device.platform == 'cpu':
+    mjx_c_default = (
+        os.environ.get('MJX_C_DEFAULT_ENABLED', 'f').lower() == 'true'
+    )
+    if mjx_c_default:
+      logging.debug('Picking default backend implementation: C.')
+      return types.BackendImpl.C
+    return types.BackendImpl.JAX
+
+  raise ValueError(f'Unsupported device: {device}')
+
+
+def _resolve_device(
+    backend_impl: types.BackendImpl,
+) -> jax.Device:
+  """Resolves a device based on the backend implementation."""
+  backend_impl = types.BackendImpl(backend_impl)
+  if backend_impl == types.BackendImpl.JAX:
+    device_0 = jax.devices()[0]
+    logging.debug('Picking default device: %s.', device_0)
+    return device_0
+
+  if backend_impl == types.BackendImpl.C:
+    cpu_0 = jax.devices('cpu')[0]
+    logging.debug('Picking default device: %s', cpu_0)
+    return cpu_0
+
+  if backend_impl == types.BackendImpl.WARP:
+    # WARP backend requires a CUDA GPU.
+    cuda_gpus = [d for d in jax.devices('cuda')]
+    if not cuda_gpus:
+      raise AssertionError(
+          'No CUDA GPU devices found in'
+          f' jax.devices("cuda")={jax.devices("cuda")}.'
+      )
+
+    logging.debug('Picking default device: %s', cuda_gpus[0])
+    return cuda_gpus[0]
+
+  raise ValueError(f'Unsupported backend implementation: {backend_impl}')
+
+
+def _check_backend_impl_device_compatibility(
+    backend_impl: Union[str, types.BackendImpl],
+    device: jax.Device,
+) -> None:
+  """Checks that the backend implementation is compatible with the device."""
+  if backend_impl is None:
+    raise ValueError('No backend implementation specified.')
+
+  backend_impl = types.BackendImpl(backend_impl)
+
+  if backend_impl == types.BackendImpl.WARP:
+    if not _is_cuda_gpu_device(device):
+      raise AssertionError(
+          'Warp backend implementation requires a CUDA GPU device, got '
+          f'{device}.'
+      )
+
+    mjx_warp_enabled = os.environ.get('MJX_WARP_ENABLED', 'f').lower() == 'true'
+    if not mjx_warp_enabled:
+      raise AssertionError(
+          'Warp backend implementation is disabled via MJX_WARP_ENABLED=false.'
+      )
+
+  is_cpu_device = device.platform == 'cpu'
+  if backend_impl == types.BackendImpl.C:
+    if not is_cpu_device:
+      raise AssertionError(
+          f'C backend implementation requires a CPU device, got {device}.'
+      )
+
+  # NB: JAX backend works with any device.
+
+
+def _resolve_backend_impl_and_device(
+    backend_impl: Optional[Union[str, types.BackendImpl]],
+    device: Optional[jax.Device] = None,
+) -> Tuple[types.BackendImpl, jax.Device]:
+  """Resolves a backend implementation and device."""
+  if backend_impl:
+    backend_impl = types.BackendImpl(backend_impl)
+
+  has_backend_impl, has_device = backend_impl is not None, device is not None
+  if (has_backend_impl, has_device) == (True, True):
+    pass
+  elif (has_backend_impl, has_device) == (True, False):
+    device = _resolve_device(backend_impl)
+  elif (has_backend_impl, has_device) == (False, True):
+    backend_impl = _resolve_backend_impl(device)
+  else:
+    device = jax.devices(jax.default_backend())[0]
+    logging.info('Using JAX default device: %s.', device)
+    backend_impl = _resolve_backend_impl(device)
+
+  _check_backend_impl_device_compatibility(backend_impl, device)
+  return backend_impl, device  # pytype: disable=bad-return-type
+
+
 def _strip_weak_type(tree):
   def f(leaf):
     if isinstance(leaf, jax.Array):
@@ -38,32 +165,27 @@ def _strip_weak_type(tree):
   return jax.tree_util.tree_map(f, tree)
 
 
-def _make_option(
-    o: mujoco.MjOption, _full_compat: bool = False  # pylint: disable=invalid-name
+def _put_option(
+    o: mujoco.MjOption,
+    backend_impl: types.BackendImpl,
+    impl_fields: Optional[dict[str, Any]] = None,
 ) -> types.Option:
   """Returns mjx.Option given mujoco.MjOption."""
-  if not _full_compat:
-    if o.integrator not in set(types.IntegratorType):
-      raise NotImplementedError(f'{mujoco.mjtIntegrator(o.integrator)}')
+  if o.integrator not in set(types.IntegratorType):
+    raise NotImplementedError(f'{mujoco.mjtIntegrator(o.integrator)}')
 
-    if o.cone not in set(types.ConeType):
-      raise NotImplementedError(f'{mujoco.mjtCone(o.cone)}')
+  if o.cone not in set(types.ConeType):
+    raise NotImplementedError(f'{mujoco.mjtCone(o.cone)}')
 
-    if o.jacobian not in set(types.JacobianType):
-      raise NotImplementedError(f'{mujoco.mjtJacobian(o.jacobian)}')
+  if o.jacobian not in set(types.JacobianType):
+    raise NotImplementedError(f'{mujoco.mjtJacobian(o.jacobian)}')
 
-    if o.solver not in set(types.SolverType):
-      raise NotImplementedError(f'{mujoco.mjtSolver(o.solver)}')
+  if o.solver not in set(types.SolverType):
+    raise NotImplementedError(f'{mujoco.mjtSolver(o.solver)}')
 
-    for i in range(mujoco.mjtEnableBit.mjNENABLE):
-      if o.enableflags & 2**i and 2**i not in set(types.EnableBit):
-        raise NotImplementedError(f'{mujoco.mjtEnableBit(2**i)}')
-
-  has_fluid_params = o.density > 0 or o.viscosity > 0 or o.wind.any()
-  implicitfast = o.integrator == mujoco.mjtIntegrator.mjINT_IMPLICITFAST
-  if not _full_compat:
-    if implicitfast and has_fluid_params:
-      raise NotImplementedError('implicitfast not implemented for fluid drag.')
+  for i in range(mujoco.mjtEnableBit.mjNENABLE):
+    if o.enableflags & 2**i and 2 ** i not in set(types.EnableBit):
+      raise NotImplementedError(f'{mujoco.mjtEnableBit(2**i)}')
 
   fields = {f.name: getattr(o, f.name, None) for f in types.Option.fields()}
   fields['integrator'] = types.IntegratorType(o.integrator)
@@ -71,13 +193,25 @@ def _make_option(
   fields['jacobian'] = types.JacobianType(o.jacobian)
   fields['solver'] = types.SolverType(o.solver)
   fields['disableflags'] = types.DisableBit(o.disableflags)
-  fields['has_fluid_params'] = has_fluid_params
   fields['enableflags'] = types.EnableBit(o.enableflags)
 
-  return types.Option(**fields)
+  if backend_impl == types.BackendImpl.JAX:
+    has_fluid_params = o.density > 0 or o.viscosity > 0 or o.wind.any()
+    implicitfast = o.integrator == mujoco.mjtIntegrator.mjINT_IMPLICITFAST
+    if implicitfast and has_fluid_params:
+      raise NotImplementedError('implicitfast not implemented for fluid drag.')
+    fields['has_fluid_params'] = has_fluid_params
+    return types.OptionJAX(**fields, **(impl_fields or {}))
+
+  if backend_impl == types.BackendImpl.C:
+    c_field_keys = types.OptionC.__annotations__.keys() - fields.keys()
+    c_fields = {k: getattr(o, k, None) for k in c_field_keys}
+    return types.OptionC(**fields, **c_fields, **(impl_fields or {}))
+
+  raise NotImplementedError(f'Unsupported backend: {backend_impl}')
 
 
-def _make_statistic(s: mujoco.MjStatistic) -> types.Statistic:
+def _put_statistic(s: mujoco.MjStatistic) -> types.Statistic:
   """Puts mujoco.MjStatistic onto a device, resulting in mjx.Statistic."""
   return types.Statistic(
       meaninertia=s.meaninertia,
@@ -88,26 +222,16 @@ def _make_statistic(s: mujoco.MjStatistic) -> types.Statistic:
   )
 
 
-def put_model(
-    m: mujoco.MjModel, device=None, _full_compat: bool = False  # pylint: disable=invalid-name
+def _put_model_jax(
+    m: mujoco.MjModel,
+    device: Optional[jax.Device] = None,
 ) -> types.Model:
-  """Puts mujoco.MjModel onto a device, resulting in mjx.Model.
-
-  Args:
-    m: the model to put onto device
-    device: which device to use - if unspecified picks the default device
-    _full_compat: put all MjModel fields onto device irrespective of MJX support
-      This is an experimental feature.  Avoid using it for now.
-
-  Returns:
-    an mjx.Model placed on device
-  """
-
+  """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
   mesh_geomid = set()
   for g1, g2, ip in collision_driver.geom_pairs(m):
     t1, t2 = m.geom_type[[g1, g2]]
     # check collision function exists for type pair
-    if not collision_driver.has_collision_fn(t1, t2) and not _full_compat:
+    if not collision_driver.has_collision_fn(t1, t2):
       t1, t2 = mujoco.mjtGeom(t1), mujoco.mjtGeom(t2)
       raise NotImplementedError(f'({t1}, {t2}) collisions not implemented.')
     # margin/gap not supported for meshes and height fields
@@ -117,7 +241,7 @@ def put_model(
         margin = m.pair_margin[ip]
       else:
         margin = m.geom_margin[g1] + m.geom_margin[g2]
-      if margin.any() and not _full_compat:
+      if margin.any():
         t1, t2 = mujoco.mjtGeom(t1), mujoco.mjtGeom(t2)
         raise NotImplementedError(f'({t1}, {t2}) margin/gap not implemented.')
     for t, g in [(t1, g1), (t2, g2)]:
@@ -151,38 +275,27 @@ def put_model(
       (m.wrap_type, types.WrapType, mujoco.mjtWrap),
   ):
     missing = set(enum_field) - set(enum_type)
-    if missing and not _full_compat:
+    if missing:
       raise NotImplementedError(
           f'{[mj_type(m) for m in missing]} not supported'
       )
 
-  mj_field_names = {
-      f.name
-      for f in types.Model.fields()
-      if f.metadata.get('restricted_to') != 'mjx'
-  }
+  mj_field_names = {f.name for f in types.Model.fields() if f.name != '_impl'}
   fields = {f: getattr(m, f) for f in mj_field_names}
-
-  # zero out fields restricted to MuJoCo
-  if not _full_compat:
-    for f in types.Model.fields():
-      if f.metadata.get('restricted_to') == 'mujoco' and isinstance(
-          fields[f.name], np.ndarray
-      ):
-        fields[f.name] = np.zeros((0,), dtype=fields[f.name].dtype)
-
-  fields['dof_hasfrictionloss'] = fields['dof_frictionloss'] > 0
-  fields['tendon_hasfrictionloss'] = fields['tendon_frictionloss'] > 0
-  fields['geom_rbound_hfield'] = fields['geom_rbound']
   fields['cam_mat0'] = fields['cam_mat0'].reshape((-1, 3, 3))
-  fields['opt'] = _make_option(m.opt, _full_compat=_full_compat)
-  fields['stat'] = _make_statistic(m.stat)
+  fields['opt'] = _put_option(m.opt, types.BackendImpl.JAX)
+  fields['stat'] = _put_statistic(m.stat)
+
+  fields_jax = {}
+  fields_jax['dof_hasfrictionloss'] = fields['dof_frictionloss'] > 0
+  fields_jax['tendon_hasfrictionloss'] = fields['tendon_frictionloss'] > 0
+  fields_jax['geom_rbound_hfield'] = fields['geom_rbound']
 
   # spatial tendon wrap inside
-  fields['wrap_inside_maxiter'] = 5
-  fields['wrap_inside_tolerance'] = 1.0e-4
-  fields['wrap_inside_z_init'] = 1.0 - 1.0e-5
-  fields['is_wrap_inside'] = np.zeros(0, dtype=bool)
+  fields_jax['wrap_inside_maxiter'] = 5
+  fields_jax['wrap_inside_tolerance'] = 1.0e-4
+  fields_jax['wrap_inside_z_init'] = 1.0 - 1.0e-5
+  fields_jax['is_wrap_inside'] = np.zeros(0, dtype=bool)
   if m.nsite:
     # find sphere or cylinder geoms (if any exist)
     (wrap_id_geom,) = np.nonzero(
@@ -198,75 +311,98 @@ def put_model(
     side = m.site_pos[side_id]
 
     # wrap inside flag
-    fields['is_wrap_inside'] = np.array(
+    fields_jax['is_wrap_inside'] = np.array(
         (np.linalg.norm(side - geom_pos, axis=1) < geom_size) & (side_id >= 0)
     )
 
   # Pre-compile meshes for MJX collisions.
-  fields['mesh_convex'] = [None] * m.nmesh
-  if not _full_compat:
-    for i in mesh_geomid:
-      dataid = m.geom_dataid[i]
-      if fields['mesh_convex'][dataid] is None:
-        fields['mesh_convex'][dataid] = mesh.convex(m, dataid)  # pytype: disable=unsupported-operands
-    fields['mesh_convex'] = tuple(fields['mesh_convex'])
+  fields_jax['mesh_convex'] = [None] * m.nmesh
+  for i in mesh_geomid:
+    dataid = m.geom_dataid[i]
+    if fields_jax['mesh_convex'][dataid] is None:
+      fields_jax['mesh_convex'][dataid] = mesh.convex(m, dataid)  # pytype: disable=unsupported-operands
+  fields_jax['mesh_convex'] = tuple(fields_jax['mesh_convex'])
 
-  model = types.Model(**{k: copy.copy(v) for k, v in fields.items()})
+  jax_impl = types.ModelJAX(**fields_jax)
+  model = types.Model(
+      **{k: copy.copy(v) for k, v in fields.items()}, _impl=jax_impl
+  )
 
   model = jax.device_put(model, device=device)
   return _strip_weak_type(model)
 
 
-def make_data(
-    m: Union[types.Model, mujoco.MjModel],
-    device=None,
+def _put_model_c(
+    m: mujoco.MjModel,
+    device: Optional[jax.Device] = None,
+) -> types.Model:
+  """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
+  mj_field_names = {f.name for f in types.Model.fields() if f.name != '_impl'}
+  fields = {f: getattr(m, f) for f in mj_field_names}
+  fields['cam_mat0'] = fields['cam_mat0'].reshape((-1, 3, 3))
+  fields['opt'] = _put_option(m.opt, backend_impl=types.BackendImpl.C)
+  fields['stat'] = _put_statistic(m.stat)
+
+  c_impl_keys = (
+      types.ModelC.__annotations__.keys() - types.Model.__annotations__.keys()
+  )
+  c_impl_dict = {k: getattr(m, k) for k in c_impl_keys}
+  c_impl_obj = types.ModelC(**{k: copy.copy(v) for k, v in c_impl_dict.items()})
+
+  model = types.Model(
+      **{k: copy.copy(v) for k, v in fields.items()}, _impl=c_impl_obj
+  )
+  model = jax.device_put(model, device=device)
+  return _strip_weak_type(model)
+
+
+def put_model(
+    m: mujoco.MjModel,
+    device: Optional[jax.Device] = None,
+    backend_impl: Optional[Union[str, types.BackendImpl]] = None,
     _full_compat: bool = False,  # pylint: disable=invalid-name
-) -> types.Data:
-  """Allocate and initialize Data.
+) -> types.Model:
+  """Puts mujoco.MjModel onto a device, resulting in mjx.Model.
 
   Args:
-    m: the model to use
+    m: the model to put onto device
     device: which device to use - if unspecified picks the default device
-    _full_compat: create all MjData fields on device irrespective of MJX support
-      This is an experimental feature.  Avoid using it for now. If using this
-      flag, also use _full_compat for put_model.
+    backend_impl: backend implementation to use
+    _full_compat: put all MjModel fields onto device irrespective of MJX support
+      This is an experimental feature.  Avoid using it for now.
 
   Returns:
-    an initialized mjx.Data placed on device
+    an mjx.Model placed on device
+
+  Raises:
+    ValueError: if backend_impl is not supported
+    DeprecationWarning: if _full_compat is True
   """
-  dim = collision_driver.make_condim(m)
-  efc_type = constraint.make_efc_type(m, dim)
-  efc_address = constraint.make_efc_address(m, dim, efc_type)
-  ne, nf, nl, nc = constraint.counts(efc_type)
-  ncon, nefc = dim.size, ne + nf + nl + nc
 
-  float_ = jp.zeros(1, float).dtype
-  int_ = jp.zeros(1, int).dtype
-  contact = types.Contact(
-      dist=np.zeros((ncon,), dtype=float_),
-      pos=np.zeros((ncon, 3), dtype=float_),
-      frame=np.zeros((ncon, 3, 3), dtype=float_),
-      includemargin=np.zeros((ncon,), dtype=float_),
-      friction=np.zeros((ncon, 5), dtype=float_),
-      solref=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
-      solreffriction=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
-      solimp=np.zeros((ncon, mujoco.mjNIMP), dtype=float_),
-      dim=dim,
-      # let jax pick contact.geom int precision, for interop with
-      # jax_enable_x64
-      geom1=np.full((ncon,), -1, dtype=int_),
-      geom2=np.full((ncon,), -1, dtype=int_),
-      geom=np.full((ncon, 2), -1, dtype=int_),
-      efc_address=efc_address,
-  )
-
-  if m.opt.cone == types.ConeType.ELLIPTIC and np.any(contact.dim == 1):
-    raise NotImplementedError(
-        'condim=1 with ConeType.ELLIPTIC not implemented.'
+  if _full_compat:
+    warnings.warn(
+        'mjx.put_model(..., _full_compat=True) is deprecated.  Use'
+        ' mjx.put_model(..., backend_impl=types.BackendImpl.C) instead.',
+        DeprecationWarning,
+        stacklevel=2,
     )
+    backend_impl = types.BackendImpl.C
 
+  backend_impl, device = _resolve_backend_impl_and_device(backend_impl, device)
+  if backend_impl == types.BackendImpl.JAX:
+    return _put_model_jax(m, device)
+  elif backend_impl == types.BackendImpl.C:
+    return _put_model_c(m, device)
+  elif backend_impl == types.BackendImpl.WARP:
+    raise NotImplementedError('Warp backend not implemented yet.')
+  else:
+    raise ValueError(f'Unsupported backend implementation: {backend_impl}')
+
+
+def _make_data_public_fields(m: types.Model) -> Dict[str, Any]:
+  """Create public fields for the Data object."""
+  float_ = jp.zeros(1, float).dtype
   zero_fields = {
-      'solver_niter': (int_,),
       'time': (float_,),
       'qvel': (m.nv, float_),
       'act': (m.na, float_),
@@ -293,25 +429,183 @@ def make_data(
       'site_xmat': (m.nsite, 3, 3, float_),
       'cam_xpos': (m.ncam, 3, float_),
       'cam_xmat': (m.ncam, 3, 3, float_),
-      'light_xpos': (m.nlight, 3, float_),
-      'light_xdir': (m.nlight, 3, float_),
       'subtree_com': (m.nbody, 3, float_),
+      'actuator_force': (m.nu, float_),
+      'qfrc_bias': (m.nv, float_),
+      'qfrc_gravcomp': (m.nv, float_),
+      'qfrc_fluid': (m.nv, float_),
+      'qfrc_passive': (m.nv, float_),
+      'qfrc_actuator': (m.nv, float_),
+      'qfrc_smooth': (m.nv, float_),
+      'qacc_smooth': (m.nv, float_),
+      'qfrc_constraint': (m.nv, float_),
+      'qfrc_inverse': (m.nv, float_),
+      'cvel': (m.nbody, 6, float_),
+  }
+  zero_fields = {
+      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_fields.items()
+  }
+  return zero_fields
+
+
+def _make_data_contact_jax(
+    condim: np.ndarray, efc_address: np.ndarray
+) -> types.Contact:
+  """Create contact for the Data object."""
+  ncon = condim.size
+  float_ = jp.zeros(1, float).dtype
+  int_ = jp.zeros(1, int).dtype
+  contact = types.Contact(
+      dist=np.zeros((ncon,), dtype=float_),
+      pos=np.zeros((ncon, 3), dtype=float_),
+      frame=np.zeros((ncon, 3, 3), dtype=float_),
+      includemargin=np.zeros((ncon,), dtype=float_),
+      friction=np.zeros((ncon, 5), dtype=float_),
+      solref=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
+      solreffriction=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
+      solimp=np.zeros((ncon, mujoco.mjNIMP), dtype=float_),
+      dim=condim,
+      # let jax pick contact.geom int precision, for interop with
+      # jax_enable_x64
+      geom1=np.full((ncon,), -1, dtype=int_),
+      geom2=np.full((ncon,), -1, dtype=int_),
+      geom=np.full((ncon, 2), -1, dtype=int_),
+      efc_address=efc_address,
+  )
+  return contact
+
+
+def _make_data_jax(
+    m: types.Model,
+    device: Optional[jax.Device] = None,
+) -> types.Data:
+  """Allocate and initialize Data for the JAX implementation."""
+  dim = collision_driver.make_condim(m)
+  efc_type = constraint.make_efc_type(m, dim)
+  ne, nf, nl, nc = constraint.counts(efc_type)
+  ncon, nefc = dim.size, ne + nf + nl + nc
+  efc_address = constraint.make_efc_address(m, dim, efc_type)
+
+  float_ = jp.zeros(1, float).dtype
+  int_ = jp.zeros(1, int).dtype
+  contact = _make_data_contact_jax(dim, efc_address)
+
+  if m.opt.cone == types.ConeType.ELLIPTIC and np.any(contact.dim == 1):
+    raise NotImplementedError(
+        'condim=1 with ConeType.ELLIPTIC not implemented.'
+    )
+
+  zero_impl_fields = {
+      'solver_niter': (int_,),
       'cdof': (m.nv, 6, float_),
       'cinert': (m.nbody, 10, float_),
-      'flexvert_xpos': (m.nflexvert, 3, float_),
-      'flexelem_aabb': (m.nflexelem, 6, float_),
-      'flexedge_J_rownnz': (m.nflexedge, np.int32),
-      'flexedge_J_rowadr': (m.nflexedge, np.int32),
-      'flexedge_J_colind': (m.nflexedge, m.nv, np.int32),
-      'flexedge_J': (m.nflexedge, m.nv, float_),
-      'flexedge_length': (m.nflexedge, float_),
       'ten_wrapadr': (m.ntendon, np.int32),
       'ten_wrapnum': (m.ntendon, np.int32),
+      'ten_J': (m.ntendon, m.nv, float_),
+      'ten_length': (m.ntendon, float_),
+      'wrap_obj': (m.nwrap, 2, np.int32),
+      'wrap_xpos': (m.nwrap, 6, float_),
+      'actuator_length': (m.nu, float_),
+      'actuator_moment': (m.nu, m.nv, float_),
+      'crb': (m.nbody, 10, float_),
+      'qM': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'qLD': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
+      'ten_velocity': (m.ntendon, float_),
+      'actuator_velocity': (m.nu, float_),
+      'cdof_dot': (m.nv, 6, float_),
+      'cacc': (m.nbody, 6, float_),
+      'cfrc_int': (m.nbody, 6, float_),
+      'cfrc_ext': (m.nbody, 6, float_),
+      'subtree_linvel': (m.nbody, 3, float_),
+      'subtree_angmom': (m.nbody, 3, float_),
+      'efc_J': (nefc, m.nv, float_),
+      'efc_pos': (nefc, float_),
+      'efc_margin': (nefc, float_),
+      'efc_frictionloss': (nefc, float_),
+      'efc_D': (nefc, float_),
+      'efc_aref': (nefc, float_),
+      'efc_force': (nefc, float_),
+  }
+  zero_impl_fields = {
+      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_impl_fields.items()
+  }
+  impl = types.DataJAX(
+      ne=ne,
+      nf=nf,
+      nl=nl,
+      nefc=nefc,
+      ncon=ncon,
+      contact=contact,
+      efc_type=efc_type,
+      **zero_impl_fields,
+  )
+
+  d = types.Data(
+      qpos=jp.array(m.qpos0, dtype=float_),
+      eq_active=m.eq_active0,
+      _impl=impl,
+      **_make_data_public_fields(m),
+  )
+
+  if m.nmocap:
+    # Set mocap_pos/quat = body_pos/quat for mocap bodies as done in C MuJoCo.
+    body_mask = m.body_mocapid >= 0
+    body_pos = m.body_pos[body_mask]
+    body_quat = m.body_quat[body_mask]
+    d = d.replace(
+        mocap_pos=body_pos[m.body_mocapid[body_mask]],
+        mocap_quat=body_quat[m.body_mocapid[body_mask]],
+    )
+
+  d = jax.device_put(d, device=device)
+  return d
+
+
+def _make_data_c(
+    m: types.Model,
+    device: Optional[jax.Device] = None,
+) -> types.Data:
+  """Allocate and initialize Data for the C implementation."""
+  # TODO(stunya): The C implementation should not use static dimensions, and
+  # the backend implementation details should be kept hidden from JAX
+  # altogether.
+  dim = collision_driver.make_condim(m)
+  efc_type = constraint.make_efc_type(m, dim)
+  efc_address = constraint.make_efc_address(m, dim, efc_type)
+  ne, nf, nl, nc = constraint.counts(efc_type)
+  ncon, nefc = dim.size, ne + nf + nl + nc
+
+  float_ = jp.zeros(1, float).dtype
+  int_ = jp.zeros(1, int).dtype
+  # TODO(stunya): remove the JAX contact from C data.
+  contact = _make_data_contact_jax(dim, efc_address)
+
+  nflexvert = m.nflexvert
+  nflexedge = m.nflexedge
+  nflexelem = m.nflexelem
+  nbvh = m.nbvh
+  nbvhdynamic = m.nbvhdynamic
+  zero_impl_fields = {
+      'solver_niter': (int_,),
+      'cdof': (m.nv, 6, float_),
+      'cinert': (m.nbody, 10, float_),
+      'light_xpos': (m.nlight, 3, float_),
+      'light_xdir': (m.nlight, 3, float_),
+      'flexvert_xpos': (nflexvert, 3, float_),
+      'flexelem_aabb': (nflexelem, 6, float_),
+      'flexedge_J_rownnz': (nflexedge, np.int32),
+      'flexedge_J_rowadr': (nflexedge, np.int32),
+      'flexedge_J_colind': (nflexedge, m.nv, np.int32),
+      'flexedge_J': (nflexedge, m.nv, float_),
+      'flexedge_length': (nflexedge, float_),
       'ten_J_rownnz': (m.ntendon, np.int32),
       'ten_J_rowadr': (m.ntendon, np.int32),
       'ten_J_colind': (m.ntendon, m.nv, np.int32),
       'ten_J': (m.ntendon, m.nv, float_),
       'ten_length': (m.ntendon, float_),
+      'ten_wrapadr': (m.ntendon, np.int32),
+      'ten_wrapnum': (m.ntendon, np.int32),
       'wrap_obj': (m.nwrap, 2, np.int32),
       'wrap_xpos': (m.nwrap, 6, float_),
       'actuator_length': (m.nu, float_),
@@ -319,27 +613,17 @@ def make_data(
       'moment_rowadr': (m.nu, np.int32),
       'moment_colind': (m.nJmom, np.int32),
       'actuator_moment': (m.nu, m.nv, float_),
+      'bvh_aabb_dyn': (nbvhdynamic, 6, float_),
+      'bvh_active': (nbvh, np.uint8),
+      'flexedge_velocity': (nflexedge, float_),
       'crb': (m.nbody, 10, float_),
-      'qM': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
-      'qLD': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
-      'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
-      'bvh_aabb_dyn': (m.nbvhdynamic, 6, float_),
-      'bvh_active': (m.nbvh, np.uint8),
-      'flexedge_velocity': (m.nflexedge, float_),
+      'qM': (m.nM, float_),
+      'qLD': (m.nM, float_),
+      'qH': (m.nM, float_),
+      'qHDiagInv': (m.nv, float_),
+      'qLDiagInv': (m.nv, float_),
       'ten_velocity': (m.ntendon, float_),
       'actuator_velocity': (m.nu, float_),
-      'cvel': (m.nbody, 6, float_),
-      'cdof_dot': (m.nv, 6, float_),
-      'qfrc_bias': (m.nv, float_),
-      'qfrc_spring': (m.nv, float_),
-      'qfrc_damper': (m.nv, float_),
-      'qfrc_gravcomp': (m.nv, float_),
-      'qfrc_fluid': (m.nv, float_),
-      'qfrc_passive': (m.nv, float_),
-      'subtree_linvel': (m.nbody, 3, float_),
-      'subtree_angmom': (m.nbody, 3, float_),
-      'qH': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
-      'qHDiagInv': (m.nv, float_),
       'B_rownnz': (m.nbody, np.int32),
       'B_rowadr': (m.nbody, np.int32),
       'B_colind': (m.nB, np.int32),
@@ -359,15 +643,14 @@ def make_data(
       'mapD2M': (m.nM, np.int32),
       'qDeriv': (m.nD, float_),
       'qLU': (m.nD, float_),
-      'actuator_force': (m.nu, float_),
-      'qfrc_actuator': (m.nv, float_),
-      'qfrc_smooth': (m.nv, float_),
-      'qacc_smooth': (m.nv, float_),
-      'qfrc_constraint': (m.nv, float_),
-      'qfrc_inverse': (m.nv, float_),
+      'qfrc_spring': (m.nv, float_),
+      'qfrc_damper': (m.nv, float_),
+      'cdof_dot': (m.nv, 6, float_),
       'cacc': (m.nbody, 6, float_),
       'cfrc_int': (m.nbody, 6, float_),
       'cfrc_ext': (m.nbody, 6, float_),
+      'subtree_linvel': (m.nbody, 3, float_),
+      'subtree_angmom': (m.nbody, 3, float_),
       'efc_J': (nefc, m.nv, float_),
       'efc_pos': (nefc, float_),
       'efc_margin': (nefc, float_),
@@ -375,31 +658,26 @@ def make_data(
       'efc_D': (nefc, float_),
       'efc_aref': (nefc, float_),
       'efc_force': (nefc, float_),
-      '_qM_sparse': (m.nM, float_),
-      '_qLD_sparse': (m.nM, float_),
-      '_qLDiagInv_sparse': (m.nv, float_),
   }
-
-  if not _full_compat:
-    for f in types.Data.fields():
-      if f.metadata.get('restricted_to') in ('mujoco', 'mjx'):
-        zero_fields[f.name] = (0, zero_fields[f.name][-1])
-
-  zero_fields = {
-      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_fields.items()
+  zero_impl_fields = {
+      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_impl_fields.items()
   }
-
-  d = types.Data(
+  impl = types.DataC(
       ne=ne,
       nf=nf,
       nl=nl,
       nefc=nefc,
       ncon=ncon,
-      qpos=jp.array(m.qpos0, dtype=float_),
       contact=contact,
       efc_type=efc_type,
+      **zero_impl_fields,
+  )
+
+  d = types.Data(
+      qpos=jp.array(m.qpos0, dtype=float_),
       eq_active=m.eq_active0,
-      **zero_fields,
+      _impl=impl,
+      **_make_data_public_fields(m),
   )
 
   if m.nmocap:
@@ -413,140 +691,62 @@ def make_data(
     )
 
   d = jax.device_put(d, device=device)
-
   return d
 
 
-def _get_contact(c: mujoco._structs._MjContactList, cx: types.Contact):
-  """Converts mjx.Contact to mujoco._structs._MjContactList."""
-  con_id = np.nonzero(cx.dist <= 0)[0]
-  for field in types.Contact.fields():
-    value = getattr(cx, field.name)[con_id]
-    if field.name == 'frame':
-      value = value.reshape((-1, 9))
-    getattr(c, field.name)[:] = value
+def make_data(
+    m: Union[types.Model, mujoco.MjModel],
+    device: Optional[jax.Device] = None,
+    backend_impl: Optional[Union[str, types.BackendImpl]] = None,
+    _full_compat: bool = False,  # pylint: disable=invalid-name
+) -> types.Data:
+  """Allocate and initialize Data.
+
+  Args:
+    m: the model to use
+    device: which device to use - if unspecified picks the default device
+    backend_impl: backend implementation to use
+    _full_compat: put all fields onto device irrespective of MJX support This is
+      an experimental feature.  Avoid using it for now. If using this flag, also
+      use _full_compat for put_model.
+
+  Returns:
+    an initialized mjx.Data placed on device
+
+  Raises:
+    ValueError: if the model's backend_impl does not match the make_data
+      backend_impl
+    NotImplementedError: if the backend_impl is not implemented yet
+    DeprecationWarning: if _full_compat is used
+  """
+  if _full_compat:
+    warnings.warn(
+        'mjx.make_data(..., _full_compat=True) is deprecated.  Use'
+        ' mjx.make_data(..., backend_impl=types.BackendImpl.C) instead.',
+        DeprecationWarning,
+        stacklevel=2,
+    )
+    backend_impl = types.BackendImpl.C
+
+  backend_impl, device = _resolve_backend_impl_and_device(backend_impl, device)
+
+  if isinstance(m, types.Model) and m.backend_impl != backend_impl:
+    raise ValueError(
+        f'Model backend_impl {m.backend_impl} does not match make_data '
+        f'backend_impl {backend_impl}.'
+    )
+
+  if backend_impl == types.BackendImpl.JAX:
+    return _make_data_jax(m, device)
+  elif backend_impl == types.BackendImpl.C:
+    return _make_data_c(m, device)
+
+  raise NotImplementedError(
+      f'make_data for backend_impl "{backend_impl}" not implemented yet.'
+  )
 
 
-def get_data(
-    m: mujoco.MjModel, d: types.Data
-) -> Union[mujoco.MjData, List[mujoco.MjData]]:
-  """Gets mjx.Data from a device, resulting in mujoco.MjData or List[MjData]."""
-  batched = len(d.qpos.shape) > 1
-  batch_size = d.qpos.shape[0] if batched else 1
-
-  if batched:
-    result = [mujoco.MjData(m) for _ in range(batch_size)]
-  else:
-    result = mujoco.MjData(m)
-
-  get_data_into(result, m, d)
-
-  return result
-
-
-def get_data_into(
-    result: Union[mujoco.MjData, List[mujoco.MjData]],
-    m: mujoco.MjModel,
-    d: types.Data,
-):
-  """Gets mjx.Data from a device into an existing mujoco.MjData or list."""
-  batched = isinstance(result, list)
-  if batched and len(d.qpos.shape) < 2:
-    raise ValueError('dst is a list, but d is not batched.')
-  if not batched and len(d.qpos.shape) >= 2:
-    raise ValueError('dst is a an MjData, but d is batched.')
-
-  d = jax.device_get(d)
-
-  batch_size = d.qpos.shape[0] if batched else 1
-
-  dof_i, dof_j = [], []
-  for i in range(m.nv):
-    j = i
-    while j > -1:
-      dof_i.append(i)
-      dof_j.append(j)
-      j = m.dof_parentid[j]
-
-  for i in range(batch_size):
-    d_i = jax.tree_util.tree_map(lambda x, i=i: x[i], d) if batched else d
-    result_i = result[i] if batched else result
-    ncon = (d_i.contact.dist <= 0).sum()
-    efc_active = (d_i.efc_J != 0).any(axis=1)
-    nefc = int(efc_active.sum())
-    result_i.nJ = nefc * m.nv
-    if ncon != result_i.ncon or nefc != result_i.nefc:
-      mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc)  # pylint: disable=protected-access
-    result_i.efc_J_rownnz[:] = np.repeat(m.nv, nefc)
-    result_i.efc_J_rowadr[:] = np.arange(0, nefc * m.nv, m.nv)
-    result_i.efc_J_colind[:] = np.tile(np.arange(m.nv), nefc)
-
-    for field in types.Data.fields():
-      restricted_to = field.metadata.get('restricted_to')
-      if restricted_to == 'mjx':
-        continue
-
-      if field.name == 'contact':
-        _get_contact(result_i.contact, d_i.contact)
-        # efc_address must be updated because rows were deleted above:
-        efc_map = np.cumsum(efc_active) - 1
-        result_i.contact.efc_address[:] = efc_map[result_i.contact.efc_address]
-        continue
-
-      # MuJoCo actuator_moment is sparse, MJX uses a dense representation.
-      if field.name == 'actuator_moment':
-        moment_rownnz = np.zeros(m.nu, dtype=np.int32)
-        moment_rowadr = np.zeros(m.nu, dtype=np.int32)
-        moment_colind = np.zeros(m.nJmom, dtype=np.int32)
-        actuator_moment = np.zeros(m.nJmom)
-        if m.nu:
-          mujoco.mju_dense2sparse(
-              actuator_moment,
-              d_i.actuator_moment,
-              moment_rownnz,
-              moment_rowadr,
-              moment_colind,
-          )
-        result_i.moment_rownnz[:] = moment_rownnz
-        result_i.moment_rowadr[:] = moment_rowadr
-        result_i.moment_colind[:] = moment_colind
-        result_i.actuator_moment[:] = actuator_moment
-        continue
-
-      value = getattr(d_i, field.name)
-
-      if field.name in ('nefc', 'ncon'):
-        value = {'nefc': nefc, 'ncon': ncon}[field.name]
-      elif field.name.endswith('xmat') or field.name == 'ximat':
-        value = value.reshape((-1, 9))
-      elif field.name.startswith('efc_'):
-        value = value[efc_active]
-        if field.name == 'efc_J':
-          value = value.reshape(-1)
-      elif field.name == 'qM' and not support.is_sparse(m):
-        value = value[dof_i, dof_j]
-      elif field.name == 'qLD' and not support.is_sparse(m):
-        # TODO(erikfrey): provide correct qLDs
-        value = np.zeros(m.nM)
-      elif field.name == 'qLDiagInv' and not support.is_sparse(m):
-        value = np.ones(m.nv)
-
-      if isinstance(value, np.ndarray) and value.shape:
-        if restricted_to in ('mujoco', 'mjx'):
-          continue  # don't copy fields that are mujoco-only or MJX-only
-        else:
-          result_field = getattr(result_i, field.name)
-          if result_field.shape != value.shape:
-            raise ValueError(
-                f'Input field {field.name} has shape {value.shape}, but output'
-                f' has shape {result_field.shape}'
-            )
-          result_field[:] = value
-      else:
-        setattr(result_i, field.name, value)
-
-
-def _make_contact(
+def _put_contact(
     c: mujoco._structs._MjContactList,
     dim: np.ndarray,
     efc_address: np.ndarray,
@@ -581,22 +781,24 @@ def _make_contact(
   return types.Contact(**fields), contact_map
 
 
-def put_data(
-    m: mujoco.MjModel, d: mujoco.MjData, device=None, _full_compat: bool = False  # pylint: disable=invalid-name
+def _put_data_public_fields(d: mujoco.MjData) -> Dict[str, Any]:
+  """Returns public fields from mujoco.MjData in a dictionary."""
+  fields = {
+      f.name: getattr(d, f.name)
+      for f in types.Data.fields()
+      if f.name != '_impl'
+  }
+  # MJX uses square matrices for these fields:
+  for fname in ('xmat', 'ximat', 'geom_xmat', 'site_xmat', 'cam_xmat'):
+    fields[fname] = fields[fname].reshape((-1, 3, 3))
+
+  return fields
+
+
+def _put_data_jax(
+    m: mujoco.MjModel, d: mujoco.MjData, device: Optional[jax.Device] = None
 ) -> types.Data:
-  """Puts mujoco.MjData onto a device, resulting in mjx.Data.
-
-  Args:
-    m: the model to use
-    d: the data to put on device
-    device: which device to use - if unspecified picks the default device
-    _full_compat: put all MjModel fields onto device irrespective of MJX support
-      This is an experimental feature.  Avoid using it for now. If using this
-      flag, also use _full_compat for put_model.
-
-  Returns:
-    an mjx.Data placed on device
-  """
+  """Puts mujoco.MjData onto a device, resulting in mjx.Data."""
   dim = collision_driver.make_condim(m)
   efc_type = constraint.make_efc_type(m, dim)
   efc_address = constraint.make_efc_address(m, dim, efc_type)
@@ -613,18 +815,16 @@ def put_data(
     if d_val > val:
       raise ValueError(f'd.{name} too high, d.{name} = {d_val}, model = {val}')
 
-  fields = {
+  fields = _put_data_public_fields(d)
+
+  # Implementation specific fields.
+  impl_fields = {
       f.name: getattr(d, f.name)
-      for f in types.Data.fields()
-      if f.metadata.get('restricted_to') != 'mjx'
+      for f in types.DataJAX.fields()
+      if hasattr(d, f.name)
   }
-
-  # MJX prefers square matrices for these fields:
-  for fname in ('xmat', 'ximat', 'geom_xmat', 'site_xmat', 'cam_xmat'):
-    fields[fname] = fields[fname].reshape((-1, 3, 3))
-
   # MJX does not support islanding, so only transfer the first solver_niter
-  fields['solver_niter'] = fields['solver_niter'][0]
+  impl_fields['solver_niter'] = impl_fields['solver_niter'][0]
 
   # convert sparse representation of actuator_moment to dense matrix
   moment = np.zeros((m.nu, m.nv))
@@ -635,9 +835,9 @@ def put_data(
       d.moment_rowadr,
       d.moment_colind,
   )
-  fields['actuator_moment'] = moment
+  impl_fields['actuator_moment'] = moment
 
-  contact, contact_map = _make_contact(d.contact, dim, efc_address)
+  contact, contact_map = _put_contact(d.contact, dim, efc_address)
 
   # pad efc fields: MuJoCo efc arrays are sparse for inactive constraints.
   # efc_J is also optionally column-sparse (typically for large nv).  MJX is
@@ -647,14 +847,16 @@ def put_data(
     efc_j = np.zeros((d.efc_J_rownnz.shape[0], m.nv))
     mujoco.mju_sparse2dense(
         efc_j,
-        fields['efc_J'],
+        impl_fields['efc_J'],
         d.efc_J_rownnz,
         d.efc_J_rowadr,
         d.efc_J_colind,
     )
-    fields['efc_J'] = efc_j
+    impl_fields['efc_J'] = efc_j
   else:
-    fields['efc_J'] = fields['efc_J'].reshape((-1 if m.nv else 0, m.nv))
+    impl_fields['efc_J'] = impl_fields['efc_J'].reshape(
+        (-1 if m.nv else 0, m.nv)
+    )
 
   # move efc rows to their correct offsets
   for fname in (
@@ -671,7 +873,9 @@ def put_data(
       value_beg = sum([ne, nf][:i])
       d_beg = sum([d.ne, d.nf][:i])
       size = [d.ne, d.nf, d.nl][i]
-      value[value_beg : value_beg + size] = fields[fname][d_beg : d_beg + size]
+      value[value_beg : value_beg + size] = impl_fields[fname][
+          d_beg : d_beg + size
+      ]
 
     # for nc, we may reorder contacts so they match MJX order: group by dim
     for id_to, id_from in enumerate(contact_map):
@@ -683,43 +887,348 @@ def put_data(
       efc_i, efc_o = d.contact.efc_address[id_from], efc_address[id_to]
       if efc_i == -1:
         continue
-      value[efc_o : efc_o + num_rows] = fields[fname][efc_i : efc_i + num_rows]
+      value[efc_o : efc_o + num_rows] = impl_fields[fname][
+          efc_i : efc_i + num_rows
+      ]
 
-    fields[fname] = value
-
-  if _full_compat:
-    # full compatibility mode, we store sparse qM regardless of jacobian setting
-    fields['_qM_sparse'] = fields['qM']
-    fields['_qLD_sparse'] = fields['qLD']
-    fields['_qLDiagInv_sparse'] = fields['qLDiagInv']
-  else:
-    fields['_qM_sparse'] = jp.zeros(0, dtype=float)
-    fields['_qLD_sparse'] = jp.zeros(0, dtype=float)
-    fields['_qLDiagInv_sparse'] = jp.zeros(0, dtype=float)
-    # otherwise clear out unused arrays
-    for f in types.Data.fields():
-      if f.metadata.get('restricted_to') == 'mujoco' and isinstance(
-          fields[f.name], np.ndarray
-      ):
-        fields[f.name] = np.zeros(0, dtype=fields[f.name].dtype)
+    impl_fields[fname] = value
 
   # convert qM and qLD if jacobian is dense
   if not support.is_sparse(m):
-    fields['qM'] = np.zeros((m.nv, m.nv))
-    mujoco.mj_fullM(m, fields['qM'], d.qM)
+    impl_fields['qM'] = np.zeros((m.nv, m.nv))
+    mujoco.mj_fullM(m, impl_fields['qM'], d.qM)
     # TODO(erikfrey): derive L*L' from L'*D*L instead of recomputing
     try:
-      fields['qLD'], _ = scipy.linalg.cho_factor(fields['qM'])
+      impl_fields['qLD'], _ = scipy.linalg.cho_factor(impl_fields['qM'])
     except scipy.linalg.LinAlgError:
       # this happens when qM is empty or unstable simulation
-      fields['qLD'] = np.zeros((m.nv, m.nv))
-    fields['qLDiagInv'] = np.zeros(0)
+      impl_fields['qLD'] = np.zeros((m.nv, m.nv))
+    impl_fields['qLDiagInv'] = np.zeros(0)
 
-  fields['contact'] = contact
-  fields.update(ne=ne, nf=nf, nl=nl, nefc=nefc, ncon=ncon, efc_type=efc_type)
+  impl_fields['contact'] = contact
+  impl_fields.update(
+      ne=ne, nf=nf, nl=nl, nefc=nefc, ncon=ncon, efc_type=efc_type
+  )
 
   # copy because device_put is async:
-  data = types.Data(**{k: copy.copy(v) for k, v in fields.items()})
+  data_jax = types.DataJAX(**{k: copy.copy(v) for k, v in impl_fields.items()})
+  data = types.Data(
+      **{k: copy.copy(v) for k, v in fields.items()}, _impl=data_jax
+  )
 
   data = jax.device_put(data, device=device)
   return _strip_weak_type(data)
+
+
+def _put_data_c(
+    m: mujoco.MjModel, d: mujoco.MjData, device: Optional[jax.Device] = None
+) -> types.Data:
+  """Puts mujoco.MjData onto a device, resulting in mjx.Data."""
+  # TODO(stunya): ncon, nefc should potentially be jax.Array, and contact/efc
+  # should not be materialized in JAX.
+  dim = collision_driver.make_condim(m)
+  efc_type = constraint.make_efc_type(m, dim)
+  efc_address = constraint.make_efc_address(m, dim, efc_type)
+  ne, nf, nl, nc = constraint.counts(efc_type)
+  ncon, nefc = dim.size, ne + nf + nl + nc
+
+  # TODO(stunya): remove this check.
+  for d_val, val, name in (
+      (d.ncon, ncon, 'ncon'),
+      (d.ne, ne, 'ne'),
+      (d.nf, nf, 'nf'),
+      (d.nl, nl, 'nl'),
+      (d.nefc, nefc, 'nefc'),
+  ):
+    if d_val > val:
+      raise ValueError(f'd.{name} too high, d.{name} = {d_val}, model = {val}')
+
+  fields = _put_data_public_fields(d)
+
+  # Implementation specific fields.
+  impl_fields = {
+      f.name: getattr(d, f.name)
+      for f in types.DataC.fields()
+      if hasattr(d, f.name)
+  }
+
+  # TODO(stunya): support islanding via C backend impl.
+  impl_fields['solver_niter'] = impl_fields['solver_niter'][0]
+
+  # TODO(btaba): remove dense actuator moment.
+  # convert sparse representation of actuator_moment to dense matrix
+  moment = np.zeros((m.nu, m.nv))
+  mujoco.mju_sparse2dense(
+      moment,
+      d.actuator_moment,
+      d.moment_rownnz,
+      d.moment_rowadr,
+      d.moment_colind,
+  )
+  impl_fields['actuator_moment'] = moment
+
+  # TODO(btaba): remove reliance on JAX _put_contact.
+  contact, contact_map = _put_contact(d.contact, dim, efc_address)
+
+  # TODO(btaba): remove reliance on dense efc_J.
+  if mujoco.mj_isSparse(m):
+    efc_j = np.zeros((d.efc_J_rownnz.shape[0], m.nv))
+    mujoco.mju_sparse2dense(
+        efc_j,
+        impl_fields['efc_J'],
+        d.efc_J_rownnz,
+        d.efc_J_rowadr,
+        d.efc_J_colind,
+    )
+    impl_fields['efc_J'] = efc_j
+  else:
+    impl_fields['efc_J'] = impl_fields['efc_J'].reshape(
+        (-1 if m.nv else 0, m.nv)
+    )
+
+  # move efc rows to their correct offsets
+  for fname in (
+      'efc_J',
+      'efc_pos',
+      'efc_margin',
+      'efc_frictionloss',
+      'efc_D',
+      'efc_aref',
+      'efc_force',
+  ):
+    value = np.zeros((nefc, m.nv)) if fname == 'efc_J' else np.zeros(nefc)
+    for i in range(3):
+      value_beg = sum([ne, nf][:i])
+      d_beg = sum([d.ne, d.nf][:i])
+      size = [d.ne, d.nf, d.nl][i]
+      value[value_beg : value_beg + size] = impl_fields[fname][
+          d_beg : d_beg + size
+      ]
+
+    # for nc, we may reorder contacts so they match MJX order: group by dim
+    for id_to, id_from in enumerate(contact_map):
+      if id_from == -1:
+        continue
+      num_rows = dim[id_to]
+      if num_rows > 1 and m.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:
+        num_rows = (num_rows - 1) * 2
+      efc_i, efc_o = d.contact.efc_address[id_from], efc_address[id_to]
+      if efc_i == -1:
+        continue
+      value[efc_o : efc_o + num_rows] = impl_fields[fname][
+          efc_i : efc_i + num_rows
+      ]
+
+    impl_fields[fname] = value
+
+  impl_fields['contact'] = contact
+  impl_fields.update(
+      ne=ne, nf=nf, nl=nl, nefc=nefc, ncon=ncon, efc_type=efc_type
+  )
+
+  # copy because device_put is async:
+  data_jax = types.DataC(**{k: copy.copy(v) for k, v in impl_fields.items()})
+  data = types.Data(
+      **{k: copy.copy(v) for k, v in fields.items()}, _impl=data_jax
+  )
+
+  data = jax.device_put(data, device=device)
+  return _strip_weak_type(data)
+
+
+def put_data(
+    m: mujoco.MjModel,
+    d: mujoco.MjData,
+    device: Optional[jax.Device] = None,
+    backend_impl: Optional[Union[str, types.BackendImpl]] = None,
+    _full_compat: bool = False,  # pylint: disable=invalid-name
+) -> types.Data:
+  """Puts mujoco.MjData onto a device, resulting in mjx.Data.
+
+  Args:
+    m: the model to use
+    d: the data to put on device
+    device: which device to use - if unspecified picks the default device
+    backend_impl: backend implementation to use
+    _full_compat: put all MjModel fields onto device irrespective of MJX support
+      This is an experimental feature.  Avoid using it for now. If using this
+      flag, also use _full_compat for put_model.
+
+  Returns:
+    an mjx.Data placed on device
+  """
+  if _full_compat:
+    warnings.warn(
+        'mjx.put_data(..., _full_compat=True) is deprecated.  Use'
+        ' mjx.put_data(..., backend_impl=types.BackendImpl.C) instead.',
+        DeprecationWarning,
+        stacklevel=2,
+    )
+    backend_impl = types.BackendImpl.C
+
+  backend_impl, device = _resolve_backend_impl_and_device(backend_impl, device)
+  if backend_impl == types.BackendImpl.JAX:
+    return _put_data_jax(m, d, device)
+  elif backend_impl == types.BackendImpl.C:
+    return _put_data_c(m, d, device)
+
+  raise NotImplementedError(
+      f'put_data for backend_impl "{backend_impl}" not implemented yet.'
+  )
+
+
+def _get_contact(c: mujoco._structs._MjContactList, cx: types.Contact):
+  """Converts mjx.Contact to mujoco._structs._MjContactList."""
+  con_id = np.nonzero(cx.dist <= 0)[0]
+  for field in types.Contact.fields():
+    value = getattr(cx, field.name)[con_id]
+    if field.name == 'frame':
+      value = value.reshape((-1, 9))
+    getattr(c, field.name)[:] = value
+
+
+def _get_data_into(
+    result: Union[mujoco.MjData, List[mujoco.MjData]],
+    m: mujoco.MjModel,
+    d: types.Data,
+):
+  """Gets mjx.Data from a device into an existing mujoco.MjData or list."""
+  batched = isinstance(result, list)
+  d = jax.device_get(d)
+  batch_size = d.qpos.shape[0] if batched else 1
+
+  dof_i, dof_j = [], []
+  if d.backend_impl == types.BackendImpl.JAX:
+    for i in range(m.nv):
+      j = i
+      while j > -1:
+        dof_i.append(i)
+        dof_j.append(j)
+        j = m.dof_parentid[j]
+
+  for i in range(batch_size):
+    d_i = jax.tree_util.tree_map(lambda x, i=i: x[i], d) if batched else d
+    result_i = result[i] if batched else result
+    ncon = (d_i._impl.contact.dist <= 0).sum()
+    efc_active = (d_i._impl.efc_J != 0).any(axis=1)
+    nefc = int(efc_active.sum())
+    result_i.nJ = nefc * m.nv
+    if ncon != result_i.ncon or nefc != result_i.nefc:
+      mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc)  # pylint: disable=protected-access
+    result_i.efc_J_rownnz[:] = np.repeat(m.nv, nefc)
+    result_i.efc_J_rowadr[:] = np.arange(0, nefc * m.nv, m.nv)
+    result_i.efc_J_colind[:] = np.tile(np.arange(m.nv), nefc)
+
+    if d.backend_impl == types.BackendImpl.JAX:
+      all_fields = types.Data.fields() + types.DataJAX.fields()
+    elif d.backend_impl == types.BackendImpl.C:
+      all_fields = types.Data.fields() + types.DataC.fields()
+    else:
+      raise NotImplementedError(
+          f'get_data_into for backend_impl "{d.backend_impl}" not implemented'
+          ' yet.'
+      )
+
+    for field in all_fields:
+      if field.name not in mujoco.MjData.__dict__.keys():
+        continue
+
+      if field.name == 'contact':
+        _get_contact(result_i.contact, d_i._impl.contact)
+        # efc_address must be updated because rows were deleted above:
+        efc_map = np.cumsum(efc_active) - 1
+        result_i.contact.efc_address[:] = efc_map[result_i.contact.efc_address]
+        continue
+
+      # MuJoCo actuator_moment is sparse, MJX uses a dense representation.
+      if field.name == 'actuator_moment':
+        moment_rownnz = np.zeros(m.nu, dtype=np.int32)
+        moment_rowadr = np.zeros(m.nu, dtype=np.int32)
+        moment_colind = np.zeros(m.nJmom, dtype=np.int32)
+        actuator_moment = np.zeros(m.nJmom)
+        if m.nu:
+          mujoco.mju_dense2sparse(
+              actuator_moment,
+              d_i._impl.actuator_moment,
+              moment_rownnz,
+              moment_rowadr,
+              moment_colind,
+          )
+        result_i.moment_rownnz[:] = moment_rownnz
+        result_i.moment_rowadr[:] = moment_rowadr
+        result_i.moment_colind[:] = moment_colind
+        result_i.actuator_moment[:] = actuator_moment
+        continue
+
+      if hasattr(d_i._impl, field.name):
+        value = getattr(d_i._impl, field.name)
+      else:
+        value = getattr(d_i, field.name)
+
+      if field.name in ('nefc', 'ncon'):
+        value = {'nefc': nefc, 'ncon': ncon}[field.name]
+      elif field.name.endswith('xmat') or field.name == 'ximat':
+        value = value.reshape((-1, 9))
+      elif field.name.startswith('efc_'):
+        value = value[efc_active]
+        if field.name == 'efc_J':
+          value = value.reshape(-1)
+      if d.backend_impl == types.BackendImpl.JAX:
+        if field.name == 'qM' and not support.is_sparse(m):
+          value = value[dof_i, dof_j]
+        elif field.name == 'qLD' and not support.is_sparse(m):
+          # TODO(erikfrey): provide correct qLDs
+          value = np.zeros(m.nM)
+        elif field.name == 'qLDiagInv' and not support.is_sparse(m):
+          value = np.ones(m.nv)
+
+      if isinstance(value, np.ndarray) and value.shape:
+        result_field = getattr(result_i, field.name)
+        if result_field.shape != value.shape:
+          raise ValueError(
+              f'Input field {field.name} has shape {value.shape}, but output'
+              f' has shape {result_field.shape}'
+          )
+        result_field[:] = value
+      else:
+        setattr(result_i, field.name, value)
+
+
+def get_data_into(
+    result: Union[mujoco.MjData, List[mujoco.MjData]],
+    m: mujoco.MjModel,
+    d: types.Data,
+):
+  """Gets mjx.Data from a device into an existing mujoco.MjData or list."""
+  is_batched = isinstance(result, list)
+  if is_batched and len(d.qpos.shape) < 2:
+    raise ValueError('destination is a list, but d is not batched.')
+  if not is_batched and len(d.qpos.shape) >= 2:
+    raise ValueError('destination is a an MjData, but d is batched.')
+
+  d = jax.device_get(d)
+
+  if d.backend_impl in (types.BackendImpl.JAX, types.BackendImpl.C):
+    # TODO(stunya): Split out _get_data_into once codepaths diverge enough.
+    return _get_data_into(result, m, d)
+
+  raise NotImplementedError(
+      f'get_data_into for backend_impl "{d.backend_impl}" not implemented yet.'
+  )
+
+
+def get_data(
+    m: mujoco.MjModel, d: types.Data
+) -> Union[mujoco.MjData, List[mujoco.MjData]]:
+  """Gets mjx.Data from a device, resulting in mujoco.MjData or List[MjData]."""
+  batched = len(d.qpos.shape) > 1
+  batch_size = d.qpos.shape[0] if batched else 1
+
+  if batched:
+    result = [mujoco.MjData(m) for _ in range(batch_size)]
+  else:
+    result = mujoco.MjData(m)
+
+  get_data_into(result, m, d)
+
+  return result
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 494b2753..41d812d3 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -14,14 +14,19 @@
 # ==============================================================================
 """Tests for io functions."""
 
+import os
+from unittest import mock
 from absl.testing import absltest
 from absl.testing import parameterized
 import jax
 from jax import numpy as jp
 import mujoco
 from mujoco import mjx
+from mujoco.mjx._src import io as mjx_io
 from mujoco.mjx._src import test_util
+
 # pylint: disable=g-importing-member
+from mujoco.mjx._src.types import BackendImpl
 from mujoco.mjx._src.types import ConeType
 # pylint: enable=g-importing-member
 import numpy as np
@@ -95,10 +100,13 @@ _MULTIPLE_CONSTRAINTS = """
 class ModelIOTest(parameterized.TestCase):
   """IO tests for mjx.Model."""
 
-  @parameterized.parameters(_MULTIPLE_CONVEX_OBJECTS, _MULTIPLE_CONSTRAINTS)
-  def test_put_model(self, xml):
+  @parameterized.product(
+      xml=(_MULTIPLE_CONVEX_OBJECTS, _MULTIPLE_CONSTRAINTS),
+      backend_impl=('jax', 'c'),
+  )
+  def test_put_model(self, xml, backend_impl):
     m = mujoco.MjModel.from_xml_string(xml)
-    mx = mjx.put_model(m)
+    mx = mjx.put_model(m, backend_impl=backend_impl)
 
     def assert_not_weak_type(x):
       if isinstance(x, jax.Array):
@@ -120,8 +128,14 @@ class ModelIOTest(parameterized.TestCase):
     self.assertEqual(mx.nM, m.nM)
     self.assertAlmostEqual(mx.opt.timestep, m.opt.timestep)
 
-    # fields restricted to MuJoCo should not be populated
-    self.assertEqual(mx.bvh_aabb.shape, (0,))
+    if backend_impl == 'jax':
+      # fields restricted to MuJoCo should not be populated
+      self.assertFalse(hasattr(mx, 'bvh_aabb'))
+    elif backend_impl == 'c':
+      # Options specific to C are populated.
+      self.assertEqual(mx.opt.apirate, m.opt.apirate)
+      # Fields private to C backend impl are populated.
+      self.assertTrue(hasattr(mx._impl, 'bvh_aabb'))
 
     np.testing.assert_allclose(mx.body_parentid, m.body_parentid)
     np.testing.assert_allclose(mx.geom_type, m.geom_type)
@@ -150,7 +164,8 @@ class ModelIOTest(parameterized.TestCase):
     m = mjx.put_model(
         mujoco.MjModel.from_xml_string(
             '<mujoco><option viscosity="3.0"/><worldbody/></mujoco>'
-        )
+        ),
+        backend_impl='jax',
     )
     self.assertTrue(m.opt.has_fluid_params)
 
@@ -174,7 +189,8 @@ class ModelIOTest(parameterized.TestCase):
 
   def test_margin_gap_mesh_not_implemented(self):
     with self.assertRaises(NotImplementedError):
-      mjx.put_model(mujoco.MjModel.from_xml_string("""
+      mjx.put_model(
+          mujoco.MjModel.from_xml_string("""
         <mujoco>
           <asset>
             <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 1"/>
@@ -189,27 +205,32 @@ class ModelIOTest(parameterized.TestCase):
               <geom size="0.05"/>
             </body>
           </worldbody>
-        </mujoco>"""))
+        </mujoco>"""),
+          backend_impl='jax',
+      )
 
   def test_implicitfast_fluid_not_implemented(self):
     with self.assertRaises(NotImplementedError):
-      mjx.put_model(mujoco.MjModel.from_xml_string("""
+      mjx.put_model(
+          mujoco.MjModel.from_xml_string("""
         <mujoco>
           <option viscosity="3.0" integrator="implicitfast"/>
           <worldbody/>
-        </mujoco>"""))
+        </mujoco>"""),
+          backend_impl='jax',
+      )
 
   def test_wrap_inside(self):
     m = test_util.load_test_file('tendon/wrap_sidesite.xml')
-    mx0 = mjx.put_model(m)
+    mx0 = mjx.put_model(m, backend_impl='jax')
     np.testing.assert_equal(
-        mx0.is_wrap_inside,
+        mx0._impl.is_wrap_inside,
         np.array([1, 0, 1, 0, 1, 1, 0]),
     )
     m.site_pos[2] = m.site_pos[1]
-    mx1 = mjx.put_model(m)
+    mx1 = mjx.put_model(m, backend_impl='jax')
     np.testing.assert_equal(
-        mx1.is_wrap_inside,
+        mx1._impl.is_wrap_inside,
         np.array([0, 0, 1, 0, 1, 0, 0]),
     )
 
@@ -217,11 +238,11 @@ class ModelIOTest(parameterized.TestCase):
 class DataIOTest(parameterized.TestCase):
   """IO tests for mjx.Data."""
 
-  def test_make_data(self):
+  @parameterized.parameters('jax', 'c')
+  def test_make_data(self, backend_impl: str):
     """Test that make_data returns the correct shapes."""
-
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
-    d = mjx.make_data(m)
+    d = mjx.make_data(m, backend_impl=backend_impl)
 
     nq = 22
     nbody = 5
@@ -230,7 +251,7 @@ class DataIOTest(parameterized.TestCase):
     nv = 19
     nefc = 185
 
-    self.assertEqual(d.nefc, nefc)
+    self.assertEqual(d._impl.nefc, nefc)
     self.assertEqual(d.qpos.shape, (nq,))
     self.assertEqual(d.qvel.shape, (nv,))
     self.assertEqual(d.act.shape, (0,))
@@ -251,57 +272,68 @@ class DataIOTest(parameterized.TestCase):
     self.assertEqual(d.geom_xpos.shape, (6, 3))
     self.assertEqual(d.geom_xmat.shape, (6, 3, 3))
     self.assertEqual(d.subtree_com.shape, (nbody, 3))
-    self.assertEqual(d.cdof.shape, (nv, 6))
-    self.assertEqual(d.cinert.shape, (nbody, 10))
-    self.assertEqual(d.crb.shape, (nbody, 10))
-    self.assertEqual(d.actuator_length.shape, (1,))
-    self.assertEqual(d.actuator_moment.shape, (1, nv))
-    self.assertEqual(d.qM.shape, (nv, nv))
-    self.assertEqual(d.qLD.shape, (nv, nv))
-    self.assertEqual(d.qLDiagInv.shape, (0,))
-    self.assertEqual(d.contact.dist.shape, (ncon,))
-    self.assertEqual(d.contact.pos.shape, (ncon, 3))
-    self.assertEqual(d.contact.frame.shape, (ncon, 3, 3))
-    self.assertEqual(d.contact.solref.shape, (ncon, 2))
-    self.assertEqual(d.contact.solimp.shape, (ncon, 5))
-    self.assertEqual(d.contact.geom1.shape, (ncon,))
-    self.assertEqual(d.contact.geom2.shape, (ncon,))
-    self.assertEqual(d.efc_J.shape, (nefc, nv))
-    self.assertEqual(d.efc_frictionloss.shape, (nefc,))
-    self.assertEqual(d.efc_D.shape, (nefc,))
-    self.assertEqual(d.actuator_velocity.shape, (1,))
+    self.assertEqual(d._impl.cdof.shape, (nv, 6))
+    self.assertEqual(d._impl.cinert.shape, (nbody, 10))
+    self.assertEqual(d._impl.crb.shape, (nbody, 10))
+    self.assertEqual(d._impl.actuator_length.shape, (1,))
+    self.assertEqual(d._impl.actuator_moment.shape, (1, nv))
+    self.assertEqual(d._impl.contact.dist.shape, (ncon,))
+    self.assertEqual(d._impl.contact.pos.shape, (ncon, 3))
+    self.assertEqual(d._impl.contact.frame.shape, (ncon, 3, 3))
+    self.assertEqual(d._impl.contact.solref.shape, (ncon, 2))
+    self.assertEqual(d._impl.contact.solimp.shape, (ncon, 5))
+    self.assertEqual(d._impl.contact.geom1.shape, (ncon,))
+    self.assertEqual(d._impl.contact.geom2.shape, (ncon,))
+    self.assertEqual(d._impl.efc_J.shape, (nefc, nv))
+    self.assertEqual(d._impl.efc_frictionloss.shape, (nefc,))
+    self.assertEqual(d._impl.efc_D.shape, (nefc,))
+    self.assertEqual(d._impl.actuator_velocity.shape, (1,))
     self.assertEqual(d.cvel.shape, (nbody, 6))
-    self.assertEqual(d.cdof_dot.shape, (nv, 6))
+    self.assertEqual(d._impl.cdof_dot.shape, (nv, 6))
     self.assertEqual(d.qfrc_bias.shape, (nv,))
     self.assertEqual(d.qfrc_passive.shape, (nv,))
-    self.assertEqual(d.efc_aref.shape, (nefc,))
+    self.assertEqual(d._impl.efc_aref.shape, (nefc,))
     self.assertEqual(d.qfrc_actuator.shape, (nv,))
     self.assertEqual(d.qfrc_smooth.shape, (nv,))
     self.assertEqual(d.qacc_smooth.shape, (nv,))
     self.assertEqual(d.qfrc_constraint.shape, (nv,))
     self.assertEqual(d.qfrc_inverse.shape, (nv,))
-    self.assertEqual(d.efc_force.shape, (nefc,))
+    self.assertEqual(d._impl.efc_force.shape, (nefc,))
+
+    if backend_impl == 'jax':
+      self.assertEqual(d._impl.qM.shape, (nv, nv))
+      self.assertEqual(d._impl.qLD.shape, (nv, nv))
+      self.assertEqual(d._impl.qLDiagInv.shape, (0,))
+    elif backend_impl == 'c':
+      self.assertEqual(d._impl.qM.shape, (nm,))
+      self.assertEqual(d._impl.qLD.shape, (nm,))
+      self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
 
     # test sparse
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mjx.make_data(m)
-    self.assertEqual(d.qM.shape, (nm,))
-    self.assertEqual(d.qLD.shape, (nm,))
-    self.assertEqual(d.qLDiagInv.shape, (nv,))
+    d = mjx.make_data(m, backend_impl=backend_impl)
+    self.assertEqual(d._impl.qM.shape, (nm,))
+    self.assertEqual(d._impl.qLD.shape, (nm,))
+    self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
 
-  def test_put_data(self):
+    if backend_impl == 'c':
+      # check C specific fields
+      self.assertEqual(d._impl.light_xpos.shape, (m.nlight, 3))
+      self.assertEqual(d._impl.bvh_active.shape, (m.nbvh,))
+
+  @parameterized.parameters('jax', 'c')
+  def test_put_data(self, backend_impl: str):
     """Test that put_data puts the correct data for dense and sparse."""
-
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
+    dx = mjx.put_data(m, d, backend_impl=backend_impl)
 
     # check a few fields
     np.testing.assert_allclose(dx.qpos, d.qpos)
     np.testing.assert_allclose(dx.xpos, d.xpos)
     np.testing.assert_allclose(dx.cvel, d.cvel)
-    np.testing.assert_allclose(dx.cdof_dot, d.cdof_dot)
+    np.testing.assert_allclose(dx._impl.cdof_dot, d.cdof_dot)
 
     # check that there are no weak types
     self.assertFalse(
@@ -312,21 +344,26 @@ class DataIOTest(parameterized.TestCase):
         )
     )
 
-    # check that qM is transformed properly
-    qm = np.zeros((m.nv, m.nv), dtype=np.float64)
-    mujoco.mj_fullM(m, qm, d.qM)
-    np.testing.assert_allclose(qm, mjx.full_m(mjx.put_model(m), dx))
+    if backend_impl == 'jax':
+      # check that qM is transformed properly
+      qm = np.zeros((m.nv, m.nv), dtype=np.float64)
+      mujoco.mj_fullM(m, qm, d.qM)
+      np.testing.assert_allclose(qm, mjx.full_m(mjx.put_model(m), dx))
+    elif backend_impl == 'c':
+      np.testing.assert_allclose(dx._impl.qM, d.qM)
+      np.testing.assert_allclose(dx._impl.qLD, d.qLD)
+      np.testing.assert_allclose(dx._impl.qLDiagInv, d.qLDiagInv)
 
     # 4 contacts, 2 for each capsule against the plane
-    self.assertEqual(dx.contact.dist.shape, (4,))
+    self.assertEqual(dx._impl.contact.dist.shape, (4,))
     self.assertEqual(d.ncon, 1)  # however only 1 contact in this step
-    np.testing.assert_allclose(dx.contact.dist[0], d.contact.dist[0])
-    self.assertTrue((dx.contact.dist[1:] > 0).all())
-    self.assertEqual(dx.contact.frame.shape, (4, 3, 3))
+    np.testing.assert_allclose(dx._impl.contact.dist[0], d.contact.dist[0])
+    self.assertTrue((dx._impl.contact.dist[1:] > 0).all())
+    self.assertEqual(dx._impl.contact.frame.shape, (4, 3, 3))
     np.testing.assert_allclose(
-        dx.contact.frame[0].reshape(9), d.contact.frame[0]
+        dx._impl.contact.frame[0].reshape(9), d.contact.frame[0]
     )
-    np.testing.assert_allclose(dx.contact.frame[1:], 0)
+    np.testing.assert_allclose(dx._impl.contact.frame[1:], 0)
 
     # xmat, ximat, geom_xmat are all shape transformed
     self.assertEqual(dx.xmat.shape, (3, 3, 3))
@@ -339,57 +376,65 @@ class DataIOTest(parameterized.TestCase):
     np.testing.assert_allclose(dx.site_xmat.reshape((1, 9)), d.site_xmat)
 
     # tendon data is correct
-    np.testing.assert_allclose(dx.ten_length, d.ten_length)
-    np.testing.assert_equal(dx.ten_wrapadr, np.zeros((1,)))
-    np.testing.assert_equal(dx.ten_wrapnum, np.zeros((1,)))
-    np.testing.assert_equal(dx.wrap_obj, np.zeros((2, 2)))
-    np.testing.assert_equal(dx.wrap_xpos, np.zeros((2, 6)))
+    np.testing.assert_allclose(dx._impl.ten_length, d.ten_length)
+    np.testing.assert_equal(dx._impl.ten_wrapadr, np.zeros((1,)))
+    np.testing.assert_equal(dx._impl.ten_wrapnum, np.zeros((1,)))
+    np.testing.assert_equal(dx._impl.wrap_obj, np.zeros((2, 2)))
+    np.testing.assert_equal(dx._impl.wrap_xpos, np.zeros((2, 6)))
 
     # efc_ are also shape transformed and padded
-    self.assertEqual(dx.efc_J.shape, (45, 8))  # nefc, nv
+    self.assertEqual(dx._impl.efc_J.shape, (45, 8))  # nefc, nv
     d_efc_j = d.efc_J.reshape((-1, 8))
-    np.testing.assert_allclose(dx.efc_J[:3], d_efc_j[:3])  # connect eq
-    np.testing.assert_allclose(dx.efc_J[3], d_efc_j[3])  # one active limit
-    np.testing.assert_allclose(dx.efc_J[4], 0)  # one inactive limit
-    np.testing.assert_allclose(dx.efc_J[5:15], d_efc_j[4:14])  # contact
-    np.testing.assert_allclose(dx.efc_J[15:], 0)  # no contact
+    np.testing.assert_allclose(dx._impl.efc_J[:3], d_efc_j[:3])  # connect eq
+    np.testing.assert_allclose(
+        dx._impl.efc_J[3], d_efc_j[3]
+    )  # one active limit
+    np.testing.assert_allclose(dx._impl.efc_J[4], 0)  # one inactive limit
+    np.testing.assert_allclose(dx._impl.efc_J[5:15], d_efc_j[4:14])  # contact
+    np.testing.assert_allclose(dx._impl.efc_J[15:], 0)  # no contact
 
     # check another efc_ too
-    self.assertEqual(dx.efc_aref.shape, (45,))  # nefc
-    np.testing.assert_allclose(dx.efc_aref[:3], d.efc_aref[:3])
-    np.testing.assert_allclose(dx.efc_aref[3], d.efc_aref[3])
-    np.testing.assert_allclose(dx.efc_aref[4], 0)
-    np.testing.assert_allclose(dx.efc_aref[5:15], d.efc_aref[4:14])
-    np.testing.assert_allclose(dx.efc_aref[15:], 0)
+    self.assertEqual(dx._impl.efc_aref.shape, (45,))  # nefc
+    np.testing.assert_allclose(dx._impl.efc_aref[:3], d.efc_aref[:3])
+    np.testing.assert_allclose(dx._impl.efc_aref[3], d.efc_aref[3])
+    np.testing.assert_allclose(dx._impl.efc_aref[4], 0)
+    np.testing.assert_allclose(dx._impl.efc_aref[5:15], d.efc_aref[4:14])
+    np.testing.assert_allclose(dx._impl.efc_aref[15:], 0)
 
     # check sparse transform is correct
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx_sparse = mjx.put_data(m, d)
-    np.testing.assert_allclose(dx_sparse.efc_J, dx.efc_J, atol=1e-8)
+    dx_sparse = mjx.put_data(m, d, backend_impl=backend_impl)
+    np.testing.assert_allclose(dx_sparse._impl.efc_J, dx._impl.efc_J, atol=1e-8)
 
     # check sparse mass matrices are correct
-    np.testing.assert_allclose(dx_sparse.qM, d.qM, atol=1e-8)
-    np.testing.assert_allclose(dx_sparse.qLD, d.qLD, atol=1e-8)
-    np.testing.assert_allclose(dx_sparse.qLDiagInv, d.qLDiagInv, atol=1e-8)
+    np.testing.assert_allclose(dx_sparse._impl.qM, d.qM, atol=1e-8)
+    np.testing.assert_allclose(dx_sparse._impl.qLD, d.qLD, atol=1e-8)
+    np.testing.assert_allclose(
+        dx_sparse._impl.qLDiagInv, d.qLDiagInv, atol=1e-8
+    )
 
     # check dense mass matrices are correct
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx_from_dense = mjx.put_data(m, d)
-    qm = np.zeros((m.nv, m.nv))
-    mujoco.mj_fullM(m, qm, d.qM)
-    np.testing.assert_allclose(dx_from_dense.qM, qm, atol=1e-8)
+    dx_from_dense = mjx.put_data(m, d, backend_impl=backend_impl)
+    if backend_impl == 'jax':
+      qm = np.zeros((m.nv, m.nv))
+      mujoco.mj_fullM(m, qm, d.qM)
+      np.testing.assert_allclose(dx_from_dense._impl.qM, qm, atol=1e-8)
+    elif backend_impl == 'c':
+      np.testing.assert_allclose(dx_from_dense._impl.qM, d.qM, atol=1e-8)
 
-  def test_get_data(self):
+  @parameterized.parameters('jax', 'c')
+  def test_get_data(self, backend_impl: str):
     """Test that get_data makes correct MjData."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
+    dx = mjx.put_data(m, d, backend_impl=backend_impl)
     d_2: mujoco.MjData = mjx.get_data(m, dx)
 
     # check a few fields
@@ -424,6 +469,10 @@ class DataIOTest(parameterized.TestCase):
     np.testing.assert_allclose(d_2.efc_aref, d.efc_aref)
     np.testing.assert_allclose(d_2.contact.efc_address, d.contact.efc_address)
 
+    if backend_impl == 'c':
+      # check fields specific to the C implementation
+      np.testing.assert_allclose(d_2.M_rownnz, d.M_rownnz)
+
   def test_get_data_runs(self):
     xml = """
       <mujoco>
@@ -444,13 +493,14 @@ class DataIOTest(parameterized.TestCase):
     dx = mjx.put_data(m, d)
     mjx.get_data(m, dx)
 
-  def test_get_data_batched(self):
+  @parameterized.parameters('jax', 'c')
+  def test_get_data_batched(self, backend_impl):
     """Test that get_data makes correct List[MjData] for batched Data."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
+    dx = mjx.put_data(m, d, backend_impl=backend_impl)
     # second data in batch has contact dist > 0, disables contact
     dx_b = jax.tree_util.tree_map(lambda x: jp.stack((x, x + 0.05)), dx)
     ds = mjx.get_data(m, dx_b)
@@ -460,13 +510,14 @@ class DataIOTest(parameterized.TestCase):
     self.assertEqual(ds[0].ncon, 1)
     self.assertEqual(ds[1].ncon, 0)
 
-  def test_get_data_into(self):
+  @parameterized.parameters('jax', 'c')
+  def test_get_data_into(self, backend_impl):
     """Test that get_data_into correctly populates an MjData."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
+    dx = mjx.put_data(m, d, backend_impl=backend_impl)
     d_2 = mujoco.MjData(m)
     mjx.get_data_into(d_2, m, dx)
 
@@ -482,32 +533,33 @@ class DataIOTest(parameterized.TestCase):
     self.assertEqual(d_2.contact.frame.shape, (1, 9))
     np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
 
-  def test_get_data_into_wrong_shape(self):
+  @parameterized.parameters('jax', 'c')
+  def test_get_data_into_wrong_shape(self, backend_impl):
     """Tests that get_data_into throwsif input and output shapes don't match."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
+    dx = mjx.put_data(m, d, backend_impl=backend_impl)
     m_2 = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
     d_2 = mujoco.MjData(m_2)
     with self.assertRaisesRegex(ValueError, r'Input field.*has shape.*'):
       mjx.get_data_into(d_2, m, dx)
 
-  def test_make_matches_put(self):
+  @parameterized.parameters('jax', 'c')
+  def test_make_matches_put(self, backend_impl):
     """Test that make_data produces a pytree that matches put_data."""
-
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
+    dx = mjx.put_data(m, d, backend_impl=backend_impl)
 
     step_fn = lambda d: d.replace(time=d.time + 1)
     step_fn_jit = jax.jit(step_fn).lower(dx).compile()
 
     # placing an MjData onto device should yield the same treedef mjx.Data as
     # calling make_data.  they should be interchangeable for jax functions:
-    step_fn_jit(mjx.make_data(m))
+    step_fn_jit(mjx.make_data(m, backend_impl=backend_impl))
 
   def test_contact_elliptic_condim1(self):
     """Test that condim=1 with ConeType.ELLIPTIC is not implemented."""
@@ -556,7 +608,327 @@ class DataIOTest(parameterized.TestCase):
         </mujoco>
       """)
     with self.assertRaises(NotImplementedError):
-      mjx.put_model(m)
+      mjx.put_model(m, backend_impl='jax')
+
+
+class FullCompatTest(parameterized.TestCase):
+  """Tests for the _full_compat flag."""
+
+  def test_full_compat_deprecated(self):
+    """Tests that _full_compat is deprecated."""
+    xml = """
+      <mujoco>
+        <worldbody>
+          <body name="box">
+            <joint name="slide1" type="slide" axis="1 0 0" />
+            <geom type="box" size=".05 .05 .05" mass="1"/>
+          </body>
+        </worldbody>
+        <actuator>
+          <motor joint="slide1"/>
+        </actuator>
+      </mujoco>
+    """
+    m = mujoco.MjModel.from_xml_string(xml)
+    with self.assertWarns(DeprecationWarning):
+      out = mjx_io.put_model(m, _full_compat=True)
+      self.assertEqual(out.backend_impl, BackendImpl.C)
+    with self.assertWarns(DeprecationWarning):
+      out = mjx_io.make_data(m, _full_compat=True)
+      self.assertEqual(out.backend_impl, BackendImpl.C)
+
+
+# Test cases for `_resolve_backend_impl_and_device` where the device is
+# specified by the user and the device is available.
+_DEVICE_TEST_CASES = [
+    # Arguments use the following format:
+    # (device_type_str, backend_impl_str,
+    #  (expected_device, expected_backend_impl)))
+    # No backend specified.
+    ('cpu', None, ('cpu', BackendImpl.C)),
+    ('gpu-notnvidia', None, ('gpu', BackendImpl.JAX)),
+    ('gpu-nvidia', None, ('gpu', BackendImpl.WARP)),
+    ('tpu', None, ('tpu', BackendImpl.JAX)),
+    # JAX backend specified.
+    ('cpu', 'jax', ('cpu', BackendImpl.JAX)),
+    ('gpu-notnvidia', 'jax', ('gpu', BackendImpl.JAX)),
+    ('gpu-nvidia', 'jax', ('gpu', BackendImpl.JAX)),
+    ('tpu', 'jax', ('tpu', BackendImpl.JAX)),
+    # WARP backend specified.
+    ('cpu', 'warp', ('cpu', 'error')),
+    ('gpu-notnvidia', 'warp', ('cpu', 'error')),
+    ('gpu-nvidia', 'warp', ('gpu', BackendImpl.WARP)),
+    ('tpu', 'warp', ('tpu', 'error')),
+    # C backend specified.
+    ('cpu', 'c', ('cpu', BackendImpl.C)),
+    ('gpu-notnvidia', 'c', ('cpu', 'error')),
+    ('gpu-nvidia', 'c', ('cpu', 'error')),
+    ('tpu', 'c', ('tpu', 'error')),
+]
+
+# Test cases for `_resolve_backend_impl_and_device` where the user does NOT
+# specify a device. We mock the JAX default device.
+_DEFAULT_DEVICE_TEST_CASES = [
+    # Arguments use the following format:
+    # (jax.default_device, backend_impl_str,
+    #  (expected_device, expected_backend_impl))
+    # No backend impl specified.
+    ('cpu', None, ('cpu', BackendImpl.C)),
+    ('gpu-notnvidia', None, ('gpu', BackendImpl.JAX)),
+    ('gpu-nvidia', None, ('gpu', BackendImpl.WARP)),
+    ('tpu', None, ('tpu', BackendImpl.JAX)),
+    # JAX backend impl specified.
+    ('cpu', 'jax', ('cpu', BackendImpl.JAX)),
+    ('gpu-notnvidia', 'jax', ('gpu', BackendImpl.JAX)),
+    ('gpu-nvidia', 'jax', ('gpu', BackendImpl.JAX)),
+    ('tpu', 'jax', ('tpu', BackendImpl.JAX)),
+    # WARP backend impl specified.
+    ('cpu', 'warp', ('cpu', 'error')),
+    ('gpu-notnvidia', 'warp', ('cpu', 'error')),
+    ('gpu-nvidia', 'warp', ('gpu', BackendImpl.WARP)),
+    ('tpu', 'warp', ('tpu', 'error')),
+    # C backend impl specified, CPU should always be available.
+    ('cpu', 'c', ('cpu', BackendImpl.C)),
+    ('gpu-notnvidia', 'c', ('cpu', BackendImpl.C)),
+    ('gpu-nvidia', 'c', ('cpu', BackendImpl.C)),
+    ('tpu', 'c', ('cpu', BackendImpl.C)),
+]
+
+
+class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
+  """Tests for the _resolve_backend_impl_and_device function."""
+
+  def setUp(self):
+    super().setUp()
+
+    # Create mock devices
+    self.mock_cpu = mock.Mock(spec=jax.Device)
+    self.mock_cpu.platform = 'cpu'
+    self.mock_cpu.device_kind = 'Mock CPU'
+    self.mock_cpu.id = 0
+
+    self.mock_nvidia_gpu = mock.Mock(spec=jax.Device)
+    self.mock_nvidia_gpu.platform = 'gpu'
+    self.mock_nvidia_gpu.device_kind = 'NVIDIA Mocked GPU'
+    self.mock_nvidia_gpu.id = 0
+
+    self.mock_other_gpu = mock.Mock(spec=jax.Device)
+    self.mock_other_gpu.platform = 'gpu'
+    self.mock_other_gpu.device_kind = 'Other Mocked GPU'
+    self.mock_other_gpu.id = 1
+
+    self.mock_tpu = mock.Mock(spec=jax.Device)
+    self.mock_tpu.platform = 'tpu'
+    self.mock_tpu.device_kind = 'Mock TPU'
+    self.mock_tpu.id = 0
+
+    # Patch jax.devices for the entire test class using enter_context
+    self.mock_jax_devices = self.enter_context(mock.patch('jax.devices'))
+    self.mock_default_backend = self.enter_context(
+        mock.patch('jax.default_backend')
+    )
+
+  @parameterized.named_parameters(
+      (f'{str(args[0])}_{str(args[1])}', *args) for args in _DEVICE_TEST_CASES
+  )
+  @mock.patch.dict(
+      os.environ, {'MJX_WARP_ENABLED': 'true', 'MJX_C_DEFAULT_ENABLED': 'true'}
+  )
+  def test_resolve_with_device(
+      self,
+      device_type_str,
+      backend_impl_str,
+      expected,
+  ):
+    """Tests various combinations of device and backend impls."""
+    input_device = {
+        'cpu': self.mock_cpu,
+        'gpu-nvidia': self.mock_nvidia_gpu,
+        'gpu-notnvidia': self.mock_other_gpu,
+        'tpu': self.mock_tpu,
+    }[device_type_str]
+
+    def devices_side_effect(backend=None):
+      # assume the user-specified device is always available
+      if backend == 'cpu':
+        return [self.mock_cpu]
+      elif backend == 'gpu':
+        if 'nvidia' in device_type_str:
+          return [self.mock_nvidia_gpu]
+        return [self.mock_other_gpu]
+      elif backend == 'tpu':
+        return [self.mock_tpu]
+      elif backend == 'cuda':
+        return [self.mock_nvidia_gpu]
+
+      raise AssertionError('Should not be called.')
+
+    self.mock_jax_devices.side_effect = devices_side_effect
+
+    expected_device, expected_backend_impl = expected
+    if expected_backend_impl == 'error':
+      with self.assertRaises(AssertionError):
+        mjx_io._resolve_backend_impl_and_device(
+            backend_impl=backend_impl_str, device=input_device
+        )
+      return
+
+    actual_backend_impl, actual_device = (
+        mjx_io._resolve_backend_impl_and_device(
+            backend_impl=backend_impl_str, device=input_device
+        )
+    )
+
+    self.assertEqual(actual_backend_impl, expected_backend_impl)
+    self.assertIsNotNone(actual_device)
+    self.assertEqual(actual_device.platform, expected_device)
+
+  @parameterized.named_parameters(
+      (f'{str(args[0])}_{str(args[1])}', *args)
+      for args in _DEFAULT_DEVICE_TEST_CASES
+  )
+  @mock.patch.dict(
+      os.environ, {'MJX_WARP_ENABLED': 'true', 'MJX_C_DEFAULT_ENABLED': 'true'}
+  )
+  def test_resolve_without_device(
+      self,
+      default_device_str,
+      backend_impl_str,
+      expected,
+  ):
+    """Tests various combinations of jax.default_device and backend impls."""
+    default_devices = {
+        'cpu': [self.mock_cpu],
+        'gpu-nvidia': [self.mock_nvidia_gpu, self.mock_cpu],
+        'gpu-notnvidia': [self.mock_other_gpu, self.mock_cpu],
+        'tpu': [self.mock_tpu, self.mock_cpu],
+    }[default_device_str]
+
+    def devices_side_effect(backend=None):
+      if backend == 'cpu':
+        return [self.mock_cpu]  # CPU is always available
+      if backend == 'gpu' and default_device_str == 'gpu-notnvidia':
+        return [self.mock_other_gpu]
+      if backend == 'gpu' and default_device_str == 'gpu-nvidia':
+        return [self.mock_nvidia_gpu]
+      if backend == 'cuda' and default_device_str == 'gpu-nvidia':
+        return [self.mock_nvidia_gpu]
+      if backend == 'tpu' and default_device_str == 'tpu':
+        return [self.mock_tpu]
+      if backend is None:
+        return default_devices
+      if backend == 'cuda':
+        raise RuntimeError('cuda backend not supported')
+      raise AssertionError('jax.devices error')
+
+    self.mock_jax_devices.side_effect = devices_side_effect
+    default_device_side_effect_str = {
+        'cpu': 'cpu',
+        'gpu-nvidia': 'gpu',
+        'gpu-notnvidia': 'gpu',
+        'tpu': 'tpu',
+    }[default_device_str]
+    self.mock_default_backend.side_effect = (
+        lambda: default_device_side_effect_str
+    )
+
+    expected_device, expected_backend_impl = expected
+    if (
+        expected_backend_impl == 'error'
+        and default_device_str != 'gpu-nvidia'
+        and backend_impl_str == 'warp'
+    ):
+      with self.assertRaisesRegex(RuntimeError, 'cuda backend not supported'):
+        mjx_io._resolve_backend_impl_and_device(
+            backend_impl=backend_impl_str, device=None
+        )
+      return
+
+    if expected_backend_impl == 'error':
+      with self.assertRaises(AssertionError):
+        mjx_io._resolve_backend_impl_and_device(
+            backend_impl=backend_impl_str, device=None
+        )
+      return
+
+    actual_backend_impl, actual_device = (
+        mjx_io._resolve_backend_impl_and_device(
+            backend_impl=backend_impl_str, device=None
+        )
+    )
+
+    self.assertEqual(actual_backend_impl, expected_backend_impl)
+    self.assertIsNotNone(actual_device)
+    self.assertEqual(actual_device.platform, expected_device)
+
+  @mock.patch.dict(os.environ, {'MJX_WARP_ENABLED': 'false'})
+  def test_resolve_warp_disabled(self):
+    """Tests behavior when MJX_WARP_ENABLED is false."""
+    self.mock_jax_devices.side_effect = lambda backend=None: (
+        [self.mock_nvidia_gpu, self.mock_cpu]
+        if backend is None
+        else ([self.mock_nvidia_gpu] if backend == 'gpu' else [self.mock_cpu])
+    )
+    self.mock_default_backend.side_effect = lambda: 'gpu'
+
+    # Default to JAX instead of WARP on NVIDIA GPU.
+    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
+        backend_impl=None, device=None
+    )
+    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(device.platform, 'gpu')
+
+    # Specifying an NVIDIA GPU should still choose JAX.
+    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
+        backend_impl=None, device=self.mock_nvidia_gpu
+    )
+    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(device.platform, 'gpu')
+
+    # Requesting warp explicitly should fail since it is disabled.
+    with self.assertRaises(AssertionError):
+      mjx_io._resolve_backend_impl_and_device(
+          backend_impl='warp', device=self.mock_nvidia_gpu
+      )
+    with self.assertRaises(AssertionError):
+      mjx_io._resolve_backend_impl_and_device(backend_impl='warp', device=None)
+
+  @mock.patch.dict(os.environ, {'MJX_C_DEFAULT_ENABLED': 'false'})
+  def test_resolve_c_disabled(self):
+    """Tests behavior when MJX_C_DEFAULT_ENABLED is false."""
+    # Users expect that CPU defaults to the JAX impl. But in the future, it will
+    # default to the C backend implementation. This test checks that
+    # MJX_C_DEFAULT_ENABLED=false defaults to the old behavior, until the
+    # migration to MJEP-15 is complete.
+    self.mock_jax_devices.side_effect = lambda backend=None: ([self.mock_cpu])
+    self.mock_default_backend.side_effect = lambda: 'cpu'
+
+    # Default to JAX instead of C on CPU.
+    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
+        backend_impl=None, device=None
+    )
+    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(device.platform, 'cpu')
+
+    # Specifing CPU should still choose JAX.
+    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
+        backend_impl=None, device=self.mock_cpu
+    )
+    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(device.platform, 'cpu')
+
+    # Specifying C should choose C!
+    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
+        backend_impl='c', device=None
+    )
+    self.assertEqual(backend_impl, BackendImpl.C)
+    self.assertEqual(device.platform, 'cpu')
+
+    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
+        backend_impl='c', device=self.mock_cpu
+    )
+    self.assertEqual(backend_impl, BackendImpl.C)
+    self.assertEqual(device.platform, 'cpu')
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/passive.py b/mjx/mujoco/mjx/_src/passive.py
index c289690f..b4a8b674 100644
--- a/mjx/mujoco/mjx/_src/passive.py
+++ b/mjx/mujoco/mjx/_src/passive.py
@@ -23,9 +23,12 @@ from mujoco.mjx._src import scan
 from mujoco.mjx._src import support
 # pylint: disable=g-importing-member
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import JointType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
+from mujoco.mjx._src.types import OptionJAX
 # pylint: enable=g-importing-member
 
 
@@ -72,11 +75,11 @@ def _spring_damper(m: Model, d: Data) -> jax.Array:
   qfrc -= m.dof_damping * d.qvel
 
   # tendon-level spring-dampers
-  below, above = m.tendon_lengthspring.T - d.ten_length
+  below, above = m.tendon_lengthspring.T - d._impl.ten_length
   frc_spring = jp.where(below > 0, m.tendon_stiffness * below, 0)
   frc_spring = jp.where(above < 0, m.tendon_stiffness * above, frc_spring)
-  frc_damper = -m.tendon_damping * d.ten_velocity
-  qfrc += d.ten_J.T @ (frc_spring + frc_damper)
+  frc_damper = -m.tendon_damping * d._impl.ten_velocity
+  qfrc += d._impl.ten_J.T @ (frc_spring + frc_damper)
 
   return qfrc
 
@@ -113,6 +116,9 @@ def _fluid(m: Model, d: Data) -> jax.Array:
 
 def passive(m: Model, d: Data) -> Data:
   """Adds all passive forces."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('passive requires JAX backend implementation.')
+
   if m.opt.disableflags & DisableBit.PASSIVE:
     return d.replace(qfrc_passive=jp.zeros(m.nv), qfrc_gravcomp=jp.zeros(m.nv))
 
@@ -124,7 +130,7 @@ def passive(m: Model, d: Data) -> Data:
     # add gravcomp unless added via actuators
     qfrc_passive += qfrc_gravcomp * (1 - m.jnt_actgravcomp[m.dof_jntid])
 
-  if m.opt.has_fluid_params:
+  if m.opt.has_fluid_params:  # pytype: disable=attribute-error
     qfrc_passive += _fluid(m, d)
 
   d = d.replace(qfrc_passive=qfrc_passive, qfrc_gravcomp=qfrc_gravcomp)
diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py
index 24471ccc..41751527 100644
--- a/mjx/mujoco/mjx/_src/sensor.py
+++ b/mjx/mujoco/mjx/_src/sensor.py
@@ -22,9 +22,12 @@ from mujoco.mjx._src import math
 from mujoco.mjx._src import ray
 from mujoco.mjx._src import smooth
 from mujoco.mjx._src import support
+from mujoco.mjx._src.types import BackendImpl
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 from mujoco.mjx._src.types import ObjType
 from mujoco.mjx._src.types import SensorType
 from mujoco.mjx._src.types import TrnType
@@ -32,7 +35,7 @@ from mujoco.mjx._src.types import TrnType
 import numpy as np
 
 
-def apply_cutoff(
+def _apply_cutoff(
     sensor: jax.Array, cutoff: jax.Array, data_type: int
 ) -> jax.Array:
   """Clip sensor to cutoff value."""
@@ -51,6 +54,8 @@ def apply_cutoff(
 
 def sensor_pos(m: Model, d: Data) -> Data:
   """Compute position-dependent sensors values."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('sensor_pos requires JAX backend implementation.')
 
   if m.opt.disableflags & DisableBit.SENSOR:
     return d
@@ -163,15 +168,15 @@ def sensor_pos(m: Model, d: Data) -> Data:
         sensor, _ = jax.vmap(
             ray.ray, in_axes=(None, None, 0, 0, None, None, None)
         )(m, d, site_xpos, site_mat, (), True, sid)
-        sensors.append(apply_cutoff(sensor, cutoffs, data_type[0]))
+        sensors.append(_apply_cutoff(sensor, cutoffs, data_type[0]))
         adrs.append(adr[idxs])
       continue  # avoid adding to sensors/adrs list a second time
     elif sensor_type == SensorType.JOINTPOS:
       sensor = d.qpos[m.jnt_qposadr[objid]]
     elif sensor_type == SensorType.TENDONPOS:
-      sensor = d.ten_length[objid]
+      sensor = d._impl.ten_length[objid]
     elif sensor_type == SensorType.ACTUATORPOS:
-      sensor = d.actuator_length[objid]
+      sensor = d._impl.actuator_length[objid]
     elif sensor_type == SensorType.BALLQUAT:
       jnt_qposadr = m.jnt_qposadr[objid, None] + np.arange(4)[None]
       quat = d.qpos[jnt_qposadr]
@@ -194,7 +199,7 @@ def sensor_pos(m: Model, d: Data) -> Data:
         cutofft = cutoff[idxt]
         sensor = jax.vmap(_framepos)(xpos, xpos_ref, xmat_ref, refidt)
         adrt = adr[idxt, None] + np.arange(3)[None]
-        sensors.append(apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
+        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
         adrs.append(adrt.reshape(-1))
       continue  # avoid adding to sensors/adrs list a second time
     elif sensor_type in frame_axis:
@@ -214,7 +219,7 @@ def sensor_pos(m: Model, d: Data) -> Data:
         cutofft = cutoff[idxt]
         sensor = jax.vmap(_frameaxis)(xmat, xmat_ref, refidt)
         adrt = adr[idxt, None] + np.arange(3)[None]
-        sensors.append(apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
+        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
         adrs.append(adrt.reshape(-1))
       continue  # avoid adding to sensors/adrs list a second time
     elif sensor_type == SensorType.FRAMEQUAT:
@@ -255,7 +260,7 @@ def sensor_pos(m: Model, d: Data) -> Data:
             )
         )(quat, refquat, refidt)
         adrt = adr[idxt, None] + np.arange(4)[None]
-        sensors.append(apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
+        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
         adrs.append(adrt.reshape(-1))
       continue  # avoid adding to sensors/adrs list a second time
     elif sensor_type == SensorType.SUBTREECOM:
@@ -267,7 +272,7 @@ def sensor_pos(m: Model, d: Data) -> Data:
       # TODO(taylorhowell): raise error after adding sensor check to io.py
       continue  # unsupported sensor type
 
-    sensors.append(apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
+    sensors.append(_apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
     adrs.append(adr)
 
   if not adrs:
@@ -282,6 +287,8 @@ def sensor_pos(m: Model, d: Data) -> Data:
 
 def sensor_vel(m: Model, d: Data) -> Data:
   """Compute velocity-dependent sensors values."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('sensor_vel requires JAX backend implementation.')
 
   if m.opt.disableflags & DisableBit.SENSOR:
     return d
@@ -333,9 +340,9 @@ def sensor_vel(m: Model, d: Data) -> Data:
     elif sensor_type == SensorType.JOINTVEL:
       sensor = d.qvel[m.jnt_dofadr[objid]]
     elif sensor_type == SensorType.TENDONVEL:
-      sensor = d.ten_velocity[objid]
+      sensor = d._impl.ten_velocity[objid]
     elif sensor_type == SensorType.ACTUATORVEL:
-      sensor = d.actuator_velocity[objid]
+      sensor = d._impl.actuator_velocity[objid]
     elif sensor_type == SensorType.BALLANGVEL:
       jnt_dotadr = m.jnt_dofadr[objid, None] + np.arange(3)[None]
       sensor = d.qvel[jnt_dotadr]
@@ -393,20 +400,20 @@ def sensor_vel(m: Model, d: Data) -> Data:
 
         adrt = adr[idxt, None] + np.arange(3)[None]
 
-        sensors.append(apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
+        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
         adrs.append(adrt.reshape(-1))
       continue  # avoid adding to sensors/adrs list a second time
     elif sensor_type == SensorType.SUBTREELINVEL:
-      sensor = d.subtree_linvel[objid]
+      sensor = d._impl.subtree_linvel[objid]
       adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
     elif sensor_type == SensorType.SUBTREEANGMOM:
-      sensor = d.subtree_angmom[objid]
+      sensor = d._impl.subtree_angmom[objid]
       adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
     else:
       # TODO(taylorhowell): raise error after adding sensor check to io.py
       continue  # unsupported sensor type
 
-    sensors.append(apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
+    sensors.append(_apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
     adrs.append(adr)
 
   if not adrs:
@@ -421,6 +428,8 @@ def sensor_vel(m: Model, d: Data) -> Data:
 
 def sensor_acc(m: Model, d: Data) -> Data:
   """Compute acceleration/force-dependent sensors values."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('sensor_acc requires JAX backend implementation.')
 
   if m.opt.disableflags & DisableBit.SENSOR:
     return d
@@ -460,14 +469,14 @@ def sensor_acc(m: Model, d: Data) -> Data:
       # compute contact forces
       forces = []
       condim_ids = []
-      for dim in set(d.contact.dim):
+      for dim in set(d._impl.contact.dim):
         force, condim_id = support.contact_force_dim(m, d, dim)
         forces.append(force)
         condim_ids.append(condim_id)
       forces = jp.concatenate(forces)[np.argsort(np.concatenate(condim_ids))]
 
       # get bodies of contact geoms
-      conbody = jp.array(m.geom_bodyid)[d.contact.geom]
+      conbody = jp.array(m.geom_bodyid)[d._impl.contact.geom]
 
       # get site information
       site_bodyid = m.site_bodyid[objid]
@@ -477,12 +486,14 @@ def sensor_acc(m: Model, d: Data) -> Data:
       site_type = m.site_type[objid]
       conbody0 = site_bodyid[:, None] == conbody[:, 0]
       conbody1 = site_bodyid[:, None] == conbody[:, 1]
-      contacts = (d.contact.efc_address >= 0)[None] & (conbody0 | conbody1)
+      contacts = (d._impl.contact.efc_address >= 0)[None] & (
+          conbody0 | conbody1
+      )
 
       # compute conray, flip if second body
       conray = jax.vmap(
           lambda frame, force: math.normalize(frame[0] * force[0])
-      )(d.contact.frame, forces)
+      )(d._impl.contact.frame, forces)
       conray = jp.where(conbody1[..., None], -conray, conray)
 
       # compute distance, mapping over sites and contacts
@@ -504,7 +515,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
             site_xpos[dist_id_site],
             site_xmat[dist_id_site],
             st,
-            d.contact.pos,
+            d._impl.contact.pos,
             conray[dist_id_site],
         )
         dist.append(jp.where(jp.isinf(dist_site), 0, dist_site))
@@ -526,14 +537,14 @@ def sensor_acc(m: Model, d: Data) -> Data:
       bodyid = m.site_bodyid[objid]
       rot = d.site_xmat[objid]
       cvel = d.cvel[bodyid]
-      cacc = d.cacc[bodyid]
+      cacc = d._impl.cacc[bodyid]
       dif = d.site_xpos[objid] - d.subtree_com[m.body_rootid[bodyid]]
 
       sensor = _accelerometer(cvel, cacc, dif, rot)
       adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
     elif sensor_type == SensorType.FORCE:
       bodyid = m.site_bodyid[objid]
-      cfrc_int = d.cfrc_int[bodyid]
+      cfrc_int = d._impl.cfrc_int[bodyid]
       site_xmat = d.site_xmat[objid]
       sensor = jax.vmap(lambda mat, vec: mat.T @ vec)(
           site_xmat, cfrc_int[:, 3:]
@@ -542,7 +553,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
     elif sensor_type == SensorType.TORQUE:
       bodyid = m.site_bodyid[objid]
       rootid = m.body_rootid[bodyid]
-      cfrc_int = d.cfrc_int[bodyid]
+      cfrc_int = d._impl.cfrc_int[bodyid]
       site_xmat = d.site_xmat[objid]
       dif = d.site_xpos[objid] - d.subtree_com[rootid]
       sensor = jax.vmap(
@@ -571,7 +582,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
         pos, bodyid = objtype_data[ot]
         pos = pos[objidt]
         bodyid = bodyid[objidt]
-        cacc = d.cacc[bodyid]
+        cacc = d._impl.cacc[bodyid]
 
         if sensor_type == SensorType.FRAMELINACC:
 
@@ -601,7 +612,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
       # TODO(taylorhowell): raise error after adding sensor check to io.py
       continue  # unsupported sensor type
 
-    sensors.append(apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
+    sensors.append(_apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
     adrs.append(adr)
 
   if not adrs:
diff --git a/mjx/mujoco/mjx/_src/sensor_test.py b/mjx/mujoco/mjx/_src/sensor_test.py
index fce6225c..cab50779 100644
--- a/mjx/mujoco/mjx/_src/sensor_test.py
+++ b/mjx/mujoco/mjx/_src/sensor_test.py
@@ -64,14 +64,14 @@ class SensorTest(parameterized.TestCase):
     mujoco.mj_forward(m, d)
 
     mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d).replace(
-        sensordata=jp.zeros_like(d.sensordata),
-        subtree_linvel=jp.zeros_like(d.subtree_linvel),
-        subtree_angmom=jp.zeros_like(d.subtree_angmom),
-        cacc=jp.zeros_like(d.cacc),
-        cfrc_int=jp.zeros_like(d.cfrc_int),
-        cfrc_ext=jp.zeros_like(d.cfrc_ext),
-    )
+    dx = mjx.put_data(m, d).tree_replace({
+        'sensordata': jp.zeros_like(d.sensordata),
+        '_impl.subtree_linvel': jp.zeros_like(d.subtree_linvel),
+        '_impl.subtree_angmom': jp.zeros_like(d.subtree_angmom),
+        '_impl.cacc': jp.zeros_like(d.cacc),
+        '_impl.cfrc_int': jp.zeros_like(d.cfrc_int),
+        '_impl.cfrc_ext': jp.zeros_like(d.cfrc_ext),
+    })
     dx = jax.jit(mjx.sensor_pos)(mx, dx)
     dx = jax.jit(mjx.sensor_vel)(mx, dx)
     dx = jax.jit(mjx.sensor_acc)(mx, dx)
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 92e46702..f87c2ed3 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -23,10 +23,12 @@ from mujoco.mjx._src import support
 # pylint: disable=g-importing-member
 from mujoco.mjx._src.types import CamLightType
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import EqType
 from mujoco.mjx._src.types import JointType
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 from mujoco.mjx._src.types import TrnType
 from mujoco.mjx._src.types import WrapType
 # pylint: enable=g-importing-member
@@ -35,7 +37,6 @@ import numpy as np
 
 def kinematics(m: Model, d: Data) -> Data:
   """Converts position/velocity from generalized coordinates to maximal."""
-
   def fn(carry, jnt_typs, jnt_pos, jnt_axis, qpos, qpos0, pos, quat):
     # calculate joint anchors, axes, body pos and quat in global frame
     # also normalize qpos while we're at it
@@ -131,6 +132,8 @@ def kinematics(m: Model, d: Data) -> Data:
 
 def com_pos(m: Model, d: Data) -> Data:
   """Maps inertias and motion dofs to global frame centered at subtree-CoM."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('com_pos requires JAX backend implementation.')
 
   # calculate center of mass of each subtree
   def subtree_sum(carry, xipos, body_mass):
@@ -162,7 +165,7 @@ def com_pos(m: Model, d: Data) -> Data:
   root_com = subtree_com[m.body_rootid]
   offset = d.xipos - root_com
   cinert = inert_com(m.body_inertia, d.ximat, offset, m.body_mass)
-  d = d.replace(cinert=cinert)
+  d = d.tree_replace({'_impl.cinert': cinert})
 
   # map motion dofs to global frame centered at subtree_com
   def cdof_fn(jnt_typs, root_com, xmat, xanchor, xaxis):
@@ -201,13 +204,16 @@ def com_pos(m: Model, d: Data) -> Data:
       d.xanchor,
       d.xaxis,
   )
-  d = d.replace(cdof=cdof)
+  d = d.tree_replace({'_impl.cdof': cdof})
 
   return d
 
 
 def camlight(m: Model, d: Data) -> Data:
   """Computes camera and light positions and orientations."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('camlight requires JAX backend implementation.')
+
   if m.ncam == 0:
     return d.replace(cam_xpos=jp.zeros((0, 3)), cam_xmat=jp.zeros((0, 3, 3)))
 
@@ -278,32 +284,33 @@ def camlight(m: Model, d: Data) -> Data:
 
 def crb(m: Model, d: Data) -> Data:
   """Runs composite rigid body inertia algorithm."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('crb requires JAX backend implementation.')
 
   def crb_fn(crb_child, crb_body):
     if crb_child is not None:
       crb_body += crb_child
     return crb_body
 
-  crb_body = scan.body_tree(m, crb_fn, 'b', 'b', d.cinert, reverse=True)
+  crb_body = scan.body_tree(m, crb_fn, 'b', 'b', d._impl.cinert, reverse=True)
   crb_body = crb_body.at[0].set(0.0)
-  d = d.replace(crb=crb_body)
+  d = d.tree_replace({'_impl.crb': crb_body})
 
   crb_dof = jp.take(crb_body, jp.array(m.dof_bodyid), axis=0)
-  crb_cdof = jax.vmap(math.inert_mul)(crb_dof, d.cdof)
-  qm = support.make_m(m, crb_cdof, d.cdof, m.dof_armature)
-  d = d.replace(qM=qm)
-  if support.is_sparse(m) and d._qM_sparse.size > 0:  # pylint: disable=protected-access
-    d = d.replace(_qM_sparse=qm)
-
+  crb_cdof = jax.vmap(math.inert_mul)(crb_dof, d._impl.cdof)
+  qm = support.make_m(m, crb_cdof, d._impl.cdof, m.dof_armature)
+  d = d.tree_replace({'_impl.qM': qm})
   return d
 
 
 def factor_m(m: Model, d: Data) -> Data:
   """Gets factorizaton of inertia-like matrix M, assumed spd."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('factor_m requires JAX backend implementation.')
 
   if not support.is_sparse(m):
-    qh, _ = jax.scipy.linalg.cho_factor(d.qM)
-    d = d.replace(qLD=qh)
+    qh, _ = jax.scipy.linalg.cho_factor(d._impl.qM)
+    d = d.tree_replace({'_impl.qLD': qh})
     return d
 
   # build up indices for where we will do backwards updates over qLD
@@ -325,7 +332,7 @@ def factor_m(m: Model, d: Data) -> Data:
           (out_beg, out_end, madr_d, madr_ij)
       )
 
-  qld = d.qM
+  qld = d._impl.qM
 
   for _, updates in sorted(updates.items(), reverse=True):
     # combine the updates into one update batch (per depth level)
@@ -353,20 +360,17 @@ def factor_m(m: Model, d: Data) -> Data:
   qld_diag = qld[m.dof_Madr]
   qld = (qld / qld[jp.array(madr_ds)]).at[m.dof_Madr].set(qld_diag)
 
-  d = d.replace(qLD=qld, qLDiagInv=1 / qld_diag)
-  if d._qLD_sparse.size > 0:  # pylint: disable=protected-access
-    d = d.replace(_qLD_sparse=d.qLD)
-  if d._qLDiagInv_sparse.size > 0:  # pylint: disable=protected-access
-    d = d.replace(_qLDiagInv_sparse=d.qLDiagInv)
-
+  d = d.tree_replace({'_impl.qLD': qld, '_impl.qLDiagInv': 1 / qld_diag})
   return d
 
 
 def solve_m(m: Model, d: Data, x: jax.Array) -> jax.Array:
   """Computes sparse backsubstitution:  x = inv(L'*D*L)*y ."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('solve_m requires JAX backend implementation.')
 
   if not support.is_sparse(m):
-    return jax.scipy.linalg.cho_solve((d.qLD, False), x)
+    return jax.scipy.linalg.cho_solve((d._impl.qLD, False), x)
 
   depth = []
   for i in range(m.nv):
@@ -385,21 +389,23 @@ def solve_m(m: Model, d: Data, x: jax.Array) -> jax.Array:
   # x <- inv(L') * x
   for _, vals in sorted(updates_j.items(), reverse=True):
     j, madr_ij, i = np.array(vals).T
-    x = x.at[j].add(-d.qLD[madr_ij] * x[i])
+    x = x.at[j].add(-d._impl.qLD[madr_ij] * x[i])
 
   # x <- inv(D) * x
-  x = x * d.qLDiagInv
+  x = x * d._impl.qLDiagInv
 
   # x <- inv(L) * x
   for _, vals in sorted(updates_i.items()):
     i, madr_ij, j = np.array(vals).T
-    x = x.at[i].add(-d.qLD[madr_ij] * x[j])
+    x = x.at[i].add(-d._impl.qLD[madr_ij] * x[j])
 
   return x
 
 
 def com_vel(m: Model, d: Data) -> Data:
   """Computes cvel, cdof_dot."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('com_vel requires JAX backend implementation.')
 
   # forward scan down tree: accumulate link center of mass velocity
   def fn(parent, jnt_typs, cdof, qvel):
@@ -431,17 +437,19 @@ def com_vel(m: Model, d: Data) -> Data:
       'jvv',
       'bv',
       m.jnt_type,
-      d.cdof,
+      d._impl.cdof,
       d.qvel,
   )
 
-  d = d.replace(cvel=cvel, cdof_dot=cdof_dot)
+  d = d.tree_replace({'cvel': cvel, '_impl.cdof_dot': cdof_dot})
 
   return d
 
 
 def subtree_vel(m: Model, d: Data) -> Data:
   """Subtree linear velocity and angular momentum."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('subtree_vel requires JAX backend implementation.')
 
   # bodywise quantities
   def _forward(cvel, xipos, ximat, subtree_com_root, mass, inertia):
@@ -529,7 +537,10 @@ def subtree_vel(m: Model, d: Data) -> Data:
       reverse=True,
   )
 
-  return d.replace(subtree_linvel=subtree_linvel, subtree_angmom=subtree_angmom)
+  return d.tree_replace({
+      '_impl.subtree_linvel': subtree_linvel,
+      '_impl.subtree_angmom': subtree_angmom,
+  })
 
 
 def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
@@ -537,6 +548,8 @@ def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
 
   flg_acc=False removes inertial term.
   """
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('rne requires JAX backend implementation.')
 
   # forward scan over tree: accumulate link center of mass acceleration
   def cacc_fn(cacc, cdof_dot, qvel, cdof, qacc):
@@ -555,7 +568,7 @@ def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
     return cacc
 
   cacc = scan.body_tree(
-      m, cacc_fn, 'vvvv', 'b', d.cdof_dot, d.qvel, d.cdof, d.qacc
+      m, cacc_fn, 'vvvv', 'b', d._impl.cdof_dot, d.qvel, d._impl.cdof, d.qacc
   )
 
   def frc(cinert, cacc, cvel):
@@ -564,7 +577,7 @@ def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
 
     return frc
 
-  loc_cfrc = jax.vmap(frc)(d.cinert, cacc, d.cvel)
+  loc_cfrc = jax.vmap(frc)(d._impl.cinert, cacc, d.cvel)
 
   # backward scan up tree: accumulate body forces
   def cfrc_fn(cfrc_child, cfrc):
@@ -573,7 +586,7 @@ def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
     return cfrc
 
   cfrc = scan.body_tree(m, cfrc_fn, 'b', 'b', loc_cfrc, reverse=True)
-  qfrc_bias = jax.vmap(jp.dot)(d.cdof, cfrc[jp.array(m.dof_bodyid)])
+  qfrc_bias = jax.vmap(jp.dot)(d._impl.cdof, cfrc[jp.array(m.dof_bodyid)])
 
   d = d.replace(qfrc_bias=qfrc_bias)
 
@@ -582,6 +595,8 @@ def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
 
 def rne_postconstraint(m: Model, d: Data) -> Data:
   """RNE with complete data: compute cacc, cfrc_ext, cfrc_int."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('rne_postconstraint requires JAX backend implementation.')
 
   def _transform_force(frc, offset):
     force, torque = jp.split(frc, 2)
@@ -602,7 +617,7 @@ def rne_postconstraint(m: Model, d: Data) -> Data:
   # compute contact forces for each condim
   forces = []
   condim_idx = []
-  for dim in set(d.contact.dim):
+  for dim in set(d._impl.contact.dim):
     force, idx = support.contact_force_dim(m, d, dim)
     forces.append(force)
     condim_idx.append(idx)
@@ -629,10 +644,10 @@ def rne_postconstraint(m: Model, d: Data) -> Data:
       )
 
     condim_idx = jp.concatenate(condim_idx)
-    frame = d.contact.frame[condim_idx]
-    pos = d.contact.pos[condim_idx]
-    id1 = jp.array(m.geom_bodyid)[d.contact.geom[condim_idx, 0]]
-    id2 = jp.array(m.geom_bodyid)[d.contact.geom[condim_idx, 1]]
+    frame = d._impl.contact.frame[condim_idx]
+    pos = d._impl.contact.pos[condim_idx]
+    id1 = jp.array(m.geom_bodyid)[d._impl.contact.geom[condim_idx, 0]]
+    id2 = jp.array(m.geom_bodyid)[d._impl.contact.geom[condim_idx, 1]]
     com1 = d.subtree_com[jp.array(m.body_rootid)][id1]
     com2 = d.subtree_com[jp.array(m.body_rootid)][id2]
 
@@ -668,8 +683,8 @@ def rne_postconstraint(m: Model, d: Data) -> Data:
     )
 
     # cacc = cacc_parent + cdofdot * qvel + cdof * qacc
-    cacc_vel = d.cdof_dot.T @ (mask * d.qvel)
-    cacc_acc = d.cdof.T @ (mask * d.qacc)
+    cacc_vel = d._impl.cdof_dot.T @ (mask * d.qvel)
+    cacc_acc = d._impl.cdof.T @ (mask * d.qacc)
     cacc = cacc_parent + cacc_vel + cacc_acc
 
     # cfrc_body = cinert * cacc + cvel x (cinert * cvel)
@@ -687,7 +702,7 @@ def rne_postconstraint(m: Model, d: Data) -> Data:
       'bbbbb',
       'bb',
       cfrc_ext,
-      d.cinert,
+      d._impl.cinert,
       d.cvel,
       jp.array(m.body_dofadr),
       jp.array(m.body_dofnum),
@@ -704,11 +719,18 @@ def rne_postconstraint(m: Model, d: Data) -> Data:
   )
 
   # update data
-  return d.replace(cacc=cacc, cfrc_int=cfrc_int, cfrc_ext=cfrc_ext)
+  return d.tree_replace({
+      '_impl.cacc': cacc,
+      '_impl.cfrc_int': cfrc_int,
+      '_impl.cfrc_ext': cfrc_ext,
+  })
 
 
 def tendon(m: Model, d: Data) -> Data:
   """Computes tendon lengths and moments."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('tendon requires JAX backend implementation.')
+
   if not m.ntendon:
     return d
 
@@ -836,8 +858,8 @@ def tendon(m: Model, d: Data) -> Data:
   # wrap inside
   # TODO(taylorhowell): check that is_wrap_inside is consistent with
   # site and geom relative positions
-  (wrap_inside_id,) = np.nonzero(m.is_wrap_inside)
-  (wrap_outside_id,) = np.nonzero(~m.is_wrap_inside)
+  (wrap_inside_id,) = np.nonzero(m._impl.is_wrap_inside)
+  (wrap_outside_id,) = np.nonzero(~m._impl.is_wrap_inside)
 
   # compute geom wrap length and connect points (if wrap occurs)
   v_wrap = jax.vmap(
@@ -853,9 +875,9 @@ def tendon(m: Model, d: Data) -> Data:
       has_sidesite[wrap_inside_id],
       is_sphere[wrap_inside_id],
       True,
-      m.wrap_inside_maxiter,
-      m.wrap_inside_tolerance,
-      m.wrap_inside_z_init,
+      m._impl.wrap_inside_maxiter,
+      m._impl.wrap_inside_tolerance,
+      m._impl.wrap_inside_z_init,
   )
 
   lengths_outside, pnt0_outside, pnt1_outside = v_wrap(
@@ -868,9 +890,9 @@ def tendon(m: Model, d: Data) -> Data:
       has_sidesite[wrap_outside_id],
       is_sphere[wrap_outside_id],
       False,
-      m.wrap_inside_maxiter,
-      m.wrap_inside_tolerance,
-      m.wrap_inside_z_init,
+      m._impl.wrap_inside_maxiter,
+      m._impl.wrap_inside_tolerance,
+      m._impl.wrap_inside_z_init,
   )
 
   wrap_id = np.argsort(np.concatenate([wrap_inside_id, wrap_outside_id]))
@@ -952,12 +974,14 @@ def tendon(m: Model, d: Data) -> Data:
   )
 
   # assemble length and moment
-  ten_length = jp.zeros_like(d.ten_length).at[tendon_id_jnt].set(length_jnt)
+  ten_length = (
+      jp.zeros_like(d._impl.ten_length).at[tendon_id_jnt].set(length_jnt)
+  )
   ten_length = ten_length.at[tendon_id_site].add(length_site)
   ten_length = ten_length.at[tendon_id_geom].add(length_geom)
 
   ten_moment = (
-      jp.zeros_like(d.ten_J)
+      jp.zeros_like(d._impl.ten_J)
       .at[adr_moment_jnt, dofadr_moment_jnt]
       .set(moment_jnt)
   )
@@ -1020,14 +1044,14 @@ def tendon(m: Model, d: Data) -> Data:
       [wrap_obj[sort], jp.zeros(2 * m.nwrap - count, dtype=int)]
   ).reshape((m.nwrap, 2))
 
-  return d.replace(
-      ten_length=ten_length,
-      ten_J=ten_moment,
-      ten_wrapadr=jp.array(ten_wrapadr, dtype=int),
-      ten_wrapnum=jp.array(ten_wrapnum, dtype=int),
-      wrap_xpos=wrap_xpos,
-      wrap_obj=jp.array(wrap_obj, dtype=int),
-  )
+  return d.tree_replace({
+      '_impl.ten_length': ten_length,
+      '_impl.ten_J': ten_moment,
+      '_impl.ten_wrapadr': jp.array(ten_wrapadr, dtype=int),
+      '_impl.ten_wrapnum': jp.array(ten_wrapnum, dtype=int),
+      '_impl.wrap_xpos': wrap_xpos,
+      '_impl.wrap_obj': jp.array(wrap_obj, dtype=int),
+  })
 
 
 def _site_dof_mask(m: Model) -> np.ndarray:
@@ -1061,6 +1085,9 @@ def _site_dof_mask(m: Model) -> np.ndarray:
 
 def transmission(m: Model, d: Data) -> Data:
   """Computes actuator/transmission lengths and moments."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('transmission requires JAX backend implementation.')
+
   if not m.nu:
     return d
 
@@ -1120,8 +1147,8 @@ def transmission(m: Model, d: Data) -> Data:
       wrench = jp.concatenate((frame_xmat @ gear[:3], frame_xmat @ gear[3:]))
       moment = jac @ wrench
     elif trntype == TrnType.TENDON:
-      length = d.ten_length[trnid[0]] * gear[:1]
-      moment = d.ten_J[trnid[0]] * gear[0]
+      length = d._impl.ten_length[trnid[0]] * gear[:1]
+      moment = d._impl.ten_J[trnid[0]] * gear[0]
     else:
       raise RuntimeError(f'unrecognized trntype: {TrnType(trntype)}')
 
@@ -1153,5 +1180,7 @@ def transmission(m: Model, d: Data) -> Data:
   length = length.reshape((m.nu,))
   moment = moment.reshape((m.nu, m.nv))
 
-  d = d.replace(actuator_length=length, actuator_moment=moment)
+  d = d.tree_replace(
+      {'_impl.actuator_length': length, '_impl.actuator_moment': moment}
+  )
   return d
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index eca05068..4f182a75 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -20,7 +20,7 @@ import jax
 import mujoco
 from mujoco import mjx
 from mujoco.mjx._src import test_util
-from mujoco.mjx._src.types import ConeType
+from mujoco.mjx._src.types import ConeType  # pylint: disable=g-importing-member
 import numpy as np
 
 # tolerance for difference between MuJoCo and MJX smooth calculations - mostly
@@ -78,30 +78,27 @@ class SmoothTest(absltest.TestCase):
     # com_pos
     dx = jax.jit(mjx.com_pos)(mx, mjx.put_data(m, d))
     _assert_attr_eq(d, dx, 'subtree_com')
-    _assert_attr_eq(d, dx, 'cinert')
-    _assert_attr_eq(d, dx, 'cdof')
+    _assert_attr_eq(d, dx._impl, 'cinert')
+    _assert_attr_eq(d, dx._impl, 'cdof')
     # camlight
     dx = jax.jit(mjx.camlight)(mx, mjx.put_data(m, d))
     _assert_attr_eq(d, dx, 'cam_xpos')
     _assert_eq(d.cam_xmat.reshape((-1, 3, 3)), dx.cam_xmat, 'cam_xmat')
     # crb
     dx = jax.jit(mjx.crb)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'crb')
-    _assert_attr_eq(d, dx, 'qM')
-    _assert_eq(dx._qM_sparse, np.zeros(0), '_qM_sparse')
+    _assert_attr_eq(d, dx._impl, 'crb')
+    _assert_attr_eq(d, dx._impl, 'qM')
     # factor_m
     dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
     qLDLegacy = np.zeros(mx.nM)  # pylint:disable=invalid-name
     for i in range(m.nM):
       qLDLegacy[d.mapM2M[i]] = d.qLD[i]
-    _assert_eq(qLDLegacy, dx.qLD, 'qLD')
-    _assert_attr_eq(d, dx, 'qLDiagInv')
-    _assert_eq(dx._qLD_sparse, np.zeros(0), '_qLD_sparse')
-    _assert_eq(dx._qLDiagInv_sparse, np.zeros(0), '_qLDiagInv_sparse')
+    _assert_eq(qLDLegacy, dx._impl.qLD, 'qLD')
+    _assert_attr_eq(d, dx._impl, 'qLDiagInv')
     # com_vel
     dx = jax.jit(mjx.com_vel)(mx, mjx.put_data(m, d))
     _assert_attr_eq(d, dx, 'cvel')
-    _assert_attr_eq(d, dx, 'cdof_dot')
+    _assert_attr_eq(d, dx._impl, 'cdof_dot')
     # rne
     dx = jax.jit(mjx.rne)(mx, mjx.put_data(m, d))
     _assert_attr_eq(d, dx, 'qfrc_bias')
@@ -122,11 +119,11 @@ class SmoothTest(absltest.TestCase):
     mujoco.mj_forward(m, d)
     # tendon
     dx = jax.jit(mjx.tendon)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'ten_J')
-    _assert_attr_eq(d, dx, 'ten_length')
+    _assert_attr_eq(d, dx._impl, 'ten_J')
+    _assert_attr_eq(d, dx._impl, 'ten_length')
     # transmission
     dx = jax.jit(mjx.transmission)(mx, dx)
-    _assert_attr_eq(d, dx, 'actuator_length')
+    _assert_attr_eq(d, dx._impl, 'actuator_length')
 
     # convert sparse actuator_moment to dense representation
     moment = np.zeros((m.nu, m.nv))
@@ -137,7 +134,7 @@ class SmoothTest(absltest.TestCase):
         d.moment_rowadr,
         d.moment_colind,
     )
-    _assert_eq(moment, dx.actuator_moment, 'actuator_moment')
+    _assert_eq(moment, dx._impl.actuator_moment, 'actuator_moment')
 
   def test_disable_gravity(self):
     m = mujoco.MjModel.from_xml_string("""
@@ -197,7 +194,7 @@ class SmoothTest(absltest.TestCase):
 
     mujoco.mj_transmission(m, d)
     dx = jax.jit(mjx.transmission)(mx, dx)
-    _assert_attr_eq(d, dx, 'actuator_length')
+    _assert_attr_eq(d, dx._impl, 'actuator_length')
 
     # convert sparse actuator_moment to dense representation
     moment = np.zeros((m.nu, m.nv))
@@ -208,7 +205,7 @@ class SmoothTest(absltest.TestCase):
         d.moment_rowadr,
         d.moment_colind,
     )
-    _assert_eq(moment, dx.actuator_moment, 'actuator_moment')
+    _assert_eq(moment, dx._impl.actuator_moment, 'actuator_moment')
 
   def test_subtree_vel(self):
     """Tests MJX subtree_vel function matches MuJoCo mj_subtreeVel."""
@@ -226,8 +223,8 @@ class SmoothTest(absltest.TestCase):
     mujoco.mj_subtreeVel(m, d)
     dx = jax.jit(mjx.subtree_vel)(mx, dx)
 
-    _assert_attr_eq(d, dx, 'subtree_linvel')
-    _assert_attr_eq(d, dx, 'subtree_angmom')
+    _assert_attr_eq(d, dx._impl, 'subtree_linvel')
+    _assert_attr_eq(d, dx._impl, 'subtree_angmom')
 
 
 class RnePostConstraintTest(parameterized.TestCase):
@@ -278,9 +275,9 @@ class RnePostConstraintTest(parameterized.TestCase):
     mujoco.mj_rnePostConstraint(m, d)
     dx = jax.jit(mjx.rne_postconstraint)(mx, dx)
 
-    _assert_eq(d.cacc, dx.cacc, 'cacc')
-    _assert_eq(d.cfrc_ext, dx.cfrc_ext, 'cfrc_ext')
-    _assert_eq(d.cfrc_int, dx.cfrc_int, 'cfrc_int')
+    _assert_eq(d.cacc, dx._impl.cacc, 'cacc')
+    _assert_eq(d.cfrc_ext, dx._impl.cfrc_ext, 'cfrc_ext')
+    _assert_eq(d.cfrc_int, dx._impl.cfrc_int, 'cfrc_int')
 
 
 class TendonTest(parameterized.TestCase):
@@ -312,12 +309,12 @@ class TendonTest(parameterized.TestCase):
     mujoco.mj_forward(m, d)
     dx = jax.jit(mjx.forward)(mx, dx)
 
-    _assert_eq(d.ten_length, dx.ten_length, 'ten_length')
-    _assert_eq(d.ten_J, dx.ten_J, 'ten_J')
-    _assert_eq(d.ten_wrapnum, dx.ten_wrapnum, 'ten_wrapnum')
-    _assert_eq(d.ten_wrapadr, dx.ten_wrapadr, 'ten_wrapadr')
-    _assert_eq(d.wrap_obj, dx.wrap_obj, 'wrap_obj')
-    _assert_eq(d.wrap_xpos, dx.wrap_xpos, 'wrap_xpos')
+    _assert_eq(d.ten_length, dx._impl.ten_length, 'ten_length')
+    _assert_eq(d.ten_J, dx._impl.ten_J, 'ten_J')
+    _assert_eq(d.ten_wrapnum, dx._impl.ten_wrapnum, 'ten_wrapnum')
+    _assert_eq(d.ten_wrapadr, dx._impl.ten_wrapadr, 'ten_wrapadr')
+    _assert_eq(d.wrap_obj, dx._impl.wrap_obj, 'wrap_obj')
+    _assert_eq(d.wrap_xpos, dx._impl.wrap_xpos, 'wrap_xpos')
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
index efb58c41..98ec3d27 100644
--- a/mjx/mujoco/mjx/_src/solver.py
+++ b/mjx/mujoco/mjx/_src/solver.py
@@ -24,8 +24,10 @@ from mujoco.mjx._src import support
 from mujoco.mjx._src.dataclasses import PyTreeNode
 from mujoco.mjx._src.types import ConeType
 from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import Model
+from mujoco.mjx._src.types import ModelJAX
 from mujoco.mjx._src.types import SolverType
 # pylint: enable=g-importing-member
 
@@ -73,14 +75,19 @@ class Context(PyTreeNode):
 
   @classmethod
   def create(cls, m: Model, d: Data, grad: bool = True) -> 'Context':
-    jaref = d.efc_J @ d.qacc - d.efc_aref
+    if not isinstance(d._impl, DataJAX):
+      raise ValueError(
+          'Constraint context requires JAX backend implementation.'
+      )
+
+    jaref = d._impl.efc_J @ d.qacc - d._impl.efc_aref
     # TODO(robotics-team): determine nv at which sparse mul is faster
     ma = support.mul_m(m, d, d.qacc)
     nv_0 = jp.zeros(m.nv)
     fri = 0.0
     if m.opt.cone == ConeType.ELLIPTIC:
-      friction = d.contact.friction[d.contact.dim > 1]
-      dim = d.contact.dim[d.contact.dim > 1]
+      friction = d._impl.contact.friction[d._impl.contact.dim > 1]
+      dim = d._impl.contact.dim[d._impl.contact.dim > 1]
       mu = friction[:, 0] / jp.sqrt(m.opt.impratio)
       fri = jp.concatenate((mu[:, None], friction), axis=1)
       for condim in (3, 4, 6):
@@ -90,7 +97,7 @@ class Context(PyTreeNode):
         qacc=d.qacc,
         qfrc_constraint=d.qfrc_constraint,
         Jaref=jaref,
-        efc_force=d.efc_force,
+        efc_force=d._impl.efc_force,
         Ma=ma,
         grad=nv_0,
         Mgrad=nv_0,
@@ -145,18 +152,20 @@ class _LSPoint(PyTreeNode):
   ) -> '_LSPoint':
     """Creates a linesearch point with first and second derivatives."""
     # roughly corresponds to CGEval in mujoco/src/engine/engine_solver.c
+    if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+      raise ValueError('LSPoint requires JAX backend implementation.')
 
     cost, deriv_0, deriv_1 = 0.0, 0.0, 0.0
     quad_total = quad_gauss
     x = ctx.Jaref + alpha * jv
-    active = (x < 0).at[: d.ne + d.nf].set(True)
+    active = (x < 0).at[: d._impl.ne + d._impl.nf].set(True)
 
-    dof_fl, ten_fl = m.dof_hasfrictionloss, m.tendon_hasfrictionloss
+    dof_fl, ten_fl = m._impl.dof_hasfrictionloss, m._impl.tendon_hasfrictionloss
     if (dof_fl.any() or ten_fl.any()) and not (
         m.opt.disableflags & DisableBit.FRICTIONLOSS
     ):
-      f = d.efc_frictionloss
-      r = 1.0 / (d.efc_D + (d.efc_D == 0.0) * mujoco.mjMINVAL)
+      f = d._impl.efc_frictionloss
+      r = 1.0 / (d._impl.efc_D + (d._impl.efc_D == 0.0) * mujoco.mjMINVAL)
       rf, z = r * f, jp.zeros_like(f)
       linear_neg = (x <= -rf)[:, None]
       linear_pos = (x >= rf)[:, None]
@@ -174,13 +183,13 @@ class _LSPoint(PyTreeNode):
       middle_zone = (tsqr > 0) & (n < (mu * t)) & ((mu * n + t) > 0)
 
       # quadratic cost for equality, friction, limits, frictionless contacts
-      dim1 = d.contact.efc_address[d.contact.dim == 1]
-      nefl = d.ne + d.nf + d.nl
+      dim1 = d._impl.contact.efc_address[d._impl.contact.dim == 1]
+      nefl = d._impl.ne + d._impl.nf + d._impl.nl
       active = active.at[nefl:].set(False).at[dim1].set(active[dim1])
       quad_efld = jax.vmap(jp.multiply)(quad, active)
       quad_total += jp.sum(quad_efld, axis=0)
       # elliptic bottom zone: quadratic cost
-      efc_elliptic = d.contact.efc_address[d.contact.dim > 1]
+      efc_elliptic = d._impl.contact.efc_address[d._impl.contact.dim > 1]
       quad_c = jax.vmap(jp.multiply)(quad[efc_elliptic], bottom_zone)
       quad_total += jp.sum(quad_c, axis=0)
       # elliptic middle zone
@@ -254,17 +263,20 @@ def _update_constraint(m: Model, d: Data, ctx: Context) -> Context:
   Returns:
     context with new constraint force and costs
   """
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('_update_constraint requires JAX backend implementation.')
+
   # ne constraints are always active, nf are conditionally active, others are
   # non-negative constraints.
-  active = (ctx.Jaref < 0).at[: d.ne + d.nf].set(True)
+  active = (ctx.Jaref < 0).at[: d._impl.ne + d._impl.nf].set(True)
 
-  floss_force, floss_cost = jp.zeros(d.nefc), 0.0
-  dof_fl, ten_fl = m.dof_hasfrictionloss, m.tendon_hasfrictionloss
+  floss_force, floss_cost = jp.zeros(d._impl.nefc), 0.0
+  dof_fl, ten_fl = m._impl.dof_hasfrictionloss, m._impl.tendon_hasfrictionloss
   if (dof_fl.any() or ten_fl.any()) and not (
       m.opt.disableflags & DisableBit.FRICTIONLOSS
   ):
-    f = d.efc_frictionloss
-    r = 1.0 / (d.efc_D + (d.efc_D == 0.0) * mujoco.mjMINVAL)
+    f = d._impl.efc_frictionloss
+    r = 1.0 / (d._impl.efc_D + (d._impl.efc_D == 0.0) * mujoco.mjMINVAL)
     linear_neg = (ctx.Jaref <= -r * f) * (f > 0)
     linear_pos = (ctx.Jaref >= r * f) * (f > 0)
     active = active & ~linear_neg & ~linear_pos
@@ -274,13 +286,13 @@ def _update_constraint(m: Model, d: Data, ctx: Context) -> Context:
     floss_cost = floss_cost.sum()
 
   if m.opt.cone == ConeType.PYRAMIDAL:
-    efc_force = d.efc_D * -ctx.Jaref * active + floss_force
-    cost = 0.5 * jp.sum(d.efc_D * ctx.Jaref * ctx.Jaref * active)
+    efc_force = d._impl.efc_D * -ctx.Jaref * active + floss_force
+    cost = 0.5 * jp.sum(d._impl.efc_D * ctx.Jaref * ctx.Jaref * active)
     dm, u, h = 0.0, 0.0, 0.0
   elif m.opt.cone == ConeType.ELLIPTIC:
-    friction = d.contact.friction[d.contact.dim > 1]
-    efc_address = d.contact.efc_address[d.contact.dim > 1]
-    dim = d.contact.dim[d.contact.dim > 1]
+    friction = d._impl.contact.friction[d._impl.contact.dim > 1]
+    efc_address = d._impl.contact.efc_address[d._impl.contact.dim > 1]
+    dim = d._impl.contact.dim[d._impl.contact.dim > 1]
     # to prevent out of range append zeros to ctx.Jaref
     slice_fn = jax.vmap(
         lambda x: jax.lax.dynamic_slice(
@@ -297,12 +309,12 @@ def _update_constraint(m: Model, d: Data, ctx: Context) -> Context:
       adr_i.extend(range(addr, addr + condim))
       adr_j.extend([i] * condim)
     active = active.at[jp.array(adr_i)].set(bottom_zone[jp.array(adr_j)])
-    efc_force = d.efc_D * -ctx.Jaref * active + floss_force
-    cost = 0.5 * jp.sum(d.efc_D * ctx.Jaref * ctx.Jaref * active)
+    efc_force = d._impl.efc_D * -ctx.Jaref * active + floss_force
+    cost = 0.5 * jp.sum(d._impl.efc_D * ctx.Jaref * ctx.Jaref * active)
 
     # middle zone: cone
     middle_zone = (t > 0) & (n < (mu * t)) & ((mu * n + t) > 0)
-    dm = d.efc_D[efc_address] / jp.maximum(
+    dm = d._impl.efc_D[efc_address] / jp.maximum(
         mu * mu * (1 + mu * mu), mujoco.mjMINVAL
     )
     nmt = n - mu * t
@@ -339,7 +351,7 @@ def _update_constraint(m: Model, d: Data, ctx: Context) -> Context:
   else:
     raise NotImplementedError(f'unsupported cone type: {m.opt.cone}')
 
-  qfrc_constraint = d.efc_J.T @ efc_force
+  qfrc_constraint = d._impl.efc_J.T @ efc_force
   gauss = 0.5 * jp.dot(ctx.Ma - d.qfrc_smooth, ctx.qacc - d.qacc_smooth)
   ctx = ctx.replace(
       qfrc_constraint=qfrc_constraint,
@@ -371,6 +383,8 @@ def _update_gradient(m: Model, d: Data, ctx: Context) -> Context:
   Raises:
     NotImplementedError: for unsupported solver type
   """
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('_update_gradient requires JAX backend implementation.')
 
   grad = ctx.Ma - d.qfrc_smooth - ctx.qfrc_constraint
 
@@ -378,16 +392,16 @@ def _update_gradient(m: Model, d: Data, ctx: Context) -> Context:
     mgrad = smooth.solve_m(m, d, grad)
   elif m.opt.solver == SolverType.NEWTON:
     if m.opt.cone == ConeType.ELLIPTIC:
-      cm = jp.diag(d.efc_D * ctx.active)
-      efc_address = d.contact.efc_address[d.contact.dim > 1]
-      dim = d.contact.dim[d.contact.dim > 1]
+      cm = jp.diag(d._impl.efc_D * ctx.active)
+      efc_address = d._impl.contact.efc_address[d._impl.contact.dim > 1]
+      dim = d._impl.contact.dim[d._impl.contact.dim > 1]
       # set efc of cone H along diagonal
       for i, (condim, addr) in enumerate(zip(dim, efc_address)):
         h_cone = ctx.h[i, :condim, :condim]
         cm = cm.at[addr : addr + condim, addr : addr + condim].add(h_cone)
-      h = d.efc_J.T @ cm @ d.efc_J
+      h = d._impl.efc_J.T @ cm @ d._impl.efc_J
     else:
-      h = (d.efc_J.T * d.efc_D * ctx.active) @ d.efc_J
+      h = (d._impl.efc_J.T * d._impl.efc_D * ctx.active) @ d._impl.efc_J
     h = support.full_m(m, d) + h
     h_ = jax.scipy.linalg.cho_factor(h)
     mgrad = jax.scipy.linalg.cho_solve(h_, grad)
@@ -414,12 +428,15 @@ def _linesearch(m: Model, d: Data, ctx: Context) -> Context:
   Returns:
     updated context with new qacc, Ma, Jaref
   """
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('_lineasearch requires JAX backend implementation.')
+
   smag = math.norm(ctx.search) * m.stat.meaninertia * max(1, m.nv)
   gtol = m.opt.tolerance * m.opt.ls_tolerance * smag
 
   # compute Mv, Jv
   mv = support.mul_m(m, d, ctx.search)
-  jv = d.efc_J @ ctx.search
+  jv = d._impl.efc_J @ ctx.search
 
   # prepare quadratics
   quad_gauss = jp.stack((
@@ -428,13 +445,15 @@ def _linesearch(m: Model, d: Data, ctx: Context) -> Context:
       0.5 * jp.dot(ctx.search, mv),
   ))
   quad = jp.stack((0.5 * ctx.Jaref * ctx.Jaref, jv * ctx.Jaref, 0.5 * jv * jv))
-  quad = (quad * d.efc_D).T
+  quad = (quad * d._impl.efc_D).T
   uu, v0, uv, vv = 0.0, 0.0, 0.0, 0.0
   if m.opt.cone == ConeType.ELLIPTIC:
-    mask = d.contact.dim > 1
+    mask = d._impl.contact.dim > 1
     # complete vector quadratic (for bottom zone)
     efc_con, efc_fri = [], []
-    for condim, addr in zip(d.contact.dim[mask], d.contact.efc_address[mask]):
+    for condim, addr in zip(
+        d._impl.contact.dim[mask], d._impl.contact.efc_address[mask]
+    ):
       efc_con.extend([addr] * (condim - 1))
       efc_fri.extend(range(addr + 1, addr + condim))
     quad = quad.at[jp.array(efc_con)].add(quad[jp.array(efc_fri)])
@@ -446,7 +465,7 @@ def _linesearch(m: Model, d: Data, ctx: Context) -> Context:
             jp.concatenate((jv, jp.zeros(3))), (x,), (6,)
         )
     )
-    efc_elliptic = d.contact.efc_address[mask]
+    efc_elliptic = d._impl.contact.efc_address[mask]
     v = jv_fn(efc_elliptic) * ctx.fri
     uu = jp.sum(ctx.u[:, 1:] * ctx.u[:, 1:], axis=1)
     v0 = v[:, 0]
@@ -571,11 +590,11 @@ def solve(m: Model, d: Data) -> Data:
   else:
     ctx = jax.lax.while_loop(cond, body, ctx)
 
-  d = d.replace(
-      qacc_warmstart=ctx.qacc,
-      qacc=ctx.qacc,
-      qfrc_constraint=ctx.qfrc_constraint,
-      efc_force=ctx.efc_force,
-  )
+  d = d.tree_replace({
+      'qacc_warmstart': ctx.qacc,
+      'qfrc_constraint': ctx.qfrc_constraint,
+      'qacc': ctx.qacc,
+      '_impl.efc_force': ctx.efc_force,
+  })
 
   return d
diff --git a/mjx/mujoco/mjx/_src/solver_test.py b/mjx/mujoco/mjx/_src/solver_test.py
index 6da06526..0b1b3b5a 100644
--- a/mjx/mujoco/mjx/_src/solver_test.py
+++ b/mjx/mujoco/mjx/_src/solver_test.py
@@ -87,8 +87,8 @@ class SolverTest(parameterized.TestCase):
 
       # MJX finds very similar solutions with the newton solver
       if solver_ == mujoco.mjtSolver.mjSOL_NEWTON:
-        nnz = dx.efc_J.any(axis=1)
-        _assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force')
+        nnz = dx._impl.efc_J.any(axis=1)
+        _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force')
         _assert_attr_eq(d, dx, 'qfrc_constraint')
         _assert_attr_eq(d, dx, 'qacc')
 
@@ -108,9 +108,9 @@ class SolverTest(parameterized.TestCase):
     mujoco.mj_forward(m, d)
     mx = mjx.put_model(m)
     dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
-    nnz = dx.efc_J.any(axis=1)
+    nnz = dx._impl.efc_J.any(axis=1)
     # even without warmstart, newton converges quickly
-    _assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force', tol=2e-4)
+    _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force', tol=2e-4)
 
   def test_sparse(self):
     """Test solver works with sparse mass matrices."""
@@ -130,8 +130,8 @@ class SolverTest(parameterized.TestCase):
 
     _assert_attr_eq(d, dx, 'qacc')
     _assert_attr_eq(d, dx, 'qfrc_constraint')
-    nnz = dx.efc_J.any(axis=1)
-    _assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force')
+    nnz = dx._impl.efc_J.any(axis=1)
+    _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force')
 
   def test_quad_frictionloss(self):
     """Test a case with quadratic frictionloss constraints."""
@@ -144,8 +144,8 @@ class SolverTest(parameterized.TestCase):
 
     _assert_attr_eq(d, dx, 'qacc')
     _assert_attr_eq(d, dx, 'qfrc_constraint')
-    nnz = dx.efc_J.any(axis=1)
-    _assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force')
+    nnz = dx._impl.efc_J.any(axis=1)
+    _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force')
 
   # TODO(taylorhowell): condim=1 with ConeType.ELLIPTIC
   @parameterized.product(condim=(3, 4, 6), cone=tuple(ConeType))
diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index 90c517ef..d68c0407 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 # ==============================================================================
 """Engine support functions."""
+
 from collections.abc import Iterable, Sequence
 from typing import Optional, Tuple, Union
 
@@ -92,7 +93,7 @@ def full_m(m: Model, d: Data) -> jax.Array:
   """Reconstitute dense mass matrix from qM."""
 
   if not is_sparse(m):
-    return d.qM
+    return d._impl.qM  # pytype: disable=attribute-error
 
   ij = []
   for i in range(m.nv):
@@ -103,7 +104,7 @@ def full_m(m: Model, d: Data) -> jax.Array:
 
   i, j = (jp.array(x) for x in zip(*ij))
 
-  mat = jp.zeros((m.nv, m.nv)).at[(i, j)].set(d.qM)
+  mat = jp.zeros((m.nv, m.nv)).at[(i, j)].set(d._impl.qM)  # pytype: disable=attribute-error
 
   # also set upper triangular
   mat = mat + jp.tril(mat, -1).T
@@ -115,9 +116,9 @@ def mul_m(m: Model, d: Data, vec: jax.Array) -> jax.Array:
   """Multiply vector by inertia matrix."""
 
   if not is_sparse(m):
-    return d.qM @ vec
+    return d._impl.qM @ vec  # pytype: disable=attribute-error
 
-  diag_mul = d.qM[jp.array(m.dof_Madr)] * vec
+  diag_mul = d._impl.qM[jp.array(m.dof_Madr)] * vec  # pytype: disable=attribute-error
 
   is_, js, madr_ijs = [], [], []
   for i in range(m.nv):
@@ -131,8 +132,8 @@ def mul_m(m: Model, d: Data, vec: jax.Array) -> jax.Array:
 
   i, j, madr_ij = (jp.array(x, dtype=jp.int32) for x in (is_, js, madr_ijs))
 
-  out = diag_mul.at[i].add(d.qM[madr_ij] * vec[j])
-  out = out.at[j].add(d.qM[madr_ij] * vec[i])
+  out = diag_mul.at[i].add(d._impl.qM[madr_ij] * vec[j])  # pytype: disable=attribute-error
+  out = out.at[j].add(d._impl.qM[madr_ij] * vec[i])  # pytype: disable=attribute-error
 
   return out
 
@@ -147,9 +148,9 @@ def jac(
   mask = mask[jp.array(m.dof_bodyid)] > 0
 
   offset = point - d.subtree_com[jp.array(m.body_rootid)[body_id]]
-  jacp = jax.vmap(lambda a, b=offset: a[3:] + jp.cross(a[:3], b))(d.cdof)
+  jacp = jax.vmap(lambda a, b=offset: a[3:] + jp.cross(a[:3], b))(d._impl.cdof)  # pytype: disable=attribute-error
   jacp = jax.vmap(jp.multiply)(jacp, mask)
-  jacr = jax.vmap(jp.multiply)(d.cdof[:, :3], mask)
+  jacr = jax.vmap(jp.multiply)(d._impl.cdof[:, :3], mask)  # pytype: disable=attribute-error
 
   return jacp, jacr
 
@@ -548,20 +549,20 @@ def contact_force(
     m: Model, d: Data, contact_id: int, to_world_frame: bool = False
 ) -> jax.Array:
   """Extract 6D force:torque for one contact, in contact frame by default."""
-  efc_address = d.contact.efc_address[contact_id]
-  condim = d.contact.dim[contact_id]
+  efc_address = d._impl.contact.efc_address[contact_id]  # pytype: disable=attribute-error
+  condim = d._impl.contact.dim[contact_id]  # pytype: disable=attribute-error
   if m.opt.cone == ConeType.PYRAMIDAL:
     force = _decode_pyramid(
-        d.efc_force[efc_address:], d.contact.friction[contact_id], condim
+        d._impl.efc_force[efc_address:], d._impl.contact.friction[contact_id], condim  # pytype: disable=attribute-error
     )
   elif m.opt.cone == ConeType.ELLIPTIC:
-    force = d.efc_force[efc_address : efc_address + condim]
+    force = d._impl.efc_force[efc_address : efc_address + condim]  # pytype: disable=attribute-error
     force = jp.concatenate([force, jp.zeros((6 - condim))])
   else:
     raise ValueError(f'Unknown cone type: {m.opt.cone}')
 
   if to_world_frame:
-    force = force.reshape((-1, 3)) @ d.contact.frame[contact_id]
+    force = force.reshape((-1, 3)) @ d._impl.contact.frame[contact_id]  # pytype: disable=attribute-error
     force = force.reshape(-1)
 
   return force * (efc_address >= 0)
@@ -572,21 +573,21 @@ def contact_force_dim(
 ) -> Tuple[jax.Array, np.ndarray]:
   """Extract 6D force:torque for contacts with dimension dim."""
   # valid contact and condim indices
-  idx_dim = (d.contact.efc_address >= 0) & (d.contact.dim == dim)
+  idx_dim = (d._impl.contact.efc_address >= 0) & (d._impl.contact.dim == dim)  # pytype: disable=attribute-error
 
   # contact force from efc
   if m.opt.cone == ConeType.PYRAMIDAL:
     efc_address = (
-        d.contact.efc_address[idx_dim, None]
+        d._impl.contact.efc_address[idx_dim, None]  # pytype: disable=attribute-error
         + np.arange(np.where(dim == 1, 1, 2 * (dim - 1)))[None]
     )
-    efc_force = d.efc_force[efc_address]
+    efc_force = d._impl.efc_force[efc_address]  # pytype: disable=attribute-error
     force = jax.vmap(_decode_pyramid, in_axes=(0, 0, None))(
-        efc_force, d.contact.friction[idx_dim], dim
+        efc_force, d._impl.contact.friction[idx_dim], dim  # pytype: disable=attribute-error
     )
   elif m.opt.cone == ConeType.ELLIPTIC:
-    efc_address = d.contact.efc_address[idx_dim, None] + np.arange(dim)[None]
-    force = d.efc_force[efc_address]
+    efc_address = d._impl.contact.efc_address[idx_dim, None] + np.arange(dim)[None]  # pytype: disable=attribute-error
+    force = d._impl.efc_force[efc_address]  # pytype: disable=attribute-error
     force = jp.hstack([force, jp.zeros((force.shape[0], 6 - dim))])
   else:
     raise ValueError(f'Unknown cone type: {m.opt.cone}.')
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 1a0c904c..5f060bc2 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -385,7 +385,7 @@ class SupportTest(parameterized.TestCase):
 
     # map MJX contacts to MJ ones
     def _find(g):
-      val = (g == dx.contact.geom).sum(axis=1)
+      val = (g == dx._impl.contact.geom).sum(axis=1)
       return np.where(val == 2)[0][0]
 
     contact_id_map = {i: _find(d.contact.geom[i]) for i in range(d.ncon)}
@@ -399,7 +399,7 @@ class SupportTest(parameterized.TestCase):
       np.testing.assert_allclose(result, force, rtol=1e-5, atol=2)
 
       # check for zeros after first condim elements
-      condim = dx.contact.dim[j]
+      condim = dx._impl.contact.dim[j]
       if condim < 6:
         np.testing.assert_allclose(force[condim:], 0, rtol=1e-5, atol=1e-5)
 
@@ -412,8 +412,8 @@ class SupportTest(parameterized.TestCase):
           ),
       )(mx, dx, j, True)
       # back to contact frame
-      force = force.at[:3].set(dx.contact.frame[j] @ force[:3])
-      force = force.at[3:].set(dx.contact.frame[j] @ force[3:])
+      force = force.at[:3].set(dx._impl.contact.frame[j] @ force[:3])
+      force = force.at[3:].set(dx._impl.contact.frame[j] @ force[3:])
       np.testing.assert_allclose(result, force, rtol=1e-5, atol=2)
 
   def test_wrap_inside(self):
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index f91ee9af..142a2eaa 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -106,20 +106,20 @@ def benchmark(
 
 
 def efc_order(m: mujoco.MjModel, d: mujoco.MjData, dx: Data) -> np.ndarray:
-  """Returns a sort order such that dx.efc_*[order][:d.nefc] == d.efc_*."""
+  """Returns a sort order such that dx.efc_*[order][:d._impl.nefc] == d.efc_*."""  # pytype: disable=attribute-error
   # reorder efc rows to skip inactive constraints and match contact order
-  efl = dx.ne + dx.nf + dx.nl
+  efl = dx._impl.ne + dx._impl.nf + dx._impl.nl  # pytype: disable=attribute-error
   order = np.arange(efl)
-  order[(dx.efc_J[:efl] == 0).all(axis=1)] = 2**16  # move empty rows to end
-  for i in range(dx.ncon):
-    num_rows = dx.contact.dim[i]
-    if dx.contact.dim[i] > 1 and m.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:
-      num_rows = (dx.contact.dim[i] - 1) * 2
-    if dx.contact.dist[i] > 0:  # move empty contacts to end
+  order[(dx._impl.efc_J[:efl] == 0).all(axis=1)] = 2**16  # move empty rows to end  # pytype: disable=attribute-error
+  for i in range(dx._impl.ncon):  # pytype: disable=attribute-error
+    num_rows = dx._impl.contact.dim[i]  # pytype: disable=attribute-error
+    if dx._impl.contact.dim[i] > 1 and m.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:  # pytype: disable=attribute-error
+      num_rows = (dx._impl.contact.dim[i] - 1) * 2  # pytype: disable=attribute-error
+    if dx._impl.contact.dist[i] > 0:  # move empty contacts to end  # pytype: disable=attribute-error
       order = np.append(order, np.repeat(2**16, num_rows))
       continue
-    contact_match = (d.contact.geom == dx.contact.geom[i]).all(axis=-1)
-    contact_match &= (d.contact.pos == dx.contact.pos[i]).all(axis=-1)
+    contact_match = (d.contact.geom == dx._impl.contact.geom[i]).all(axis=-1)  # pytype: disable=attribute-error
+    contact_match &= (d.contact.pos == dx._impl.contact.pos[i]).all(axis=-1)  # pytype: disable=attribute-error
     assert contact_match.any(), f'contact {i} not found'
     contact_id = np.nonzero(contact_match)[0][0]
     order = np.append(order, np.repeat(efl + contact_id, num_rows))
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 657cd524..c70d71a2 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -14,20 +14,33 @@
 # ==============================================================================
 """Base types used in MJX."""
 
-import dataclasses
 import enum
-from typing import Tuple
+from typing import Tuple, Union
+import warnings
+
 import jax
 import mujoco
 from mujoco.mjx._src.dataclasses import PyTreeNode  # pylint: disable=g-importing-member
 import numpy as np
 
 
-def _restricted_to(platform: str):
-  """Specifies whether a field exists in only MuJoCo or MJX."""
-  if platform not in ('mujoco', 'mjx'):
-    raise ValueError(f'unknown platform: {platform}')
-  return dataclasses.field(metadata={'restricted_to': platform})
+class BackendImpl(enum.Enum):
+  """Backend implementation to use."""
+
+  C = 'c'
+  JAX = 'jax'
+  WARP = 'warp'
+
+  @classmethod
+  def _missing_(cls, value):
+    # This method is called only when lookup by value fails
+    # (e.g., BackendImpl('JAX') fails initially because 'JAX' != 'jax')
+    if not isinstance(value, str):
+      return None
+    for member in cls:
+      if member.value == value.lower():
+        return member
+    return None
 
 
 class DisableBit(enum.IntFlag):
@@ -430,77 +443,6 @@ class ObjType(PyTreeNode):
   CAMERA = mujoco.mjtObj.mjOBJ_CAMERA
 
 
-class Option(PyTreeNode):
-  """Physics options.
-
-  Attributes:
-    timestep:          timestep
-    apirate:           update rate for remote API (Hz) (not used)
-    impratio:          ratio of friction-to-normal contact impedance
-    tolerance:         main solver tolerance
-    ls_tolerance:      CG/Newton linesearch tolerance
-    noslip_tolerance:  noslip solver tolerance (not used)
-    ccd_tolerance:     CCD solver tolerance (not used)
-    gravity:           gravitational acceleration                 (3,)
-    wind:              wind (for lift, drag and viscosity)
-    magnetic:          global magnetic flux (not used)
-    density:           density of medium
-    viscosity:         viscosity of medium
-    o_margin:          contact solver override: margin (not used)
-    o_solref:          contact solver override: solref (not used)
-    o_solimp:          contact solver override: solimp (not used)
-    o_friction[5]:     contact solver override: friction (not used)
-    has_fluid_params:  automatically set by mjx if wind/density/viscosity are
-      nonzero. Not used by mj
-    integrator:        integration mode
-    cone:              type of friction cone
-    jacobian:          matrix layout for mass matrices (dense or sparse)
-                       (note that this is different from MuJoCo, where jacobian
-                       specifies whether efc_J and its accompanying matrices
-                       are dense or sparse.
-    solver:            solver algorithm
-    iterations:        number of main solver iterations
-    ls_iterations:     maximum number of CG/Newton linesearch iterations
-    noslip_iterations: maximum number of noslip solver iterations (not used)
-    ccd_iterations:    maximum number of CCD solver iterations (not used)
-    disableflags:      bit flags for disabling standard features
-    enableflags:       bit flags for enabling optional features (not used)
-    disableactuator:   bit flags for disabling actuators by group id (not used)
-    sdf_initpoints:    number of starting points for gradient descent (not used)
-    sdf_iterations:    max number of iterations for gradient descent (not used)
-  """  # fmt: skip
-  timestep: jax.Array
-  apirate: jax.Array = _restricted_to('mujoco')
-  impratio: jax.Array
-  tolerance: jax.Array
-  ls_tolerance: jax.Array
-  noslip_tolerance: jax.Array = _restricted_to('mujoco')
-  ccd_tolerance: jax.Array = _restricted_to('mujoco')
-  gravity: jax.Array
-  wind: jax.Array
-  magnetic: jax.Array
-  density: jax.Array
-  viscosity: jax.Array
-  o_margin: jax.Array
-  o_solref: jax.Array
-  o_solimp: jax.Array
-  o_friction: jax.Array
-  has_fluid_params: bool = _restricted_to('mjx')
-  integrator: IntegratorType
-  cone: ConeType
-  jacobian: JacobianType
-  solver: SolverType
-  iterations: int
-  ls_iterations: int
-  noslip_iterations: int = _restricted_to('mujoco')
-  ccd_iterations: int = _restricted_to('mujoco')
-  disableflags: DisableBit
-  enableflags: int
-  disableactuator: int
-  sdf_initpoints: int = _restricted_to('mujoco')
-  sdf_iterations: int = _restricted_to('mujoco')
-
-
 class Statistic(PyTreeNode):
   """Model statistics (in qpos0).
 
@@ -519,371 +461,142 @@ class Statistic(PyTreeNode):
   center: jax.Array
 
 
-class Model(PyTreeNode):
-  """Static model of the scene that remains unchanged with each physics step.
+class Option(PyTreeNode):
+  """Physics options."""  # fmt: skip
+  timestep: jax.Array
+  impratio: jax.Array
+  tolerance: jax.Array
+  ls_tolerance: jax.Array
+  gravity: jax.Array
+  wind: jax.Array
+  magnetic: jax.Array
+  density: jax.Array
+  viscosity: jax.Array
+  o_margin: jax.Array
+  o_solref: jax.Array
+  o_solimp: jax.Array
+  o_friction: jax.Array
+  integrator: IntegratorType
+  cone: ConeType
+  jacobian: JacobianType
+  solver: SolverType
+  iterations: int
+  ls_iterations: int
+  disableflags: DisableBit
+  enableflags: int
+  disableactuator: int
 
-  Attributes:
-    nq: number of generalized coordinates = dim(qpos)
-    nv: number of degrees of freedom = dim(qvel)
-    nu: number of actuators/controls = dim(ctrl)
-    na: number of activation states = dim(act)
-    nbody: number of bodies
-    nbvh: number of total bounding volumes in all bodies
-    nbvhstatic: number of static bounding volumes (aabb stored in mjModel)
-    nbvhdynamic: number of dynamic bounding volumes (aabb stored in mjData)
-    njnt: number of joints
-    ngeom: number of geoms
-    nsite: number of sites
-    ncam: number of cameras
-    nlight: number of lights
-    nflex: number of flexes
-    nflexvert: number of vertices in all flexes
-    nflexedge: number of edges in all flexes
-    nflexelem: number of elements in all flexes
-    nflexelemdata: number of element vertex ids in all flexes
-    nflexshelldata: number of shell fragment vertex ids in all flexes
-    nflexevpair: number of element-vertex pairs in all flexes
-    nflextexcoord: number of vertices with texture coordinates
-    nmesh: number of meshes
-    nmeshvert: number of vertices in all meshes
-    nmeshnormal: number of normals in all meshes
-    nmeshtexcoord: number of texcoords in all meshes
-    nmeshface: number of triangular faces in all meshes
-    nmeshgraph: number of ints in mesh auxiliary data
-    nhfield: number of heightfields
-    nhfielddata: number of data points in all heightfields
-    ntex: number of textures
-    ntexdata: number of bytes in texture rgb data
-    nmat: number of materials
-    npair: number of predefined geom pairs
-    nexclude: number of excluded geom pairs
-    neq: number of equality constraints
-    ntendon: number of tendons
-    nwrap: number of wrap objects in all tendon paths
-    nsensor: number of sensors
-    nnumeric: number of numeric custom fields
-    ntuple: number of tuple custom fields
-    nkey: number of keyframes
-    nmocap: number of mocap bodies
-    nM: number of non-zeros in sparse inertia matrix
-    nD: number of non-zeros in sparse dof-dof matrix
-    nB: number of non-zeros in sparse body-dof matrix
-    nC: number of non-zeros in sparse reduced dof-dof matrix
-    nD: number of non-zeros in sparse dof-dof matrix
-    nJmom: number of non-zeros in sparse actuator_moment matrix
-    ntree: number of kinematic trees under world body
-    ngravcomp: number of bodies with nonzero gravcomp
-    nuserdata: size of userdata array
-    nsensordata: number of mjtNums in sensor data vector
-    narena: number of bytes in the mjData arena (inclusive of stack)
-    opt: physics options
-    stat: model statistics
-    qpos0: qpos values at default pose                        (nq,)
-    qpos_spring: reference pose for springs                   (nq,)
-    body_parentid: id of body's parent                        (nbody,)
-    body_rootid: id of root above body                        (nbody,)
-    body_weldid: id of body that this body is welded to       (nbody,)
-    body_jntnum: number of joints for this body               (nbody,)
-    body_jntadr: start addr of joints; -1: no joints          (nbody,)
-    body_dofnum: number of motion degrees of freedom          (nbody,)
-    body_dofadr: start addr of dofs; -1: no dofs              (nbody,)
-    body_treeid: id of body's kinematic tree; -1: static      (nbody,)
-    body_geomnum: number of geoms                             (nbody,)
-    body_geomadr: start addr of geoms; -1: no geoms           (nbody,)
-    body_simple: 1: diag M; 2: diag M, sliders only           (nbody,)
-    body_pos: position offset rel. to parent body             (nbody, 3)
-    body_quat: orientation offset rel. to parent body         (nbody, 4)
-    body_ipos: local position of center of mass               (nbody, 3)
-    body_iquat: local orientation of inertia ellipsoid        (nbody, 4)
-    body_mass: mass                                           (nbody,)
-    body_subtreemass: mass of subtree starting at this body   (nbody,)
-    body_inertia: diagonal inertia in ipos/iquat frame        (nbody, 3)
-    body_gravcomp: antigravity force, units of body weight    (nbody,)
-    body_margin: MAX over all geom margins                    (nbody,)
-    body_contype: OR over all geom contypes                   (nbody,)
-    body_conaffinity: OR over all geom conaffinities          (nbody,)
-    body_bvhadr: address of bvh root                          (nbody,)
-    body_bvhnum: number of bounding volumes                   (nbody,)
-    bvh_child: left and right children in tree                (nbvh, 2)
-    bvh_nodeid: geom or elem id of node; -1: non-leaf         (nbvh,)
-    bvh_aabb: local bounding box (center, size)               (nbvhstatic, 6)
-    body_invweight0: mean inv inert in qpos0 (trn, rot)       (nbody, 2)
-    jnt_type: type of joint (mjtJoint)                        (njnt,)
-    jnt_qposadr: start addr in 'qpos' for joint's data        (njnt,)
-    jnt_dofadr: start addr in 'qvel' for joint's data         (njnt,)
-    jnt_bodyid: id of joint's body                            (njnt,)
-    jnt_group: group for visibility                           (njnt,)
-    jnt_limited: does joint have limits                       (njnt,)
-    jnt_actfrclimited: does joint have actuator force limits  (njnt,)
-    jnt_actgravcomp: is gravcomp force applied via actuators  (njnt,)
-    jnt_solref: constraint solver reference: limit            (njnt, mjNREF)
-    jnt_solimp: constraint solver impedance: limit            (njnt, mjNIMP)
-    jnt_pos: local anchor position                            (njnt, 3)
-    jnt_axis: local joint axis                                (njnt, 3)
-    jnt_stiffness: stiffness coefficient                      (njnt,)
-    jnt_range: joint limits                                   (njnt, 2)
-    jnt_actfrcrange: range of total actuator force            (njnt, 2)
-    jnt_margin: min distance for limit detection              (njnt,)
-    dof_bodyid: id of dof's body                              (nv,)
-    dof_jntid: id of dof's joint                              (nv,)
-    dof_parentid: id of dof's parent; -1: none                (nv,)
-    dof_treeid: id of dof's kinematic tree                    (nv,)
-    dof_Madr: dof address in M-diagonal                       (nv,)
-    dof_simplenum: number of consecutive simple dofs          (nv,)
-    dof_solref: constraint solver reference:frictionloss      (nv, mjNREF)
-    dof_solimp: constraint solver impedance:frictionloss      (nv, mjNIMP)
-    dof_frictionloss: dof friction loss                       (nv,)
-    dof_hasfrictionloss: dof has >0 frictionloss (MJX)        (nv,)
-    dof_armature: dof armature inertia/mass                   (nv,)
-    dof_damping: damping coefficient                          (nv,)
-    dof_invweight0: diag. inverse inertia in qpos0            (nv,)
-    dof_M0: diag. inertia in qpos0                            (nv,)
-    geom_type: geometric type (mjtGeom)                       (ngeom,)
-    geom_contype: geom contact type                           (ngeom,)
-    geom_conaffinity: geom contact affinity                   (ngeom,)
-    geom_condim: contact dimensionality (1, 3, 4, 6)          (ngeom,)
-    geom_bodyid: id of geom's body                            (ngeom,)
-    geom_dataid: id of geom's mesh/hfield; -1: none           (ngeom,)
-    geom_group: group for visibility                          (ngeom,)
-    geom_matid: material id for rendering                     (ngeom,)
-    geom_priority: geom contact priority                      (ngeom,)
-    geom_solmix: mixing coef for solref/imp in geom pair      (ngeom,)
-    geom_solref: constraint solver reference: contact         (ngeom, mjNREF)
-    geom_solimp: constraint solver impedance: contact         (ngeom, mjNIMP)
-    geom_size: geom-specific size parameters                  (ngeom, 3)
-    geom_aabb: bounding box, (center, size)                   (ngeom, 6)
-    geom_rbound: radius of bounding sphere                    (ngeom,)
-    geom_rbound_hfield: static rbound for hfield grid bounds  (ngeom,)
-    geom_pos: local position offset rel. to body              (ngeom, 3)
-    geom_quat: local orientation offset rel. to body          (ngeom, 4)
-    geom_friction: friction for (slide, spin, roll)           (ngeom, 3)
-    geom_margin: include in solver if dist<margin-gap         (ngeom,)
-    geom_gap: include in solver if dist<margin-gap            (ngeom,)
-    geom_rgba: rgba when material is omitted                  (ngeom, 4)
-    site_bodyid: id of site's body                            (nsite,)
-    site_pos: local position offset rel. to body              (nsite, 3)
-    site_quat: local orientation offset rel. to body          (nsite, 4)
-    cam_mode:  camera tracking mode (mjtCamLight)             (ncam,)
-    cam_bodyid:  id of camera's body                          (ncam,)
-    cam_targetbodyid:  id of targeted body; -1: none          (ncam,)
-    cam_pos:  position rel. to body frame                     (ncam, 3)
-    cam_quat:  orientation rel. to body frame                 (ncam, 4)
-    cam_poscom0:  global position rel. to sub-com in qpos0    (ncam, 3)
-    cam_pos0: global position rel. to body in qpos0           (ncam, 3)
-    cam_mat0: global orientation in qpos0                     (ncam, 3, 3)
-    cam_fovy: y field-of-view                                 (ncam,)
-    cam_resolution: resolution: pixels                        (ncam, 2)
-    cam_sensorsize: sensor size: length                       (ncam, 2)
-    cam_intrinsic: [focal length; principal point]            (ncam, 4)
-    light_mode: light tracking mode (mjtCamLight)             (nlight,)
-    light_bodyid: id of light's body                          (nlight,)
-    light_targetbodyid: id of targeted body; -1: none         (nlight,)
-    light_directional: directional light                      (nlight,)
-    light_castshadow: does light cast shadows                 (nlight,)
-    light_pos: position rel. to body frame                    (nlight, 3)
-    light_dir: direction rel. to body frame                   (nlight, 3)
-    light_poscom0: global position rel. to sub-com in qpos0   (nlight, 3)
-    light_pos0: global position rel. to body in qpos0         (nlight, 3)
-    light_dir0: global direction in qpos0                     (nlight, 3)
-    light_cutoff: OpenGL cutoff                               (nlight,)
-    flex_contype: flex contact type                           (nflex,)
-    flex_conaffinity: flex contact affinity                   (nflex,)
-    flex_condim: contact dimensionality (1, 3, 4, 6)          (nflex,)
-    flex_priority: flex contact priority                      (nflex,)
-    flex_solmix: mix coef for solref/imp in contact pair      (nflex,)
-    flex_solref: constraint solver reference: contact         (nflex, mjNREF)
-    flex_solimp: constraint solver impedance: contact         (nflex, mjNIMP)
-    flex_friction: friction for (slide, spin, roll)           (nflex,)
-    flex_margin: detect contact if dist<margin                (nflex,)
-    flex_gap: include in solver if dist<margin-gap            (nflex,)
-    flex_internal: internal flex collision enabled            (nflex,)
-    flex_selfcollide: self collision mode (mjtFlexSelf)       (nflex,)
-    flex_activelayers: number of active element layers, 3D only  (nflex,)
-    flex_dim: 1: lines, 2: triangles, 3: tetrahedra           (nflex,)
-    flex_vertadr: first vertex address                        (nflex,)
-    flex_vertnum: number of vertices                          (nflex,)
-    flex_edgeadr: first edge address                          (nflex,)
-    flex_edgenum: number of edges                             (nflex,)
-    flex_elemadr: first element address                       (nflex,)
-    flex_elemnum: number of elements                          (nflex,)
-    flex_elemdataadr: first element vertex id address         (nflex,)
-    flex_evpairadr: first evpair address                      (nflex,)
-    flex_evpairnum: number of evpairs                         (nflex,)
-    flex_vertbodyid: vertex body ids                          (nflex,)
-    flex_edge: edge vertex ids (2 per edge)                   (nflexedge, 2)
-    flex_elem: element vertex ids (dim+1 per elem)            (nflexelemdata,)
-    flex_elemlayer: element distance from surface, 3D only    (nflexelem,)
-    flex_evpair: (element, vertex) collision pairs            (nflexevpair, 2)
-    flex_vert: vertex positions in local body frames          (nflexvert, 3)
-    flexedge_length0: edge lengths in qpos0                   (nflexedge,)
-    flexedge_invweight0: edge inv. weight in qpos0            (nflexedge,)
-    flex_radius: radius around primitive element              (nflex,)
-    flex_edgestiffness: edge stiffness                        (nflex,)
-    flex_edgedamping: edge damping                            (nflex,)
-    flex_edgeequality: is edge equality constraint defined    (nflex,)
-    flex_rigid: are all verices in the same body              (nflex,)
-    flexedge_rigid: are both edge vertices in same body       (nflexedge,)
-    flex_centered: are all vertex coordinates (0,0,0)         (nflex,)
-    flex_bvhadr: address of bvh root; -1: no bvh              (nflex,)
-    flex_bvhnum: number of bounding volumes                   (nflex,)
-    mesh_vertadr: first vertex address                        (nmesh,)
-    mesh_vertnum: number of vertices                          (nmesh,)
-    mesh_faceadr: first face address                          (nmesh,)
-    mesh_bvhadr: address of bvh root                          (nmesh,)
-    mesh_bvhnum: number of bvh                                (nmesh,)
-    mesh_graphadr: graph data address; -1: no graph           (nmesh,)
-    mesh_vert: vertex positions for all meshes                (nmeshvert, 3)
-    mesh_face: vertex face data                               (nmeshface, 3)
-    mesh_graph: convex graph data                             (nmeshgraph,)
-    mesh_pos: translation applied to asset vertices           (nmesh, 3)
-    mesh_quat: rotation applied to asset vertices             (nmesh, 4)
-    mesh_convex: pre-compiled convex mesh info for MJX        (nmesh,)
-    mesh_texcoordadr: texcoord data address; -1: no texcoord  (nmesh,)
-    mesh_texcoordnum: number of texcoord                      (nmesh,)
-    mesh_texcoord: vertex texcoords for all meshes            (nmeshtexcoord, 2)
-    hfield_size: (x, y, z_top, z_bottom)                      (nhfield,)
-    hfield_nrow: number of rows in grid                       (nhfield,)
-    hfield_ncol: number of columns in grid                    (nhfield,)
-    hfield_adr: address in hfield_data                        (nhfield,)
-    hfield_data: elevation data                               (nhfielddata,)
-    tex_type: texture type (mjtTexture)                       (ntex,)
-    tex_height: number of rows in texture image               (ntex,)
-    tex_width: number of columns in texture image             (ntex,)
-    tex_nchannel: number of channels in texture image         (ntex,)
-    tex_adr: start address in tex_data                        (ntex,)
-    tex_data: pixel values                                    (ntexdata,)
-    mat_rgba: rgba                                            (nmat, 4)
-    mat_texid: indices of textures; -1: none                  (nmat, mjNTEXROLE)
-    pair_dim: contact dimensionality                          (npair,)
-    pair_geom1: id of geom1                                   (npair,)
-    pair_geom2: id of geom2                                   (npair,)
-    pair_signature: body1 << 16 + body2                       (npair,)
-    pair_solref: solver reference: contact normal             (npair, mjNREF)
-    pair_solreffriction: solver reference: contact friction   (npair, mjNREF)
-    pair_solimp: solver impedance: contact                    (npair, mjNIMP)
-    pair_margin: include in solver if dist<margin-gap         (npair,)
-    pair_gap: include in solver if dist<margin-gap            (npair,)
-    pair_friction: tangent1, 2, spin, roll1, 2                (npair, 5)
-    exclude_signature: (body1+1) << 16 + body2+1              (nexclude,)
-    eq_type: constraint type (mjtEq)                          (neq,)
-    eq_obj1id: id of object 1                                 (neq,)
-    eq_obj2id: id of object 2                                 (neq,)
-    eq_objtype: type of both objects (mjtObj)                 (neq,)
-    eq_active0: initial enable/disable constraint state       (neq,)
-    eq_solref: constraint solver reference                    (neq, mjNREF)
-    eq_solimp: constraint solver impedance                    (neq, mjNIMP)
-    eq_data: numeric data for constraint                      (neq, mjNEQDATA)
-    tendon_adr: address of first object in tendon's path      (ntendon,)
-    tendon_num: number of objects in tendon's path            (ntendon,)
-    tendon_limited: does tendon have length limits            (ntendon,)
-    tendon_actfrclimited: tendon has actuator force limits    (ntendon,)
-    tendon_solref_lim: constraint solver reference: limit     (ntendon, mjNREF)
-    tendon_solimp_lim: constraint solver impedance: limit     (ntendon, mjNIMP)
-    tendon_solref_fri: constraint solver reference: friction  (ntendon, mjNREF)
-    tendon_solimp_fri: constraint solver impedance: friction  (ntendon, mjNIMP)
-    tendon_range: tendon length limits                        (ntendon, 2)
-    tendon_actfrcrange: tendon actuator force limits          (ntendon, 2)
-    tendon_margin: min distance for limit detection           (ntendon,)
-    tendon_stiffness: stiffness coefficient                   (ntendon,)
-    tendon_damping: damping coefficient                       (ntendon,)
-    tendon_armature: inertia associated with tendon velocity  (ntendon,)
-    tendon_frictionloss: loss due to friction                 (ntendon,)
-    tendon_lengthspring: spring resting length range          (ntendon, 2)
-    tendon_length0: tendon length in qpos0                    (ntendon,)
-    tendon_invweight0: inv. weight in qpos0                   (ntendon,)
-    tendon_hasfrictionloss: tendon has >0 frictionloss (MJX)  (ntendon,)
-    wrap_type: wrap object type (mjtWrap)                     (nwrap,)
-    wrap_objid: object id: geom, site, joint                  (nwrap,)
-    wrap_prm: divisor, joint coef, or site id                 (nwrap,)
-    wrap_inside_maxiter: maximum iterations for wrap_inside
-    wrap_inside_tolerance: tolerance for wrap_inside
-    wrap_inside_z_init: initialization for wrap_inside
-    is_wrap_inside: spatial tendon sidesite inside geom       (nwrapinside,)
-    actuator_trntype: transmission type (mjtTrn)              (nu,)
-    actuator_dyntype: dynamics type (mjtDyn)                  (nu,)
-    actuator_gaintype: gain type (mjtGain)                    (nu,)
-    actuator_biastype: bias type (mjtBias)                    (nu,)
-    actuator_trnid: transmission id: joint, tendon, site      (nu, 2)
-    actuator_actadr: first activation address; -1: stateless  (nu,)
-    actuator_actnum: number of activation variables           (nu,)
-    actuator_group: group for visibility                      (nu,)
-    actuator_ctrllimited: is control limited                  (nu,)
-    actuator_forcelimited: is force limited                   (nu,)
-    actuator_actlimited: is activation limited                (nu,)
-    actuator_dynprm: dynamics parameters                      (nu, mjNDYN)
-    actuator_gainprm: gain parameters                         (nu, mjNGAIN)
-    actuator_biasprm: bias parameters                         (nu, mjNBIAS)
-    actuator_actearly: step activation before force           (nu,)
-    actuator_ctrlrange: range of controls                     (nu, 2)
-    actuator_forcerange: range of forces                      (nu, 2)
-    actuator_actrange: range of activations                   (nu, 2)
-    actuator_gear: scale length and transmitted force         (nu, 6)
-    actuator_cranklength: crank length for slider-crank       (nu,)
-    actuator_acc0: acceleration from unit force in qpos0      (nu,)
-    actuator_lengthrange: feasible actuator length range      (nu, 2)
-    sensor_type: sensor type (mjtSensor)                      (nsensor,)
-    sensor_datatype: numeric data type (mjtDataType)          (nsensor,)
-    sensor_needstage: required compute stage (mjtStage)       (nsensor,)
-    sensor_objtype: type of sensorized object (mjtObj)        (nsensor,)
-    sensor_objid: id of sensorized object                     (nsensor,)
-    sensor_reftype: type of reference frame (mjtObj)          (nsensor,)
-    sensor_refid: id of reference frame; -1: global frame     (nsensor,)
-    sensor_dim: number of scalar outputs                      (nsensor,)
-    sensor_adr: address in sensor array                       (nsensor,)
-    sensor_cutoff: cutoff for real and positive; 0: ignore    (nsensor,)
-    numeric_adr: address of field in numeric_data             (nnumeric,)
-    numeric_data: array of all numeric fields                 (nnumericdata,)
-    tuple_adr: address of text in text_data                   (ntuple,)
-    tuple_size: number of objects in tuple                    (ntuple,)
-    tuple_objtype: array of object types in all tuples        (ntupledata,)
-    tuple_objid: array of object ids in all tuples            (ntupledata,)
-    tuple_objprm: array of object params in all tuples        (ntupledata,)
-    key_time: key time                                        (nkey,)
-    key_qpos: key position                                    (nkey, nq)
-    key_qvel: key velocity                                    (nkey, nv)
-    key_act: key activation                                   (nkey, na)
-    key_mpos: key mocap position                              (nkey, nmocap, 3)
-    key_mquat: key mocap quaternion                           (nkey, nmocap, 4)
-    key_ctrl: key control                                     (nkey, nu)
-    name_bodyadr: body name pointers                          (nbody,)
-    name_jntadr: joint name pointers                          (njnt,)
-    name_geomadr: geom name pointers                          (ngeom,)
-    name_siteadr: site name pointers                          (nsite,)
-    name_camadr: camera name pointers                         (ncam,)
-    name_meshadr: mesh name pointers                          (nmesh,)
-    name_pairadr: geom pair name pointers                     (npair,)
-    name_eqadr: equality constraint name pointers             (neq,)
-    name_tendonadr: tendon name pointers                      (ntendon,)
-    name_actuatoradr: actuator name pointers                  (nu,)
-    name_sensoradr: sensor name pointers                      (nsensor,)
-    name_numericadr: numeric name pointers                    (nnumeric,)
-    name_tupleadr: tuple name pointers                        (ntuple,)
-    name_keyadr: keyframe name pointers                       (nkey,)
-    names: names of all objects, 0-terminated                 (nnames,)
-    signature: compilation signature
-  """
+
+class OptionC(Option):
+  """C-specific option."""
+
+  apirate: jax.Array
+  noslip_tolerance: jax.Array
+  ccd_tolerance: jax.Array
+  noslip_iterations: int
+  ccd_iterations: int
+  sdf_initpoints: int
+  sdf_iterations: int
+
+
+class OptionJAX(Option):
+  """JAX-specific option."""
+
+  has_fluid_params: bool
+
+
+class ModelC(PyTreeNode):
+  """CPU-specific model data."""
+
+  nbvh: jax.Array
+  nbvhstatic: jax.Array
+  nbvhdynamic: jax.Array
+  nflex: jax.Array
+  nflexvert: jax.Array
+  nflexedge: jax.Array
+  nflexelem: jax.Array
+  nflexelemdata: jax.Array
+  nflexshelldata: jax.Array
+  nflexevpair: jax.Array
+  nflextexcoord: jax.Array
+  ntree: jax.Array
+  narena: jax.Array
+  body_bvhadr: jax.Array
+  body_bvhnum: jax.Array
+  bvh_child: jax.Array
+  bvh_nodeid: jax.Array
+  bvh_aabb: jax.Array
+  light_bodyid: jax.Array
+  light_targetbodyid: jax.Array
+  flex_contype: jax.Array
+  flex_conaffinity: jax.Array
+  flex_condim: jax.Array
+  flex_priority: jax.Array
+  flex_solmix: jax.Array
+  flex_solref: jax.Array
+  flex_solimp: jax.Array
+  flex_friction: jax.Array
+  flex_margin: jax.Array
+  flex_gap: jax.Array
+  flex_internal: jax.Array
+  flex_selfcollide: jax.Array
+  flex_activelayers: jax.Array
+  flex_dim: jax.Array
+  flex_vertadr: jax.Array
+  flex_vertnum: jax.Array
+  flex_edgeadr: jax.Array
+  flex_edgenum: jax.Array
+  flex_elemadr: jax.Array
+  flex_elemnum: jax.Array
+  flex_elemdataadr: jax.Array
+  flex_evpairadr: jax.Array
+  flex_evpairnum: jax.Array
+  flex_vertbodyid: jax.Array
+  flex_edge: jax.Array
+  flex_elem: jax.Array
+  flex_elemlayer: jax.Array
+  flex_evpair: jax.Array
+  flex_vert: jax.Array
+  flexedge_length0: jax.Array
+  flexedge_invweight0: jax.Array
+  flex_radius: jax.Array
+  flex_edgestiffness: jax.Array
+  flex_edgedamping: jax.Array
+  flex_edgeequality: jax.Array
+  flex_rigid: jax.Array
+  flexedge_rigid: jax.Array
+  flex_centered: jax.Array
+  flex_bvhadr: jax.Array
+  flex_bvhnum: jax.Array
+  actuator_plugin: jax.Array
+
+
+class ModelJAX(PyTreeNode):
+  """JAX-specific model data."""
+
+  dof_hasfrictionloss: np.ndarray
+  geom_rbound_hfield: np.ndarray
+  mesh_convex: Tuple[ConvexMesh, ...]
+  tendon_hasfrictionloss: np.ndarray
+  wrap_inside_maxiter: int
+  wrap_inside_tolerance: float
+  wrap_inside_z_init: float
+  is_wrap_inside: np.ndarray
+
+
+class Model(PyTreeNode):
+  """Static model of the scene that remains unchanged with each physics step."""
 
   nq: int
   nv: int
   nu: int
   na: int
   nbody: int
-  nbvh: int = _restricted_to('mujoco')
-  nbvhstatic: int = _restricted_to('mujoco')
-  nbvhdynamic: int = _restricted_to('mujoco')
   njnt: int
   ngeom: int
   nsite: int
   ncam: int
   nlight: int
-  nflex: int = _restricted_to('mujoco')
-  nflexvert: int = _restricted_to('mujoco')
-  nflexedge: int = _restricted_to('mujoco')
-  nflexelem: int = _restricted_to('mujoco')
-  nflexelemdata: int = _restricted_to('mujoco')
-  nflexshelldata: int = _restricted_to('mujoco')
-  nflexevpair: int = _restricted_to('mujoco')
-  nflextexcoord: int = _restricted_to('mujoco')
   nmesh: int
   nmeshvert: int
   nmeshnormal: int
@@ -910,11 +623,9 @@ class Model(PyTreeNode):
   nC: int  # pylint:disable=invalid-name
   nD: int  # pylint:disable=invalid-name
   nJmom: int  # pylint:disable=invalid-name
-  ntree: int = _restricted_to('mujoco')
   ngravcomp: int
   nuserdata: int
   nsensordata: int
-  narena: int = _restricted_to('mujoco')
   opt: Option
   stat: Statistic
   qpos0: jax.Array
@@ -943,11 +654,6 @@ class Model(PyTreeNode):
   body_margin: np.ndarray
   body_contype: np.ndarray
   body_conaffinity: np.ndarray
-  body_bvhadr: np.ndarray = _restricted_to('mujoco')
-  body_bvhnum: np.ndarray = _restricted_to('mujoco')
-  bvh_child: np.ndarray = _restricted_to('mujoco')
-  bvh_nodeid: np.ndarray = _restricted_to('mujoco')
-  bvh_aabb: np.ndarray = _restricted_to('mujoco')
   body_invweight0: jax.Array
   jnt_type: np.ndarray
   jnt_qposadr: np.ndarray
@@ -973,7 +679,6 @@ class Model(PyTreeNode):
   dof_solref: jax.Array
   dof_solimp: jax.Array
   dof_frictionloss: jax.Array
-  dof_hasfrictionloss: np.ndarray = _restricted_to('mjx')
   dof_armature: jax.Array
   dof_damping: jax.Array
   dof_invweight0: jax.Array
@@ -994,7 +699,6 @@ class Model(PyTreeNode):
   geom_size: jax.Array
   geom_aabb: np.ndarray
   geom_rbound: jax.Array
-  geom_rbound_hfield: np.ndarray = _restricted_to('mjx')
   geom_pos: jax.Array
   geom_quat: jax.Array
   geom_friction: jax.Array
@@ -1021,8 +725,6 @@ class Model(PyTreeNode):
   cam_sensorsize: np.ndarray
   cam_intrinsic: np.ndarray
   light_mode: np.ndarray
-  light_bodyid: np.ndarray = _restricted_to('mujoco')
-  light_targetbodyid: np.ndarray = _restricted_to('mujoco')
   light_directional: jax.Array
   light_castshadow: jax.Array
   light_pos: jax.Array
@@ -1031,46 +733,6 @@ class Model(PyTreeNode):
   light_pos0: np.ndarray
   light_dir0: np.ndarray
   light_cutoff: jax.Array
-  flex_contype: np.ndarray = _restricted_to('mujoco')
-  flex_conaffinity: np.ndarray = _restricted_to('mujoco')
-  flex_condim: np.ndarray = _restricted_to('mujoco')
-  flex_priority: np.ndarray = _restricted_to('mujoco')
-  flex_solmix: np.ndarray = _restricted_to('mujoco')
-  flex_solref: np.ndarray = _restricted_to('mujoco')
-  flex_solimp: np.ndarray = _restricted_to('mujoco')
-  flex_friction: np.ndarray = _restricted_to('mujoco')
-  flex_margin: np.ndarray = _restricted_to('mujoco')
-  flex_gap: np.ndarray = _restricted_to('mujoco')
-  flex_internal: np.ndarray = _restricted_to('mujoco')
-  flex_selfcollide: np.ndarray = _restricted_to('mujoco')
-  flex_activelayers: np.ndarray = _restricted_to('mujoco')
-  flex_dim: np.ndarray = _restricted_to('mujoco')
-  flex_vertadr: np.ndarray = _restricted_to('mujoco')
-  flex_vertnum: np.ndarray = _restricted_to('mujoco')
-  flex_edgeadr: np.ndarray = _restricted_to('mujoco')
-  flex_edgenum: np.ndarray = _restricted_to('mujoco')
-  flex_elemadr: np.ndarray = _restricted_to('mujoco')
-  flex_elemnum: np.ndarray = _restricted_to('mujoco')
-  flex_elemdataadr: np.ndarray = _restricted_to('mujoco')
-  flex_evpairadr: np.ndarray = _restricted_to('mujoco')
-  flex_evpairnum: np.ndarray = _restricted_to('mujoco')
-  flex_vertbodyid: np.ndarray = _restricted_to('mujoco')
-  flex_edge: np.ndarray = _restricted_to('mujoco')
-  flex_elem: np.ndarray = _restricted_to('mujoco')
-  flex_elemlayer: np.ndarray = _restricted_to('mujoco')
-  flex_evpair: np.ndarray = _restricted_to('mujoco')
-  flex_vert: np.ndarray = _restricted_to('mujoco')
-  flexedge_length0: np.ndarray = _restricted_to('mujoco')
-  flexedge_invweight0: np.ndarray = _restricted_to('mujoco')
-  flex_radius: np.ndarray = _restricted_to('mujoco')
-  flex_edgestiffness: np.ndarray = _restricted_to('mujoco')
-  flex_edgedamping: np.ndarray = _restricted_to('mujoco')
-  flex_edgeequality: np.ndarray = _restricted_to('mujoco')
-  flex_rigid: np.ndarray = _restricted_to('mujoco')
-  flexedge_rigid: np.ndarray = _restricted_to('mujoco')
-  flex_centered: np.ndarray = _restricted_to('mujoco')
-  flex_bvhadr: np.ndarray = _restricted_to('mujoco')
-  flex_bvhnum: np.ndarray = _restricted_to('mujoco')
   mesh_vertadr: np.ndarray
   mesh_vertnum: np.ndarray
   mesh_faceadr: np.ndarray
@@ -1082,7 +744,6 @@ class Model(PyTreeNode):
   mesh_graph: np.ndarray
   mesh_pos: np.ndarray
   mesh_quat: np.ndarray
-  mesh_convex: Tuple[ConvexMesh, ...] = _restricted_to('mjx')
   mesh_texcoordadr: np.ndarray
   mesh_texcoordnum: np.ndarray
   mesh_texcoord: np.ndarray
@@ -1136,14 +797,9 @@ class Model(PyTreeNode):
   tendon_lengthspring: jax.Array
   tendon_length0: jax.Array
   tendon_invweight0: jax.Array
-  tendon_hasfrictionloss: np.ndarray = _restricted_to('mjx')
   wrap_type: np.ndarray
   wrap_objid: np.ndarray
   wrap_prm: np.ndarray
-  wrap_inside_maxiter: int = _restricted_to('mjx')
-  wrap_inside_tolerance: float = _restricted_to('mjx')
-  wrap_inside_z_init: float = _restricted_to('mjx')
-  is_wrap_inside: np.ndarray = _restricted_to('mjx')
   actuator_trntype: np.ndarray
   actuator_dyntype: np.ndarray
   actuator_gaintype: np.ndarray
@@ -1166,7 +822,6 @@ class Model(PyTreeNode):
   actuator_cranklength: np.ndarray
   actuator_acc0: jax.Array
   actuator_lengthrange: np.ndarray
-  actuator_plugin: np.ndarray = _restricted_to('mujoco')
   sensor_type: np.ndarray
   sensor_datatype: np.ndarray
   sensor_needstage: np.ndarray
@@ -1209,6 +864,36 @@ class Model(PyTreeNode):
   names: bytes
   signature: np.uint64
   _sizes: jax.Array
+  _impl: Union[ModelC, ModelJAX]
+
+  @property
+  def backend_impl(self) -> BackendImpl:
+    return {
+        ModelC: BackendImpl.C,
+        ModelJAX: BackendImpl.JAX,
+    }[type(self._impl)]
+
+  def __getattr__(self, name: str):
+    if name == 'value':
+      # Special case for NNX, the value attribute may not exist on the parent
+      # PyTreeNode, before it exists on the child PyTreeNode. Thanks NNX.
+      return object.__getattribute__(self, 'value')
+
+    try:
+      impl_instsance = object.__getattribute__(self, '_impl')
+      val = getattr(impl_instsance, name)
+      warnings.warn(
+          f'Accessing `{name}` directly from `Model` is deprecated. '
+          f'Access it via `model._impl.{name}` instead.',
+          DeprecationWarning,
+          stacklevel=2,
+      )
+    except AttributeError:
+      # raise the standard exception
+      raise AttributeError(  # pylint: disable=raise-missing-from
+          f"'{type(self).__name__}' object has no attribute '{name}'"
+      )
+    return val
 
 
 class Contact(PyTreeNode):
@@ -1246,144 +931,141 @@ class Contact(PyTreeNode):
   efc_address: np.ndarray
 
 
-class Data(PyTreeNode):
-  r"""\Dynamic state that updates each step.
+class DataC(PyTreeNode):
+  """C-specific data."""
 
-  Attributes:
-    ne: number of equality constraints
-    nf: number of friction constraints
-    nl: number of limit constraints
-    nefc: number of constraints
-    ncon: number of contacts
-    solver_niter: number of solver iterations
-    time: simulation time
-    qpos: position                                              (nq,)
-    qvel: velocity                                              (nv,)
-    act: actuator activation                                    (na,)
-    qacc_warmstart: acceleration used for warmstart             (nv,)
-    ctrl: control                                               (nu,)
-    qfrc_applied: applied generalized force                     (nv,)
-    xfrc_applied: applied Cartesian force/torque                (nbody, 6)
-    eq_active: enable/disable constraints                       (neq,)
-    mocap_pos: positions of mocap bodies                        (nmocap x 3)
-    mocap_quat: orientations of mocap bodies                    (nmocap x 4)
-    qacc: acceleration                                          (nv,)
-    act_dot: time-derivative of actuator activation             (na,)
-    userdata: user data, not touched by engine                  (nuserdata,)
-    sensordata: sensor data array                               (nsensordata,)
-    xpos:  Cartesian position of body frame                     (nbody, 3)
-    xquat: Cartesian orientation of body frame                  (nbody, 4)
-    xmat:  Cartesian orientation of body frame                  (nbody, 3, 3)
-    xipos: Cartesian position of body com                       (nbody, 3)
-    ximat: Cartesian orientation of body inertia                (nbody, 3, 3)
-    xanchor: Cartesian position of joint anchor                 (njnt, 3)
-    xaxis: Cartesian joint axis                                 (njnt, 3)
-    geom_xpos: Cartesian geom position                          (ngeom, 3)
-    geom_xmat: Cartesian geom orientation                       (ngeom, 3, 3)
-    site_xpos: Cartesian site position                          (nsite, 3)
-    site_xmat: Cartesian site orientation                       (nsite, 3, 3)
-    cam_xpos: Cartesian camera position                         (ncam, 3)
-    cam_xmat: Cartesian camera orientation                      (ncam, 3, 3)
-    light_xpos: Cartesian light position                        (nlight, 3)
-    light_xdir: Cartesian light direction                       (nlight, 3)
-    subtree_com: center of mass of each subtree                 (nbody, 3)
-    cdof: com-based motion axis of each dof                     (nv, 6)
-    cinert: com-based body inertia and mass                     (nbody, 10)
-    flexvert_xpos: Cartesian flex vertex positions              (nflexvert, 3)
-    flexelem_aabb: flex element bounding boxes (center, size)   (nflexelem, 6)
-    flexedge_J_rownnz: number of non-zeros in Jacobian row      (nflexedge,)
-    flexedge_J_rowadr: row start address in colind array        (nflexedge,)
-    flexedge_J_colind: column indices in sparse Jacobian        (nflexedge, nv)
-    flexedge_J: flex edge Jacobian                              (nflexedge, nv)
-    flexedge_length: flex edge lengths                          (nflexedge,)
-    ten_wrapadr: start address of tendon's path                 (ntendon,)
-    ten_wrapnum: number of wrap points in path                  (ntendon,)
-    ten_J_rownnz: number of non-zeros in Jacobian row           (ntendon,)
-    ten_J_rowadr: row start address in colind array             (ntendon,)
-    ten_J_colind: column indices in sparse Jacobian             (ntendon, nv)
-    ten_J: tendon Jacobian                                      (ntendon, nv)
-    ten_length: tendon lengths                                  (ntendon,)
-    wrap_obj: geom id; -1: site; -2: pulley                     (nwrap*2,)
-    wrap_xpos: Cartesian 3D points in all path                  (nwrap*2, 3)
-    actuator_length: actuator lengths                           (nu,)
-    moment_rownnz: number of non-zeros in actuator_moment row   (nu,)
-    moment_rowadr: row start address in colind array            (nu,)
-    moment_colind: column indices in sparse Jacobian            (nJmom,)
-    actuator_moment: actuator moments                           (nJmom,)
-    crb: com-based composite inertia and mass                   (nbody, 10)
-    qM: total inertia                                if sparse: (nM,)
-                                                     if dense:  (nv, nv)
-    qLD: L'*D*L (or Cholesky) factorization of M.    if sparse: (nM,)
-                                                     if dense:  (nv, nv)
-    qLDiagInv: 1/diag(D)                             if sparse: (nv,)
-                                                     if dense:  (0,)
-    bvh_aabb_dyn: global bounding box (center, size)            (nbvhdynamic, 6)
-    bvh_active: volume has been added to collisions             (nbvh,)
-    flexedge_velocity: flex edge velocities                     (nflexedge,)
-    ten_velocity: tendon velocities                             (ntendon,)
-    actuator_velocity: actuator velocities                      (nu,)
-    cvel: com-based velocity [3D rot; 3D tran]                  (nbody, 6)
-    cdof_dot: time-derivative of cdof                           (nv, 6)
-    qfrc_bias: C(qpos,qvel)                                     (nv,)
-    qfrc_spring: passive spring force                           (nv,)
-    qfrc_damper: passive damper force                           (nv,)
-    qfrc_gravcomp: passive gravity compensation force           (nv,)
-    qfrc_fluid: passive fluid force                             (nv,)
-    qfrc_passive: total passive force                           (nv,)
-    subtree_linvel: linear velocity of subtree com              (nbody, 3)
-    subtree_angmom: angular momentum about subtree com          (nbody, 3)
-    qH: L'*D*L factorization of modified M                      (nM,)
-    qHDiagInv: 1/diag(D) of modified M                          (nv,)
-    B_rownnz: body-dof: non-zeros in each row                   (nbody,)
-    B_rowadr: body-dof: address of each row in B_colind         (nbody,)
-    B_colind: body-dof: column indices of non-zeros             (nB,)
-    M_rownnz: inertia: non-zeros in each row                    (nv,)
-    M_rowadr: inertia: address of each row in M_colind          (nv,)
-    M_colind: inertia: column indices of non-zeros              (nM,)
-    mapM2M: index mapping from M (legacy) to M (CSR)            (nM,)
-    C_rownnz: reduced dof-dof: non-zeros in each row            (nv,)
-    C_rowadr: reduced dof-dof: address of each row in C_colind  (nv,)
-    C_colind: reduced dof-dof: column indices of non-zeros      (nC,)
-    mapM2C: index mapping from M to C                           (nC,)
-    D_rownnz: dof-dof: non-zeros in each row                    (nv,)
-    D_rowadr: dof-dof: address of each row in D_colind          (nv,)
-    D_diag: dof-dof: index of diagonal element                  (nv,)
-    D_colind: dof-dof: column indices of non-zeros              (nD,)
-    mapM2D: index mapping from M to D                           (nD,)
-    mapD2M: index mapping from D to M                           (nM,)
-    qDeriv: d (passive + actuator - bias) / d qvel              (nD,)
-    qLU: sparse LU of (qM - dt*qDeriv)                          (nD,)
-    actuator_force: actuator force in actuation space           (nu,)
-    qfrc_actuator: actuator force                               (nv,)
-    qfrc_smooth: net unconstrained force                        (nv,)
-    qacc_smooth: unconstrained acceleration                     (nv,)
-    qfrc_constraint: constraint force                           (nv,)
-    qfrc_inverse: net external force; should equal:             (nv,)
-                  qfrc_applied + J'*xfrc_applied + qfrc_actuator
-    cacc: com-based acceleration                                (nbody, 6)
-    cfrc_int: com-based interaction force with parent           (nbody, 6)
-    cfrc_ext: com-based external force on body                  (nbody, 6)
-    contact: all detected contacts                              (ncon,)
-    efc_type: constraint type                                   (nefc,)
-    efc_J: constraint Jacobian                                  (nefc, nv)
-    efc_pos: constraint position (equality, contact)            (nefc,)
-    efc_margin: inclusion margin (contact)                      (nefc,)
-    efc_frictionloss: frictionloss (friction)                   (nefc,)
-    efc_D: constraint mass                                      (nefc,)
-    efc_aref: reference pseudo-acceleration                     (nefc,)
-    efc_force: constraint force in constraint space             (nefc,)
-    _qM_sparse: qM in sparse representation                     (nM,)
-    _qLD_sparse: qLD in sparse representation                   (nM,)
-    _qLDiagInv_sparse: qLDiagInv in sparse representation       (nv,)
-  """  # fmt: skip
   # constant sizes:
+  # TODO(stunya): make these sizes jax.Array?
   ne: int
   nf: int
   nl: int
   nefc: int
   ncon: int
-  # solver statistics:
+  # TODO(stunya): remove most of these fields
   solver_niter: jax.Array
+  cdof: jax.Array
+  cinert: jax.Array
+  light_xpos: jax.Array
+  light_xdir: jax.Array
+  flexvert_xpos: jax.Array
+  flexelem_aabb: jax.Array
+  flexedge_J_rownnz: jax.Array  # pylint:disable=invalid-name
+  flexedge_J_rowadr: jax.Array  # pylint:disable=invalid-name
+  flexedge_J_colind: jax.Array  # pylint:disable=invalid-name
+  flexedge_J: jax.Array  # pylint:disable=invalid-name
+  flexedge_length: jax.Array
+  ten_wrapadr: jax.Array
+  ten_wrapnum: jax.Array
+  ten_J_rownnz: jax.Array  # pylint:disable=invalid-name
+  ten_J_rowadr: jax.Array  # pylint:disable=invalid-name
+  ten_J_colind: jax.Array  # pylint:disable=invalid-name
+  ten_J: jax.Array  # pylint:disable=invalid-name
+  ten_length: jax.Array
+  wrap_obj: jax.Array
+  wrap_xpos: jax.Array
+  actuator_length: jax.Array
+  moment_rownnz: jax.Array  # pylint:disable=invalid-name
+  moment_rowadr: jax.Array  # pylint:disable=invalid-name
+  moment_colind: jax.Array  # pylint:disable=invalid-name
+  actuator_moment: jax.Array
+  crb: jax.Array
+  qM: jax.Array  # pylint:disable=invalid-name
+  qLD: jax.Array  # pylint:disable=invalid-name
+  qLDiagInv: jax.Array  # pylint:disable=invalid-name
+  bvh_aabb_dyn: jax.Array
+  bvh_active: jax.Array
+  # position, velocity dependent:
+  flexedge_velocity: jax.Array
+  ten_velocity: jax.Array
+  actuator_velocity: jax.Array
+  cdof_dot: jax.Array
+  qH: jax.Array  # pylint:disable=invalid-name
+  qHDiagInv: jax.Array  # pylint:disable=invalid-name
+  B_rownnz: jax.Array  # pylint:disable=invalid-name
+  B_rowadr: jax.Array  # pylint:disable=invalid-name
+  B_colind: jax.Array  # pylint:disable=invalid-name
+  M_rownnz: jax.Array  # pylint:disable=invalid-name
+  M_rowadr: jax.Array  # pylint:disable=invalid-name
+  M_colind: jax.Array  # pylint:disable=invalid-name
+  mapM2M: jax.Array  # pylint:disable=invalid-name
+  C_rownnz: jax.Array  # pylint:disable=invalid-name
+  C_rowadr: jax.Array  # pylint:disable=invalid-name
+  C_colind: jax.Array  # pylint:disable=invalid-name
+  mapM2C: jax.Array  # pylint:disable=invalid-name
+  D_rownnz: jax.Array  # pylint:disable=invalid-name
+  D_rowadr: jax.Array  # pylint:disable=invalid-name
+  D_diag: jax.Array  # pylint:disable=invalid-name
+  D_colind: jax.Array  # pylint:disable=invalid-name
+  mapM2D: jax.Array  # pylint:disable=invalid-name
+  mapD2M: jax.Array  # pylint:disable=invalid-name
+  qDeriv: jax.Array  # pylint:disable=invalid-name
+  qLU: jax.Array  # pylint:disable=invalid-name
+  qfrc_spring: jax.Array
+  qfrc_damper: jax.Array
+  cacc: jax.Array
+  cfrc_int: jax.Array
+  cfrc_ext: jax.Array
+  subtree_linvel: jax.Array
+  subtree_angmom: jax.Array
+  # dynamically sized arrays which are made static for the frontend JAX API
+  # TODO(stunya): remove these dynamic fields entirely
+  contact: Contact
+  efc_type: jax.Array
+  efc_J: jax.Array  # pylint:disable=invalid-name
+  efc_pos: jax.Array
+  efc_margin: jax.Array
+  efc_frictionloss: jax.Array
+  efc_D: jax.Array  # pylint:disable=invalid-name
+  efc_aref: jax.Array
+  efc_force: jax.Array
+
+
+class DataJAX(PyTreeNode):
+  """JAX-specific data."""
+
+  ne: int
+  nf: int
+  nl: int
+  nefc: int
+  ncon: int
+  solver_niter: jax.Array
+  cdof: jax.Array
+  cinert: jax.Array
+  ten_wrapadr: jax.Array
+  ten_wrapnum: jax.Array
+  ten_J: jax.Array  # pylint:disable=invalid-name
+  ten_length: jax.Array
+  wrap_obj: jax.Array
+  wrap_xpos: jax.Array
+  actuator_length: jax.Array
+  actuator_moment: jax.Array
+  crb: jax.Array
+  qM: jax.Array  # pylint:disable=invalid-name
+  qLD: jax.Array  # pylint:disable=invalid-name
+  qLDiagInv: jax.Array  # pylint:disable=invalid-name
+  ten_velocity: jax.Array
+  actuator_velocity: jax.Array
+  cdof_dot: jax.Array
+  cacc: jax.Array
+  cfrc_int: jax.Array
+  cfrc_ext: jax.Array
+  subtree_linvel: jax.Array
+  subtree_angmom: jax.Array
+  # dynamically sized data which are made static due to JAX limitations
+  contact: Contact
+  efc_type: jax.Array
+  efc_J: jax.Array  # pylint:disable=invalid-name
+  efc_pos: jax.Array
+  efc_margin: jax.Array
+  efc_frictionloss: jax.Array
+  efc_D: jax.Array  # pylint:disable=invalid-name
+  efc_aref: jax.Array
+  efc_force: jax.Array
+
+
+class Data(PyTreeNode):
+  """Dynamic state that updates each step."""
+
   # global properties:
   time: jax.Array
   # state:
@@ -1419,98 +1101,45 @@ class Data(PyTreeNode):
   site_xmat: jax.Array
   cam_xpos: jax.Array
   cam_xmat: jax.Array
-  light_xpos: jax.Array = _restricted_to('mujoco')
-  light_xdir: jax.Array = _restricted_to('mujoco')
   subtree_com: jax.Array
-  cdof: jax.Array
-  cinert: jax.Array
-  flexvert_xpos: jax.Array = _restricted_to('mujoco')
-  flexelem_aabb: jax.Array
-  flexedge_J_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  flexedge_J_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  flexedge_J_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  flexedge_J: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  flexedge_length: jax.Array = _restricted_to('mujoco')
-  ten_wrapadr: jax.Array
-  ten_wrapnum: jax.Array
-  ten_J_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  ten_J_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  ten_J_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  ten_J: jax.Array  # pylint:disable=invalid-name
-  ten_length: jax.Array
-  wrap_obj: jax.Array
-  wrap_xpos: jax.Array
-  actuator_length: jax.Array
-  moment_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  moment_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  moment_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  actuator_moment: jax.Array
-  crb: jax.Array
-  qM: jax.Array  # pylint:disable=invalid-name
-  qLD: jax.Array  # pylint:disable=invalid-name
-  qLDiagInv: jax.Array  # pylint:disable=invalid-name
-  bvh_aabb_dyn: jax.Array = _restricted_to('mujoco')
-  bvh_active: jax.Array = _restricted_to('mujoco')
-  # position, velocity dependent:
-  flexedge_velocity: jax.Array = _restricted_to('mujoco')
-  ten_velocity: jax.Array
-  actuator_velocity: jax.Array
   cvel: jax.Array
-  cdof_dot: jax.Array
   qfrc_bias: jax.Array
-  qfrc_spring: jax.Array = _restricted_to('mujoco')
-  qfrc_damper: jax.Array = _restricted_to('mujoco')
   qfrc_gravcomp: jax.Array
   qfrc_fluid: jax.Array
   qfrc_passive: jax.Array
-  subtree_linvel: jax.Array
-  subtree_angmom: jax.Array
-  qH: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  qHDiagInv: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  B_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  B_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  B_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  M_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  M_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  M_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  mapM2M: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  C_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  C_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  C_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  mapM2C: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  D_rownnz: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  D_rowadr: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  D_diag: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  D_colind: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  mapM2D: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  mapD2M: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  qDeriv: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  qLU: jax.Array = _restricted_to('mujoco')  # pylint:disable=invalid-name
-  # position, velocity, control & acceleration dependent:
   qfrc_actuator: jax.Array
   actuator_force: jax.Array
   qfrc_smooth: jax.Array
   qacc_smooth: jax.Array
   qfrc_constraint: jax.Array
   qfrc_inverse: jax.Array
-  cacc: jax.Array
-  cfrc_int: jax.Array
-  cfrc_ext: jax.Array
-  # dynamically sized
-  contact: Contact
-  # dynamically sized - position dependent:
-  efc_type: jax.Array
-  efc_J: jax.Array  # pylint:disable=invalid-name
-  efc_pos: jax.Array
-  efc_margin: jax.Array
-  efc_frictionloss: jax.Array
-  efc_D: jax.Array  # pylint:disable=invalid-name
-  # dynamically sized - position & velocity dependent:
-  efc_aref: jax.Array
-  # dynamically sized - position, velocity, control & acceleration dependent:
-  efc_force: jax.Array
-  # sparse representation of qM, qLD, qLDiagInv, for compatibility with MuJoCo
-  # when in dense mode
-  _qM_sparse: jax.Array = _restricted_to('mjx')  # pylint:disable=invalid-name
-  _qLD_sparse: jax.Array = _restricted_to('mjx')  # pylint:disable=invalid-name
-  _qLDiagInv_sparse: jax.Array = _restricted_to('mjx')  # pylint:disable=invalid-name
+  _impl: Union[DataC, DataJAX]
+
+  @property
+  def backend_impl(self) -> BackendImpl:
+    return {
+        DataC: BackendImpl.C,
+        DataJAX: BackendImpl.JAX,
+    }[type(self._impl)]
+
+  def __getattr__(self, name: str):
+    if name == 'value':
+      # Special case for NNX, the value attribute may not exist on the parent
+      # PyTreeNode, before it exists on the child PyTreeNode. Thanks NNX.
+      return object.__getattribute__(self, 'value')
+
+    try:
+      impl_instsance = object.__getattribute__(self, '_impl')
+      val = getattr(impl_instsance, name)
+      warnings.warn(
+          f'Accessing `{name}` directly from `Data` is deprecated. '
+          f'Access it via `data._impl.{name}` instead.',
+          DeprecationWarning,
+          stacklevel=2,
+      )
+    except AttributeError:
+      # raise the standard exception
+      raise AttributeError(  # pylint: disable=raise-missing-from
+          f"'{type(self).__name__}' object has no attribute '{name}'"
+      )
+    return val

From f4774a544938383343fe911cde8b94e1dae02336 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Thu, 8 May 2025 02:41:06 -0700
Subject: [PATCH 100/191] Fix bug in cached meshes where convex hull was
 missing. Previously if a mesh was copied from the cache it would not have its
 convex hull if the original mesh that was cached didn't previously compute
 it. Fixes #2609

PiperOrigin-RevId: 756223337
Change-Id: I54705456636c270607a17340b249047e0df75d0b
---
 src/user/user_cache.cc       |  6 ++--
 src/user/user_cache.h        |  8 ++---
 src/user/user_mesh.cc        | 65 +++++++++++++-----------------------
 src/user/user_objects.cc     | 19 +++++++----
 test/user/user_cache_test.cc |  1 +
 test/user/user_mesh_test.cc  | 46 +++++++++++++++++++++++--
 6 files changed, 88 insertions(+), 57 deletions(-)

diff --git a/src/user/user_cache.cc b/src/user/user_cache.cc
index 715e8e6a..ee22d7eb 100644
--- a/src/user/user_cache.cc
+++ b/src/user/user_cache.cc
@@ -102,7 +102,8 @@ bool mjCCache::Insert(const std::string& modelname, const mjResource *resource,
 
 
 
-// populate data from the cache into the given function
+// populate data from the cache into the given function, return true if data was
+// copied
 bool mjCCache::PopulateData(const mjResource* resource, mjCDataFunc fn) {
   std::lock_guard<std::mutex> lock(mutex_);
   auto it = lookup_.find(resource->name);
@@ -121,8 +122,7 @@ bool mjCCache::PopulateData(const mjResource* resource, mjCDataFunc fn) {
   entries_.erase(asset);
   entries_.insert(asset);
 
-  asset->PopulateData(fn);
-  return true;
+  return asset->PopulateData(fn);
 }
 
 
diff --git a/src/user/user_cache.h b/src/user/user_cache.h
index a2d5577f..4b0e9288 100644
--- a/src/user/user_cache.h
+++ b/src/user/user_cache.h
@@ -28,7 +28,7 @@
 
 #include <mujoco/mjplugin.h>
 
-typedef std::function<void(const void*)> mjCDataFunc;
+typedef std::function<bool(const void*)> mjCDataFunc;
 typedef void (*mjCDeallocFunc)(const void*);
 
 // A class container for a thread-safe asset cache
@@ -57,9 +57,9 @@ class mjCAsset {
   std::size_t InsertNum() const { return insert_num_; }
   std::size_t AccessCount() const { return access_count_; }
 
-  // pass data in the cache to the given function
-  void PopulateData(mjCDataFunc fn) const {
-    fn(data_.get());
+  // pass data in the cache to the given function, return true if data was copied
+  bool PopulateData(mjCDataFunc fn) const {
+    return fn(data_.get());
   }
 
  private:
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index f999fc9a..e03896ed 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -1012,30 +1012,28 @@ void mjCMesh::LoadOBJ(mjResource* resource, bool remove_repeated) {
 
 // load mesh from cached asset, return true on success
 bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
-  // save previous mesh properties (in case different from cached mesh)
-  int maxhullvert = maxhullvert_;
-  mjtMeshInertia old_inertia = inertia;
-  double old_scale[3] = {scale[0], scale[1], scale[2]};
-
   auto process_mesh = [&](const void* data) {
     const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
     // check if maxhullvert is different
-    maxhullvert_ = mesh->maxhullvert_;
-    if (maxhullvert != mesh->maxhullvert_) {
-      return;
+    if (maxhullvert_ != mesh->maxhullvert_) {
+      return false;
     }
 
     // check if inertia is different
-    inertia = mesh->inertia;
-    if (old_inertia != mesh->inertia) {
-      return;
+    if (inertia != mesh->inertia) {
+      return false;
     }
 
     // check if scale is different
-    memcpy(scale, mesh->scale, 3*sizeof(double));
-    if (old_scale[0] != mesh->scale[0] || old_scale[1] != mesh->scale[1] ||
-        old_scale[2] != mesh->scale[2]) {
-      return;
+    if (scale[0] != mesh->scale[0] ||
+        scale[1] != mesh->scale[1] ||
+        scale[2] != mesh->scale[2]) {
+      return false;
+    }
+
+    // check if need hull
+    if (needhull_ && !mesh->szgraph_) {
+      return false;
     }
 
     processed_ = mesh->processed_;
@@ -1047,11 +1045,14 @@ bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
     facetexcoord_ = mesh->facetexcoord_;
     halfedge_ = mesh->halfedge_;
 
-    szgraph_ = mesh->szgraph_;
-    graph_ = nullptr;
-    if (szgraph_) {
-      graph_ = (int*)mju_malloc(szgraph_*sizeof(int));
-      std::copy(mesh->graph_, mesh->graph_ + szgraph_, graph_);
+    // only copy graph if needed
+    if (needhull_ || mesh->face_.empty()) {
+      szgraph_ = mesh->szgraph_;
+      graph_ = nullptr;
+      if (szgraph_) {
+        graph_ = (int*)mju_malloc(szgraph_*sizeof(int));
+        std::copy(mesh->graph_, mesh->graph_ + szgraph_, graph_);
+      }
     }
 
     polygons_ = mesh->polygons_;
@@ -1072,29 +1073,11 @@ bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
     }
     tree_ = mesh->tree_;
     face_aabb_ = mesh->face_aabb_;
+    return true;
   };
 
-  // check that cached asset has all data, make sure no metadata has changed
-  if (!cache->PopulateData(resource, process_mesh)) {
-    return false;
-  }
-
-  if (maxhullvert != maxhullvert_) {
-    maxhullvert_ = maxhullvert;
-    return false;
-  }
-  if (inertia != old_inertia) {
-    inertia = old_inertia;
-    return false;
-  }
-  if (scale[0] != old_scale[0] || scale[1] != old_scale[1] ||
-      scale[2] != old_scale[2]) {
-    scale[0] = old_scale[0];
-    scale[1] = old_scale[1];
-    scale[2] = old_scale[2];
-    return false;
-  }
-  return true;
+  // check that cached asset has all data
+  return cache->PopulateData(resource, process_mesh);
 }
 
 // load STL binary mesh
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index cff97b72..82853307 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -75,14 +75,19 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
   image.color_type_ = color_type;
   mjCCache *cache = reinterpret_cast<mjCCache*>(mj_globalCache());
 
+  // cache callback
+  auto callback = [&image](const void* data) {
+    const PNGImage *cached_image = static_cast<const PNGImage*>(data);
+    if (cached_image->color_type_ == image.color_type_) {
+      image = *cached_image;
+      return true;
+    }
+    return false;
+  };
+
   // try loading from cache
-  if (cache && cache->PopulateData(resource, [&image](const void* data) {
-      const PNGImage *cached_image = static_cast<const PNGImage*>(data);
-      if (cached_image->color_type_ == image.color_type_) {
-        image = *cached_image;
-      }
-    })) {
-    if (!image.data_.empty()) return image;
+  if (cache && cache->PopulateData(resource, callback)) {
+      return image;
   }
 
   // open PNG resource
diff --git a/test/user/user_cache_test.cc b/test/user/user_cache_test.cc
index f226827b..82d0f57b 100644
--- a/test/user/user_cache_test.cc
+++ b/test/user/user_cache_test.cc
@@ -65,6 +65,7 @@ GetCachedText(mjCCache& cache, const std::string& model,
   bool inserted = cache.PopulateData(resource,
                                      [&cached_text](const void* data) {
     cached_text = *(static_cast<const std::string*>(data));
+    return true;
   });
   mju_closeResource(resource);
   mj_deleteVFS(&vfs);
diff --git a/test/user/user_mesh_test.cc b/test/user/user_mesh_test.cc
index b9c1f3af..759561b2 100644
--- a/test/user/user_mesh_test.cc
+++ b/test/user/user_mesh_test.cc
@@ -42,14 +42,14 @@ static const char* const kDuplicateVerticesPath =
     "user/testdata/duplicate_vertices.xml";
 static const char* const kCubePath =
     "user/testdata/cube.xml";
+static const char* const kCubeCompletePath =
+    "user/testdata/cube_complete.obj";
 static const char* const kTorusPath =
     "user/testdata/torus.xml";
 static const char* const kTorusMaxhullVertPath =
     "user/testdata/torus_maxhullvert.xml";
 static const char* const kTorusDefaultMaxhullVertPath =
     "user/testdata/torus_maxhullvert_default.xml";
-static const char* const kTorusShellPath =
-    "user/testdata/torus_shell.xml";
 static const char* const kCompareInertiaPath =
     "user/testdata/inertia_compare.xml";
 static const char* const kConvexInertiaPath =
@@ -1207,6 +1207,48 @@ TEST_F(MjCMeshTest, InvalidIndexInFace) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjCMeshTest, QhullCache) {
+  static constexpr char xml1[] = R"(
+    <mujoco>
+      <asset>
+        <mesh name="box" file="cube_complete.obj"/>
+      </asset>
+      <worldbody>
+        <geom type="mesh" pos="0 0 2" mesh="box" contype="0" conaffinity="0"/>
+        <geom type="mesh" pos="0 0 0" mesh="box" contype="0" conaffinity="0"/>
+      </worldbody>
+    </mujoco>)";
+
+    static constexpr char xml2[] = R"(
+      <mujoco>
+        <asset>
+          <mesh name="box" file="cube_complete.obj"/>
+        </asset>
+        <worldbody>
+          <geom type="mesh" pos="0 0 2" mesh="box"/>
+          <geom type="mesh" pos="0 0 0" mesh="box"/>
+        </worldbody>
+      </mujoco>)";
+
+  mjVFS vfs;
+  mj_defaultVFS(&vfs);
+  mj_addFileVFS(&vfs, "", GetTestDataFilePath(kCubeCompletePath).c_str());
+
+  std::array<char, 1000> error;
+  mjModel* model = LoadModelFromString(xml1, error.data(), error.size(), &vfs);
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+  EXPECT_THAT(model->mesh_graphadr[0], -1);
+
+  mj_deleteModel(model);
+
+  model = LoadModelFromString(xml2, error.data(), error.size(), &vfs);
+  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
+  EXPECT_GT(model->mesh_graphadr[0], -1);
+
+  mj_deleteModel(model);
+  mj_deleteVFS(&vfs);
+}
+
 TEST_F(MjCMeshTest, LoadSkin) {
   const std::string xml_path = GetTestDataFilePath(kCubeSkinPath);
   std::array<char, 1024> error;

From ad80a4625b3d7fd916709de3fab88d5e687b81e7 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 8 May 2025 09:45:43 -0700
Subject: [PATCH 101/191] Always generate a BVH in flex.

The BVH is used also for computing normalized vertex coordinates in the trilinear interpolation, so we need to compute it also when the flex cannot collide.

PiperOrigin-RevId: 756349244
Change-Id: Ib397c472e31251df5a7ea85850d83a62f3b2c949
---
 src/user/user_mesh.cc       |  3 ++-
 test/user/user_flex_test.cc | 21 +++++++++++++++++++++
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index e03896ed..93c10004 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -3624,8 +3624,9 @@ void mjCFlex::CreateBVH() {
     elemaabb_[6*e+5] = 0.5*(xmax[2]-xmin[2]) + radius;
 
     // add bounding volume for this element
+    // contype and conaffinity are set to nonzero to force bvh generation
     const double* aabb = elemaabb_.data() + 6*e;
-    tree.AddBoundingVolume(e, contype, conaffinity, aabb, nullptr, aabb);
+    tree.AddBoundingVolume(e, 1, 1, aabb, nullptr, aabb);
     nbvh++;
   }
 
diff --git a/test/user/user_flex_test.cc b/test/user/user_flex_test.cc
index a43b93f0..492c4170 100644
--- a/test/user/user_flex_test.cc
+++ b/test/user/user_flex_test.cc
@@ -243,6 +243,27 @@ TEST_F(UserFlexTest, RigidFlex) {
   mj_deleteModel(m);
   mj_deleteData(d);
 }
+
+TEST_F(UserFlexTest, FlexNotCollide) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <flexcomp name="test" pos="1 0 -1" type="grid"
+                count="5 5 5" spacing="1 1 1" dim="3">
+        <contact contype="0" conaffinity="0"/>
+      </flexcomp>
+    </worldbody>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(m, NotNull()) << error.data();
+  mjData* d = mj_makeData(m);
+  mj_step(m, d);
+  mj_deleteModel(m);
+  mj_deleteData(d);
+}
+
 TEST_F(UserFlexTest, BoundingBoxCoordinates) {
   static constexpr char xml[] = R"(
   <mujoco>

From baf84265b8627e6f868bc92ea6422e4e78dacb9c Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Fri, 9 May 2025 04:12:17 -0700
Subject: [PATCH 102/191] Improve wrap_circle.

PiperOrigin-RevId: 756704385
Change-Id: Id44ba317c6072790763a958f4227a76278d3ab74
---
 src/engine/engine_util_misc.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index b7f06601..03435f48 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -107,12 +107,12 @@ static mjtNum wrap_circle(mjtNum pnt[4], const mjtNum end[4], const mjtNum* side
     return -1;
   }
 
+  mjtNum sqrt0 = mju_sqrt(sqlen0 - sqrad);
+  mjtNum sqrt1 = mju_sqrt(sqlen1 - sqrad);
+
   // construct the two solutions, compute goodness
   mjtNum sol[2][2][2], good[2];
   for (int i=0; i < 2; i++) {
-    mjtNum sqrt0 = mju_sqrt(sqlen0 - sqrad);
-    mjtNum sqrt1 = mju_sqrt(sqlen1 - sqrad);
-
     int sgn = (i == 0 ? 1 : -1);
 
     sol[i][0][0] = (end[0]*sqrad + sgn*radius*end[1]*sqrt0)/sqlen0;

From 924ee3070ae8addb16a3a00e037113601be2111d Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 9 May 2025 11:02:09 -0700
Subject: [PATCH 103/191] Modify user values in mujoco to allow users to
 provide cleanup functions to avoid memory leaks.

For the MJCF -> USD plugin, and I suspect other usecases for user values, it's necessary to give ownership of the object to Mujoco. However since they get type erased, we can't clean up the data automatically for the user. Instead this allows c++ clients to provide a cleanup function with their data.

PiperOrigin-RevId: 756832010
Change-Id: I80b8e7822e1a0e399a0d19dcaa57ee69b3ccc16a
---
 doc/APIreference/functions.rst                | 11 +++++
 doc/includes/references.h                     |  3 ++
 include/mujoco/mujoco.h                       |  7 ++++
 .../introspect/codegen/generate_functions.py  |  9 +++-
 src/user/user_api.cc                          | 14 ++++---
 src/user/user_api.h                           |  5 +++
 src/user/user_objects.cc                      |  9 ++--
 src/user/user_objects.h                       | 41 ++++++++++++++++++-
 test/user/user_api_test.cc                    |  8 ++++
 9 files changed, 92 insertions(+), 15 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 9606e94d..e13ad19d 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -4459,6 +4459,17 @@ Transform body into a frame.
 
 Set user payload, overriding the existing value for the specified key if present.
 
+.. _mjs_setUserValueWithCleanup:
+
+`mjs_setUserValueWithCleanup <#mjs_setUserValueWithCleanup>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setUserValueWithCleanup
+
+Set user payload, overriding the existing value for the specified key if
+present. This version differs from mjs_setUserValue in that it takes a
+cleanup function that will be called when the user payload is deleted.
+
 .. _mjs_getUserValue:
 
 `mjs_getUserValue <#mjs_getUserValue>`__
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 6ebc759a..0689e150 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3732,6 +3732,9 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
                                    const mjsOrientation* orientation);
 mjsFrame* mjs_bodyToFrame(mjsBody** body);
 void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
+void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
+                                 const void* data,
+                                 void (*cleanup)(const void*));
 const void* mjs_getUserValue(mjsElement* element, const char* key);
 void mjs_deleteUserValue(mjsElement* element, const char* key);
 void mjs_defaultSpec(mjSpec* spec);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 63bfafcc..5bca71ea 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1644,6 +1644,13 @@ MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);
 // Set user payload, overriding the existing value for the specified key if present.
 MJAPI void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
 
+// Set user payload, overriding the existing value for the specified key if
+// present. This version differs from mjs_setUserValue in that it takes a
+// cleanup function that will be called when the user payload is deleted.
+MJAPI void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
+                                       const void* data,
+                                       void (*cleanup)(const void*));
+
 // Return user payload or NULL if none found.
 MJAPI const void* mjs_getUserValue(mjsElement* element, const char* key);
 
diff --git a/python/mujoco/introspect/codegen/generate_functions.py b/python/mujoco/introspect/codegen/generate_functions.py
index 1966e328..06beeaf2 100644
--- a/python/mujoco/introspect/codegen/generate_functions.py
+++ b/python/mujoco/introspect/codegen/generate_functions.py
@@ -99,8 +99,13 @@ class MjFunctionVisitor:
       return ''.join(strings)
 
   def visit(self, node: ClangJsonNode) -> None:
-    if (node.get('kind') == 'FunctionDecl' and
-        node.get('name', '').startswith('mj')):
+    # Skip mjs_setUserValueWithCleanup as it's only useful for heap allocated
+    # objects and doesn't need a python wrapper.
+    if (
+        node.get('kind') == 'FunctionDecl'
+        and node.get('name', '').startswith('mj')
+        and node.get('name', '') != 'mjs_setUserValueWithCleanup'
+    ):
       func_decl = self._make_function(node)
       self._functions[func_decl.name] = func_decl
 
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index e103aa8e..41cba2d2 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -860,15 +860,17 @@ mjsFrame* mjs_bodyToFrame(mjsBody** body) {
   return &frameC->spec;
 }
 
-
-
-// set user payload
 void mjs_setUserValue(mjsElement* element, const char* key, const void* data) {
-  mjCBase* baseC = static_cast<mjCBase*>(element);
-  baseC->SetUserValue(key, data);
+  mjs_setUserValueWithCleanup(element, key, data, nullptr);
 }
 
-
+// set user payload
+void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
+                                 const void* data,
+                                 void (*cleanup)(const void*)) {
+  mjCBase* baseC = static_cast<mjCBase*>(element);
+  baseC->SetUserValue(key, data, cleanup);
+}
 
 // return user payload or NULL if none found
 const void* mjs_getUserValue(mjsElement* element, const char* key) {
diff --git a/src/user/user_api.h b/src/user/user_api.h
index e1b73d86..cd228147 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -374,6 +374,11 @@ MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);
 // Set user payload.
 MJAPI void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
 
+// Set user payload.
+MJAPI void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
+                                       const void* data,
+                                       void (*cleanup)(const void*));
+
 // Return user payload or NULL if none found.
 MJAPI const void* mjs_getUserValue(mjsElement* element, const char* key);
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 82853307..51c0f63a 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -784,15 +784,14 @@ void mjCBase::SetFrame(mjCFrame* _frame) {
   frame = _frame;
 }
 
-
-void mjCBase::SetUserValue(std::string_view key, const void* data) {
-  user_payload_[std::string(key)] = data;
+void mjCBase::SetUserValue(std::string_view key, const void* data,
+                           void (*cleanup)(const void*)) {
+  user_payload_[std::string(key)] = UserValue(data, cleanup);
 }
 
-
 const void* mjCBase::GetUserValue(std::string_view key) {
   auto found = user_payload_.find(std::string(key));
-  return found != user_payload_.end() ? found->second : nullptr;
+  return found != user_payload_.end() ? found->second.value : nullptr;
 }
 
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index bfec0797..9cdae417 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -281,7 +281,8 @@ class mjCBase : public mjCBase_ {
   }
 
   // Set and get user payload
-  void SetUserValue(std::string_view key, const void* data);
+  void SetUserValue(std::string_view key, const void* data,
+                    void (*cleanup)(const void*));
   const void* GetUserValue(std::string_view key);
   void DeleteUserValue(std::string_view key);
 
@@ -292,8 +293,44 @@ class mjCBase : public mjCBase_ {
   // reference count for allowing deleting an attached object
   int refcount = 1;
 
+  // Arbitrary user value that cleans up the data when destroyed.
+  struct UserValue {
+    const void* value = nullptr;
+    void (*cleanup)(const void*) = nullptr;
+
+    UserValue() {}
+    UserValue(const void* value, void (*cleanup)(const void*))
+        : value(value), cleanup(cleanup) {}
+    UserValue(const UserValue& other) = delete;
+    UserValue& operator=(const UserValue& other) = delete;
+
+    UserValue(UserValue&& other) : value(other.value), cleanup(other.cleanup) {
+      other.value = nullptr;
+      other.cleanup = nullptr;
+    }
+
+    UserValue& operator=(UserValue&& other) {
+      if (this != &other) {
+        if (cleanup && value) {
+          cleanup(value);
+        }
+        value = other.value;
+        cleanup = other.cleanup;
+        other.value = nullptr;
+        other.cleanup = nullptr;
+      }
+      return *this;
+    }
+
+    ~UserValue() {
+      if (cleanup && value) {
+        cleanup(value);
+      }
+    }
+  };
+
   // user payload
-  std::unordered_map<std::string, const void*> user_payload_;
+  std::unordered_map<std::string, UserValue> user_payload_;
 };
 
 
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 4db9f25b..1669ea20 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -2845,6 +2845,14 @@ TEST_F(MujocoTest, UserValue) {
   EXPECT_STREQ(static_cast<const char*>(payload), data.c_str());
   mjs_deleteUserValue(body->element, "key");
   EXPECT_THAT(mjs_getUserValue(body->element, "key"), IsNull());
+
+  std::string* heap_data = new std::string("heap_data");
+  mjs_setUserValueWithCleanup(
+      body->element, "key", heap_data,
+      [](const void* data) { delete static_cast<const std::string*>(data); });
+  payload = mjs_getUserValue(body->element, "key");
+  EXPECT_STREQ(static_cast<const std::string*>(payload)->c_str(),
+               heap_data->c_str());
   mj_deleteSpec(spec);
 }
 

From b0b2c48190d4c2d73277e95196d73284028819cd Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 12 May 2025 02:44:42 -0700
Subject: [PATCH 104/191] Update comment in mj_energyPos.

PiperOrigin-RevId: 757670899
Change-Id: I3827089f4298b3800c20ed64ca0ccfcf3ed83d92
---
 src/engine/engine_sensor.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index 936dc085..0ff91a09 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -948,7 +948,7 @@ void mj_energyPos(const mjModel* m, mjData* d) {
         mjFALLTHROUGH;
 
       case mjJNT_BALL:
-        // covert quatertion difference into angular "velocity"
+        // convert quaternion difference into angular "velocity"
         mju_copy4(quat, d->qpos+padr);
         mju_normalize4(quat);
         mju_subQuat(dif, d->qpos + padr, m->qpos_spring + padr);

From 9accc7ae51764445658b594112e591ee37f258d8 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 12 May 2025 03:12:10 -0700
Subject: [PATCH 105/191] Update mj_energyPos.

PiperOrigin-RevId: 757678945
Change-Id: If236b9e8f376a2673abc87e818326e9188f6c15a
---
 src/engine/engine_passive.c       |  2 +-
 src/engine/engine_sensor.c        |  4 +---
 test/engine/engine_sensor_test.cc | 27 +++++++++++++++++++++++++++
 3 files changed, 29 insertions(+), 4 deletions(-)

diff --git a/src/engine/engine_passive.c b/src/engine/engine_passive.c
index 40296906..3c025804 100644
--- a/src/engine/engine_passive.c
+++ b/src/engine/engine_passive.c
@@ -84,7 +84,7 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
 
     case mjJNT_BALL:
       {
-        // convert quatertion difference into angular "velocity"
+        // convert quaternion difference into angular "velocity"
         mjtNum dif[3], quat[4];
         mju_copy4(quat, d->qpos+padr);
         mju_normalize4(quat);
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index 0ff91a09..485474c1 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -938,9 +938,7 @@ void mj_energyPos(const mjModel* m, mjData* d) {
 
       switch ((mjtJoint) m->jnt_type[i]) {
       case mjJNT_FREE:
-        mju_copy4(quat, d->qpos+padr);
-        mju_normalize4(quat);
-        mju_sub3(dif, quat, m->qpos_spring+padr);
+        mju_sub3(dif, d->qpos+padr, m->qpos_spring+padr);
         d->energy[0] += 0.5*stiffness*mju_dot3(dif, dif);
 
         // continue with rotations
diff --git a/test/engine/engine_sensor_test.cc b/test/engine/engine_sensor_test.cc
index 5aa2aa5b..b5f0125a 100644
--- a/test/engine/engine_sensor_test.cc
+++ b/test/engine/engine_sensor_test.cc
@@ -454,6 +454,33 @@ TEST_F(SensorTest, PotentialEnergy) {
   mj_deleteModel(model);
 }
 
+TEST_F(SensorTest, PotentialEnergyFreeJointSpring) {
+  constexpr char xml[] = R"(
+  <mujoco>
+    <option gravity="0 0 0"/>
+    <worldbody>
+      <body>
+        <geom size="1" mass="3"/>
+        <joint type="free" stiffness="2"/>
+      </body>
+    </worldbody>
+    <sensor>
+      <e_potential/>
+    </sensor>
+  </mujoco>
+  )";
+  mjModel* model = LoadModelFromString(xml);
+  mjData* data = mj_makeData(model);
+  data->qpos[0] = 1;
+  data->qpos[1] = 2;
+  data->qpos[2] = 3;
+  mj_forward(model, data);
+  EXPECT_EQ(data->sensordata[0], 0.5*2*14);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(SensorTest, KineticEnergy) {
   constexpr char xml[] = R"(
   <mujoco>

From 85dd78d6f34ef976ab99eebd2a36f329fd54f555 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 12 May 2025 03:51:31 -0700
Subject: [PATCH 106/191] Add private function `mj_makeM`.

PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
---
 src/engine/engine_core_smooth.c | 11 ++++++++---
 src/engine/engine_core_smooth.h |  3 +++
 src/engine/engine_forward.c     | 17 +++++++++--------
 src/engine/engine_inverse.c     |  3 +--
 src/engine/engine_setconst.c    |  3 +--
 5 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index efd74614..b2bdc8b5 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1471,7 +1471,6 @@ void mj_transmission(const mjModel* m, mjData* d) {
 
 // add tendon armature to qM
 void mj_tendonArmature(const mjModel* m, mjData* d) {
-  TM_START;
   int nv = m->nv, ntendon = m->ntendon, issparse = mj_isSparse(m);
 
   for (int k=0; k < ntendon; k++) {
@@ -1521,14 +1520,12 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
       }
     }
   }
-  TM_END(mjTIMER_POS_INERTIA);
 }
 
 
 
 // composite rigid body inertia algorithm
 void mj_crb(const mjModel* m, mjData* d) {
-  TM_START;
   mjtNum buf[6];
   mjtNum* crb = d->crb;
   int last_body = m->nbody - 1, nv = m->nv;
@@ -1574,6 +1571,14 @@ void mj_crb(const mjModel* m, mjData* d) {
       d->qM[Madr_ij++] += mju_dot(d->cdof+6*j, buf, 6);
     }
   }
+}
+
+
+
+void mj_makeM(const mjModel* m, mjData* d) {
+  TM_START;
+  mj_crb(m, d);
+  mj_tendonArmature(m, d);
   TM_END(mjTIMER_POS_INERTIA);
 }
 
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index 38decdca..a2db11cf 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -54,6 +54,9 @@ MJAPI void mj_crb(const mjModel* m, mjData* d);
 // add tendon armature to qM
 MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
 
+// make inertia matrix
+void mj_makeM(const mjModel* m, mjData* d);
+
 // sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd  (legacy implementation)
 MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
                              mjtNum* qLD, mjtNum* qLDiagInv);
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index b409e1ea..b48b5804 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -114,16 +114,15 @@ typedef struct mjFwdPositionArgs_ mjFwdPositionArgs;
 // wrapper for mj_crb and mj_factorM
 void* mj_inertialThreaded(void* args) {
   mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args;
-  mj_crb(forward_args->m, forward_args->d);             // timed internally (POS_INERTIA)
-  mj_tendonArmature(forward_args->m, forward_args->d);  // timed internally (POS_INERTIA)
-  mj_factorM(forward_args->m, forward_args->d);         // timed internally (POS_INERTIA)
+  mj_makeM(forward_args->m, forward_args->d);
+  mj_factorM(forward_args->m, forward_args->d);
   return NULL;
 }
 
 // wrapper for mj_collision
 void* mj_collisionThreaded(void* args) {
   mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args;
-  mj_collision(forward_args->m, forward_args->d);   // timed internally (POS_COLLISION)
+  mj_collision(forward_args->m, forward_args->d);
   return NULL;
 }
 
@@ -143,10 +142,12 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
 
   // no threadpool: inertia and collision on main thread
   if (!d->threadpool) {
-    mj_crb(m, d);             // timed internally (POS_INERTIA)
-    mj_tendonArmature(m, d);  // timed internally (POS_INERTIA)
-    mj_factorM(m, d);         // timed internally (POS_INERTIA)
-    mj_collision(m, d);       // timed internally (POS_COLLISION)
+    // inertia, timed internally (POS_INERTIA)
+    mj_makeM(m, d);
+    mj_factorM(m, d);
+
+    // collision, timed internally (POS_COLLISION)
+    mj_collision(m, d);
   }
 
   // have threadpool: inertia and collision on separate threads
diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
index 57005f1e..de8b9a52 100644
--- a/src/engine/engine_inverse.c
+++ b/src/engine/engine_inverse.c
@@ -46,8 +46,7 @@ void mj_invPosition(const mjModel* m, mjData* d) {
   mj_tendon(m, d);
   TM_END(mjTIMER_POS_KINEMATICS);
 
-  mj_crb(m, d);             // timed internally (POS_INERTIA)
-  mj_tendonArmature(m, d);  // timed internally (POS_INERTIA)
+  mj_makeM(m, d);           // timed internally (POS_INERTIA)
   mj_factorM(m, d);         // timed internally (POS_INERTIA)
 
   mj_collision(m, d);  // timed internally (POS_COLLISION)
diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c
index eece506c..f737688c 100644
--- a/src/engine/engine_setconst.c
+++ b/src/engine/engine_setconst.c
@@ -103,8 +103,7 @@ static void set0(mjModel* m, mjData* d) {
 
   // run remaining computations
   mj_tendon(m, d);
-  mj_crb(m, d);
-  mj_tendonArmature(m, d);
+  mj_makeM(m, d);
   mj_factorM(m, d);
   mj_flex(m, d);
   mj_transmission(m, d);

From af088adaee0b6e4354bbd8bbff5b1dbb70fdc8a3 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Mon, 12 May 2025 04:57:14 -0700
Subject: [PATCH 107/191] Add mjPhysics schemas, starting with
 MjcPhysicsSceneAPI and MjcPhysicsSiteAPI

PiperOrigin-RevId: 757710745
Change-Id: Ia920abecdf8c6a05f61dd0fd3a8e6bc001ccc7d0
---
 src/experimental/usd/mjcPhysics/schema.usda | 524 ++++++++++++++++++++
 1 file changed, 524 insertions(+)
 create mode 100644 src/experimental/usd/mjcPhysics/schema.usda

diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
new file mode 100644
index 00000000..1a13a089
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -0,0 +1,524 @@
+#usda 1.0
+(
+  subLayers = [
+        @usd/schema.usda@,
+  ]
+)
+
+over "GLOBAL" (
+  customData = {
+    string libraryName = "mujocoPhysics"
+    string libraryPath = "."
+    bool useLiteralIdentifier = 0
+    dictionary libraryTokens = {
+        dictionary euler = {
+            string doc = """
+            This token represents the Euler numerical integrator.
+            """
+        }
+
+        dictionary rk4 = {
+            string doc = """
+            This token represents the RK4 numerical integrator.
+            """
+        }
+
+        dictionary implicit = {
+            string doc = """
+            This token represents the implicit numerical integrator.
+            """
+        }
+
+        dictionary implicitfast = {
+            string doc = """
+            This token represents the implicitfast numerical integrator.
+            """
+        }
+
+        dictionary pyramidal = {
+            string doc = """
+            This token represents the pyramidal contact friction cone type.
+            """
+        }
+
+        dictionary elliptic = {
+            string doc = """
+            This token represents the elliptic contact friction cone type.
+            """
+        }
+
+        dictionary dense = {
+            string doc = """
+            This token represents the dense constraint Jacobian and matrices
+            computed from it.
+            """
+        }
+
+        dictionary sparse = {
+            string doc = """
+            This token represents the sparse constraint Jacobian and matrices
+            computed from it.
+            """
+        }
+
+        dictionary auto = {
+            string doc = """
+            This token represents the auto constraint Jacobian and matrices
+            computed from it.
+            """
+        }
+
+        dictionary pgs = {
+            string doc = """
+            This token represents the PGS constraint solver algorithm.
+            """
+        }
+
+        dictionary cg = {
+            string doc = """
+            This token represents the CG constraint solver algorithm.
+            """
+        }
+
+        dictionary newton = {
+            string doc = """
+            This token represents the Newton constraint solver algorithm.
+            """
+        }
+      }
+  }
+)
+{
+
+}
+
+class "MjcPhysicsSceneAPI"
+(
+    customData = {
+        string className = "SceneAPI"
+    }
+    doc = """API providing global simulation options for Mujoco."""
+
+    inherits = </APISchemaBase>
+)
+{
+    uniform double mjc:physics:timestep = 0.002 (
+        customData = {
+            string apiName = "Timestep"
+        }
+        displayName = "Timestep"
+        doc = """Controls the timestep in seconds used by MuJoCo."""
+    )
+
+    uniform double mjc:physics:apirate = 100 (
+        customData = {
+            string apiName = "ApiRate"
+        }
+        displayName = "ApiRate"
+        doc = """Determines the rate (in Hz) at which an external API allows
+        the update function to be executed."""
+    )
+
+    uniform double mjc:physics:impratio = 1.0 (
+        customData = {
+            string apiName = "ImpRatio"
+        }
+        displayName = "Impedance Ratio"
+        doc = """Ratio of frictional-to-normal constraint impedance for elliptic
+        friction cones."""
+    )
+
+    uniform double3 mjc:physics:wind = (0.0, 0.0, 0.0) (
+        customData = {
+            string apiName = "Wind"
+        }
+        displayName = "Wind Velocity"
+        doc = """Velocity vector of medium (i.e. wind)."""
+    )
+
+    uniform double3 mjc:physics:magnetic = (0.0, -0.5, 0.0) (
+        customData = {
+            string apiName = "Magnetic"
+        }
+        displayName = "Magnetic Flux"
+        doc = """Global magnetic flux."""
+    )
+
+    uniform double mjc:physics:density = 0.0 (
+        customData = {
+            string apiName = "Density"
+        }
+        displayName = "Density"
+        doc = """Density of medium."""
+    )
+
+    uniform double mjc:physics:viscosity = 0.0 (
+        customData = {
+            string apiName = "Viscosity"
+        }
+        displayName = "Viscosity"
+        doc = """Viscosity of medium."""
+    )
+
+    uniform double mjc:physics:o_margin = 0.0 (
+        customData = {
+            string apiName = "OMargin"
+        }
+        displayName = "Contact Override Margin"
+        doc = """Replaces the margin parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+
+    uniform double[] mjc:physics:o_solref = [0.02, 1.0] (
+        customData = {
+            string apiName = "OSolRef"
+        }
+        displayName = "Contact Override SolRef"
+        doc = """Replaces the solref parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+
+    uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
+        customData = {
+            string apiName = "OSolImp"
+        }
+        displayName = "Contact Override SolImp"
+        doc = """Replaces the solimp parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+
+    uniform double[] mjc:physics:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
+        customData = {
+            string apiName = "OFriction"
+        }
+        displayName = "Contact Override Friction"
+        doc = """Replaces the friction parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+
+    uniform token mjc:physics:integrator = "euler" (
+        allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
+        customData = {
+            string apiName = "Integrator"
+        }
+        displayName = "Integrator"
+        doc = """Numerical integrator to be used."""
+    )
+
+    uniform token mjc:physics:cone = "pyramidal" (
+        allowedTokens = ["pyramidal", "elliptic"]
+        customData = {
+            string apiName = "Cone"
+        }
+        displayName = "Friction Cone Type"
+        doc = """The type of contact friction cone."""
+    )
+
+    uniform token mjc:physics:jacobian = "auto" (
+        allowedTokens = ["auto", "dense", "sparse"]
+        customData = {
+            string apiName = "Jacobian"
+        }
+        displayName = "Jacobian Type"
+        doc = """The type of constraint Jacobian and matrices computed from it."""
+    )
+
+    uniform token mjc:physics:solver = "newton" (
+        allowedTokens = ["pgs", "cg", "newton"]
+        customData = {
+            string apiName = "Solver"
+        }
+        displayName = "Solver"
+        doc = """Constraint solver algorithm to be used."""
+    )
+
+    uniform int mjc:physics:iterations = 100 (
+        customData = {
+            string apiName = "Iterations"
+        }
+        displayName = "Solver Iterations"
+        doc = """Maximum number of iterations of the constraint solver."""
+    )
+
+    uniform double mjc:physics:tolerance = 1e-08 (
+        customData = {
+            string apiName = "Tolerance"
+        }
+        displayName = "Solver Tolerance"
+        doc = """Tolerance threshold used for early termination of the iterative
+        solver."""
+    )
+
+    uniform int mjc:physics:ls_iterations = 50 (
+        customData = {
+            string apiName = "LSIterations"
+        }
+        displayName = "Linesearch Iterations"
+        doc = """Maximum number of linesearch iterations performed by CG/Newton
+        constraint solvers."""
+    )
+
+    uniform double mjc:physics:ls_tolerance = 0.01 (
+        customData = {
+            string apiName = "LSTolerance"
+        }
+        displayName = "Linesearch Tolerance"
+        doc = """Tolerance threshold used for early termination of the linesearch algorithm."""
+    )
+
+    uniform int mjc:physics:noslip_iterations = 0 (
+        customData = {
+            string apiName = "NoslipIterations"
+        }
+        displayName = "Noslip Iterations"
+        doc = """Maximum number of iterations of the Noslip solver."""
+    )
+
+    uniform double mjc:physics:noslip_tolerance = 1e-06 (
+        customData = {
+            string apiName = "NoslipTolerance"
+        }
+        displayName = "Noslip Tolerance"
+        doc = """Tolerance threshold used for early termination of the Noslip solver."""
+    )
+
+    uniform int mjc:physics:ccd_iterations = 50 (
+        customData = {
+            string apiName = "CCDIterations"
+        }
+        displayName = "CCD Iterations"
+        doc = """Maximum number of iterations of the algorithm used for convex collisions."""
+    )
+
+    uniform double mjc:physics:ccd_tolerance = 1e-06 (
+        customData = {
+            string apiName = "CCDTolerance"
+        }
+        displayName = "CCD Tolerance"
+        doc = """Tolerance threshold used for early termination of the convex
+        collision algorithm."""
+    )
+
+    uniform int mjc:physics:sdf_iterations = 10 (
+        customData = {
+            string apiName = "SDFIterations"
+        }
+        displayName = "SDF Iterations"
+        doc = """Number of iterations used for Signed Distance Field collisions
+        (per initial point)."""
+    )
+
+    uniform int mjc:physics:sdf_initpoints = 40 (
+        customData = {
+            string apiName = "SDFInitPoints"
+        }
+        displayName = "SDF Initial Points"
+        doc = """Number of starting points used for finding contacts with Signed
+        Distance Field collisions."""
+    )
+
+    uniform int[] mjc:physics:actuatorgroupdisable (
+        customData = {
+            string apiName = "ActuatorGroupDisable"
+        }
+        displayName = "Actuator Group Disable"
+        doc = """List of actuator groups to disable."""
+    )
+
+    uniform bool mjc:physics:flag:constraint = True (
+        customData = {
+            string apiName = "ConstraintFlag"
+        }
+        displayName = "Constraint Solver Toggle"
+        doc = """Enables constraint solver."""
+    )
+
+    uniform bool mjc:physics:flag:equality = True (
+        customData = {
+            string apiName = "EqualityFlag"
+        }
+        displayName = "Equality Constraints Toggle"
+        doc = """Enables all standard computations related to equality constraints."""
+    )
+
+    uniform bool mjc:physics:flag:frictionloss = True (
+        customData = {
+            string apiName = "FrictionLossFlag"
+        }
+        displayName = "Friction Loss Constraints Toggle"
+        doc = """Enables all standard computations related to friction loss constraints."""
+    )
+
+    uniform bool mjc:physics:flag:limit = True (
+        customData = {
+            string apiName = "LimitFlag"
+        }
+        displayName = "Joint and Tendon Limit Constraints Toggle"
+        doc = """Enables all standard computations related to joint and tendon limit constraints."""
+    )
+
+    uniform bool mjc:physics:flag:contact = True (
+        customData = {
+            string apiName = "ContactFlag"
+        }
+        displayName = "Contact Constraints and Collision Detection Toggle"
+        doc = """Enables collision detection and all standard computations related to contact constraints."""
+    )
+
+    uniform bool mjc:physics:flag:passive = True (
+        customData = {
+            string apiName = "PassiveFlag"
+        }
+        displayName = "Passive Forces Toggle"
+        doc = """Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."""
+    )
+
+    uniform bool mjc:physics:flag:gravity = True (
+        customData = {
+            string apiName = "GravityFlag"
+        }
+        displayName = "Gravity Toggle"
+        doc = """Enables the application of gravitational acceleration as defined in mjOption."""
+    )
+
+    uniform bool mjc:physics:flag:clampctrl = True (
+        customData = {
+            string apiName = "ClampCtrlFlag"
+        }
+        displayName = "Control Input Clamping Toggle"
+        doc = """Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."""
+    )
+
+    uniform bool mjc:physics:flag:warmstart = True (
+        customData = {
+            string apiName = "WarmStartFlag"
+        }
+        displayName = "Solver Warm-Starting Toggle"
+        doc = """Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."""
+    )
+
+    uniform bool mjc:physics:flag:filterparent = True (
+        customData = {
+            string apiName = "FilterParentFlag"
+        }
+        displayName = "Parent-Child Contact Filtering Toggle"
+        doc = """Enables the filtering of contact pairs where the two geoms belong to a parent and child body."""
+    )
+
+    uniform bool mjc:physics:flag:actuation = True (
+        customData = {
+            string apiName = "ActuationFlag"
+        }
+        displayName = "Actuation Forces Toggle"
+        doc = """Enables all standard computations related to actuator forces, including actuator dynamics."""
+    )
+
+    uniform bool mjc:physics:flag:refsafe = True (
+        customData = {
+            string apiName = "RefSafeFlag"
+        }
+        displayName = "Solver Reference Safety Mechanism Toggle"
+        doc = """Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."""
+    )
+
+    uniform bool mjc:physics:flag:sensor = True (
+        customData = {
+            string apiName = "SensorFlag"
+        }
+        displayName = "Sensor Computations Toggle"
+        doc = """Enables all computations related to sensors."""
+    )
+
+    uniform bool mjc:physics:flag:midphase = True (
+        customData = {
+            string apiName = "MidPhaseFlag"
+        }
+        displayName = "Mid-Phase Collision Filtering Toggle"
+        doc = """Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."""
+    )
+
+    uniform bool mjc:physics:flag:nativeccd = True (
+        customData = {
+            string apiName = "NativeCCDFlag"
+        }
+        displayName = "Native Convex Collision Detection Toggle"
+        doc = """Enables the native convex collision detection pipeline instead of using the libccd library."""
+    )
+
+    uniform bool mjc:physics:flag:eulerdamp = True (
+        customData = {
+            string apiName = "EulerDampFlag"
+        }
+        displayName = "Euler Integrator Damping Toggle"
+        doc = """Enables implicit integration with respect to joint damping in the Euler integrator."""
+    )
+
+    uniform bool mjc:physics:flag:autoreset = True (
+        customData = {
+            string apiName = "AutoResetFlag"
+        }
+        displayName = "Automatic Simulation Reset Toggle"
+        doc = """Enables the automatic resetting of the simulation state when numerical issues are detected."""
+    )
+
+    uniform bool mjc:physics:flag:override = False (
+        customData = {
+            string apiName = "OverrideFlag"
+        }
+        displayName = "Contact Override Mechanism Toggle"
+        doc = """Enables the contact override mechanism."""
+    )
+
+    uniform bool mjc:physics:flag:energy = False (
+        customData = {
+            string apiName = "EnergyFlag"
+        }
+        displayName = "Energy Computation Toggle"
+        doc = """Enables the computation of potential and kinetic energy (mjData.energy[0,1])."""
+    )
+
+    uniform bool mjc:physics:flag:fwdinv = False (
+        customData = {
+            string apiName = "FwdinvFlag"
+        }
+        displayName = "Forward/Inverse Dynamics Comparison Toggle"
+        doc = """Enables the automatic comparison of forward and inverse dynamics."""
+    )
+
+    uniform bool mjc:physics:flag:invdiscrete = False (
+        customData = {
+            string apiName = "InvDiscreteFlag"
+        }
+        displayName = "Discrete-Time Inverse Dynamics Toggle"
+        doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."""
+    )
+
+    uniform bool mjc:physics:flag:multiccd = False (
+        customData = {
+            string apiName = "MultiCCDFlag"
+        }
+        displayName = "Multiple Contact Collision Detection (CCD) Toggle"
+        doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."""
+    )
+
+    uniform bool mjc:physics:flag:island = False (
+        customData = {
+            string apiName = "IslandFlag"
+        }
+        displayName = "Constraint Island Discovery Toggle"
+        doc = """Enables the discovery of constraint islands."""
+    )
+}
+
+class "MjcSiteAPI"
+(
+    customData = {
+        string className = "SiteAPI"
+    }
+    doc = """API describing a Mujoco site."""
+
+    inherits = </APISchemaBase>
+)
+{}
+
+

From 9ac5fff41d25dd4e48d831388ed567b09dd06826 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 12 May 2025 05:35:49 -0700
Subject: [PATCH 108/191] Move local function to top of test file.

PiperOrigin-RevId: 757722664
Change-Id: Ief7d8ca9fda990bf582ca0feaa4b645f0a4bb6e7
---
 test/engine/engine_util_sparse_test.cc | 87 ++++++++++++--------------
 1 file changed, 40 insertions(+), 47 deletions(-)

diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index a11d18e3..c62e3384 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -26,6 +26,29 @@
 namespace mujoco {
 namespace {
 
+// permute the rows and columns of a dense matrix
+inline void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
+                       const int* perm_r, const int* perm_c,
+                       bool scatter_r, bool scatter_c) {
+  for (int r = 0; r < nr; r++) {
+    for (int c = 0; c < nc; c++) {
+      if (scatter_r && scatter_c) {
+        // scatter both
+        res[perm_r[r] * nc + perm_c[c]] = mat[r * nc + c];
+      } else if (scatter_r && !scatter_c) {
+        // scatter rows, gather columns
+        res[perm_r[r] * nc + c] = mat[r * nc + perm_c[c]];
+      } else if (!scatter_r && scatter_c) {
+        // gather rows, scatter columns
+        res[r * nc + perm_c[c]] = mat[perm_r[r] * nc + c];
+      } else {
+        // gather both
+        res[r * nc + c] = mat[perm_r[r] * nc + perm_c[c]];
+      }
+    }
+  }
+}
+
 using ::testing::ElementsAre;
 using EngineUtilSparseTest = MujocoTest;
 
@@ -1128,12 +1151,10 @@ TEST_F(EngineUtilSparseTest, BlockDiag) {
   // 4x5 matrix with 3 blocks
   constexpr int nr = 4;
   constexpr int nc = 5;
-  const mjtNum mat[nr*nc] = {
-    1, 2, 0, 0, 0,
-    0, 0, 3, 4, 0,
-    0, 0, 5, 6, 0,
-    0, 0, 0, 0, 7
-  };
+  const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0,
+                               0, 0, 3, 4, 0,
+                               0, 0, 5, 6, 0,
+                               0, 0, 0, 0, 7};
 
   // block structure
   constexpr int nb = 3;
@@ -1145,7 +1166,7 @@ TEST_F(EngineUtilSparseTest, BlockDiag) {
   // test with identity permutations
   const int perm_r[nr] = {0, 1, 2, 3};
   const int perm_c[nc] = {0, 1, 2, 3, 4};
-  mjtNum res[nr*nc] = {0};
+  mjtNum res[nr * nc] = {0};
   mju_blockDiag(res, mat, nc, nc, nb,
                 perm_r, perm_c,
                 block_nr, block_nc,
@@ -1156,16 +1177,11 @@ TEST_F(EngineUtilSparseTest, BlockDiag) {
                                7, 0, 0, 0, 0));
 }
 
-void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
-  const int* perm_r, const int* perm_c,
-  bool scatter_r, bool scatter_c);
-
-
 TEST_F(EngineUtilSparseTest, BlockDiagPerm) {
   // 4x5 matrix with 3 blocks
   constexpr int nr = 4;
   constexpr int nc = 5;
-  const mjtNum mat[nr*nc] = {
+  const mjtNum mat[nr * nc] = {
     1, 2, 0, 0, 0,
     0, 0, 3, 4, 0,
     0, 0, 5, 6, 0,
@@ -1182,11 +1198,11 @@ TEST_F(EngineUtilSparseTest, BlockDiagPerm) {
   // scatter mat into mat_p
   const int perm_r[nr] = {1, 3, 2, 0};
   const int perm_c[nc] = {2, 0, 4, 3, 1};
-  mjtNum mat_p[nr*nc];
+  mjtNum mat_p[nr * nc];
   PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
 
   // test with permutation
-  mjtNum res[nr*nc] = {0};
+  mjtNum res[nr * nc] = {0};
   mju_blockDiag(res, mat_p, nc, nc, nb,
                 perm_r, perm_c,
                 block_nr, block_nc,
@@ -1201,7 +1217,7 @@ TEST_F(EngineUtilSparseTest, BlockDiagLessCols) {
   // 4x5 matrix with 3 blocks
   constexpr int nr = 4;
   constexpr int nc = 5;
-  const mjtNum mat[nr*nc] = {
+  const mjtNum mat[nr * nc] = {
     1, 2, 0, 0, 0,
     0, 0, 3, 4, 0,
     0, 0, 5, 6, 0,
@@ -1218,12 +1234,12 @@ TEST_F(EngineUtilSparseTest, BlockDiagLessCols) {
   // scatter mat into mat_p
   const int perm_r[nr] = {1, 3, 2, 0};
   const int perm_c[nc] = {2, 0, 4, 3, 1};
-  mjtNum mat_p[nr*nc];
+  mjtNum mat_p[nr * nc];
   PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
 
   // test with permutation and less columns (ignore middle block)
   constexpr int nc_res = 3;
-  mjtNum res2[nr*nc_res] = {0};
+  mjtNum res2[nr * nc_res] = {0};
   mju_blockDiag(res2, mat_p, nc, nc_res, nb,
                 perm_r, perm_c,
                 block_nr, block_nc,
@@ -1238,7 +1254,7 @@ TEST_F(EngineUtilSparseTest, BlockDiagSparse) {
   // 4x5 matrix with 3 blocks
   constexpr int nr = 4;
   constexpr int nc = 5;
-  const mjtNum mat[nr*nc] = {
+  const mjtNum mat[nr * nc] = {
     1, 2, 0, 0, 0,
     0, 0, 3, 4, 0,
     0, 0, 5, 6, 0,
@@ -1269,7 +1285,7 @@ TEST_F(EngineUtilSparseTest, BlockDiagSparse) {
                       mat_sparse, rownnz, rowadr, colind, nr, nb,
                       perm_r, perm_c,
                       block_r, block_c, nullptr, nullptr);
-  mjtNum dense_res[nr*nc];
+  mjtNum dense_res[nr * nc];
   mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
   EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0,
                                      3, 4, 0, 0, 0,
@@ -1301,50 +1317,27 @@ TEST_F(EngineUtilSparseTest, PermuteMat) {
                         0, 0, 5, 6};
   const int perm_r[] = {2, 0, 1};
   const int perm_c[] = {3, 2, 0, 1};
-  mjtNum gather[3*4];
+  mjtNum gather[3 * 4];
   PermuteMat(gather, mat, 3, 4, perm_r, perm_c, false, false);
   EXPECT_THAT(gather, ElementsAre(6, 5, 0, 0,
                                   0, 0, 1, 2,
                                   4, 3, 0, 0));
-  mjtNum scatter[3*4];
+  mjtNum scatter[3 * 4];
   PermuteMat(scatter, gather, 3, 4, perm_r, perm_c, true, true);
   EXPECT_THAT(scatter, ElementsAre(1, 2, 0, 0,
                                    0, 0, 3, 4,
                                    0, 0, 5, 6));
-  mjtNum mixed[3*4];
+  mjtNum mixed[3 * 4];
   PermuteMat(mixed, mat, 3, 4, perm_r, perm_c, true, false);
   EXPECT_THAT(mixed, ElementsAre(4, 3, 0, 0,
                                  6, 5, 0, 0,
                                  0, 0, 1, 2));
-  mjtNum mixed_back[3*4];
+  mjtNum mixed_back[3 * 4];
   PermuteMat(mixed_back, mixed, 3, 4, perm_r, perm_c, false, true);
   EXPECT_THAT(mixed_back, ElementsAre(1, 2, 0, 0,
                                       0, 0, 3, 4,
                                       0, 0, 5, 6));
 }
 
-// local function for permuting the rows and columns of a dense matrix
-void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                const int* perm_r, const int* perm_c,
-                bool scatter_r, bool scatter_c) {
-  for (int r = 0; r < nr; r++) {
-    for (int c = 0; c < nc; c++) {
-      if (scatter_r && scatter_c) {
-        // scatter both
-        res[perm_r[r] * nc + perm_c[c]] = mat[r * nc + c];
-      } else if (scatter_r && !scatter_c) {
-        // scatter rows, gather columns
-        res[perm_r[r] * nc + c] = mat[r * nc + perm_c[c]];
-      } else if (!scatter_r && scatter_c) {
-        // gather rows, scatter columns
-        res[r * nc + perm_c[c]] = mat[perm_r[r] * nc + c];
-      } else {
-        // gather both
-        res[r * nc + c] = mat[perm_r[r] * nc + perm_c[c]];
-      }
-    }
-  }
-}
-
 }  // namespace
 }  // namespace mujoco

From 6a977d073b47b85d7be8a7a07d97748759bf2148 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Mon, 12 May 2025 07:59:23 -0700
Subject: [PATCH 109/191] Fix GitHub Actions builds.

PiperOrigin-RevId: 757765160
Change-Id: Idaf86f80a24bc480ce35711cb706a4702a249d31
---
 .github/workflows/build.yml | 104 ++++++++++++++++++++++--------------
 simulate/CMakeLists.txt     |   1 +
 2 files changed, 65 insertions(+), 40 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 4762eb73..b2daab71 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -24,8 +24,24 @@ jobs:
       fail-fast: false
       matrix:
         include:
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-gcc-14"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-14
+              -DCMAKE_CXX_COMPILER:STRING=g++-14
+              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+            tmpdir: "/tmp"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-gcc-13"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-13
+              -DCMAKE_CXX_COMPILER:STRING=g++-13
+              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+            tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-gcc-12"
+            label: "ubuntu-22.04-gcc-12"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=gcc-12
@@ -33,7 +49,7 @@ jobs:
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-gcc-11"
+            label: "ubuntu-22.04-gcc-11"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=gcc-11
@@ -41,23 +57,47 @@ jobs:
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-gcc-10"
+            label: "ubuntu-22.04-gcc-10"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=gcc-10
               -DCMAKE_CXX_COMPILER:STRING=g++-10
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
-          - os: ubuntu-22.04
-            additional_label: "-gcc-9"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-clang-18"
             cmake_args: >-
               -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-9
-              -DCMAKE_CXX_COMPILER:STRING=g++-9
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+              -DCMAKE_C_COMPILER:STRING=clang-18
+              -DCMAKE_CXX_COMPILER:STRING=clang++-18
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-clang-17"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-17
+              -DCMAKE_CXX_COMPILER:STRING=clang++-17
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-clang-16"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-16
+              -DCMAKE_CXX_COMPILER:STRING=clang++-16
+              -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-clang-14"
+            label: "ubuntu-22.04-clang-15"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-15
+              -DCMAKE_CXX_COMPILER:STRING=clang++-15
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: ubuntu-22.04
+            label: "ubuntu-22.04-clang-14"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=clang-14
@@ -65,49 +105,33 @@ jobs:
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-clang-13"
+            label: "ubuntu-22.04-clang-13"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=clang-13
               -DCMAKE_CXX_COMPILER:STRING=clang++-13
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
-          - os: ubuntu-20.04
-            additional_label: "-clang-12"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-12
-              -DCMAKE_CXX_COMPILER:STRING=clang++-12
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-20.04
-            additional_label: "-clang-11"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-11
-              -DCMAKE_CXX_COMPILER:STRING=clang++-11
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-20.04
-            additional_label: "-clang-10"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-10
-              -DCMAKE_CXX_COMPILER:STRING=clang++-10
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: macos-13
+          - os: macos-15
+            label: "macos-15-arm64"
             cmake_args: >-
               -G Ninja
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
-          - os: windows-2022
+          - os: macos-15-large
+            label: "macos-15-x86_64"
             cmake_args: >-
-              -DCMAKE_SYSTEM_VERSION="10.0.22621.0"
+              -G Ninja
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: windows-2025
+            label: "windows-2025"
+            cmake_args: >-
+              -DCMAKE_SYSTEM_VERSION="10.0.26100.0"
             cmake_build_args: "-- -m"
             tmpdir: "C:/Temp"
 
-    name: "${{ matrix.os }}${{ matrix.additional_label }}"
+    name: "${{ matrix.label }}"
     runs-on: ${{ matrix.os }}
 
     steps:
@@ -273,7 +297,7 @@ jobs:
         CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
         CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
         CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
-        CHATMSG_JOB_ID: ${{ matrix.os }}${{ matrix.additional_label }}
+        CHATMSG_JOB_ID: ${{ matrix.label }}
       if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
       run: |
         CHATMSG="$(cat <<-'EOF' | python3
@@ -288,7 +312,7 @@ jobs:
             email=env('CHATMSG_AUTHOR_EMAIL'),
             msg=env('CHATMSG_COMMIT_MESSAGE').replace('```', '')
         )
-        text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name}<{email}>\n\n{msg}```'.format(**data)
+        text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name} <{email}>\n\n{msg}```'.format(**data)
         print(json.dumps({'text' : text}))
         EOF
         )" &&
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index c22ea4a7..6489c562 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -110,6 +110,7 @@ target_sources(
 target_compile_options(platform_ui_adapter PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
 if(APPLE)
   target_sources(platform_ui_adapter PUBLIC glfw_corevideo.h PRIVATE glfw_corevideo.mm)
+  set_source_files_properties(glfw_corevideo.mm PROPERTIES COMPILE_FLAGS -Wno-deprecated-declarations)
   target_link_libraries(platform_ui_adapter PUBLIC "-framework CoreVideo")
 endif()
 target_include_directories(

From dfe22f7ef708e0df679bdb06408bd13cf64b4cd3 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 12 May 2025 08:29:44 -0700
Subject: [PATCH 110/191] Remove stale reference to uncompressed sparse matrix.

PiperOrigin-RevId: 757775265
Change-Id: Ic18c0c89ab84285a7d93e24c65e50832ebc53c6f
---
 doc/APIreference/functions.rst        | 2 +-
 include/mujoco/mujoco.h               | 2 +-
 python/mujoco/introspect/functions.py | 2 +-
 src/engine/engine_support.c           | 2 +-
 src/engine/engine_support.h           | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index e13ad19d..a86386d5 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -459,7 +459,7 @@ Multiply vector by (inertia matrix)^(1/2).
 .. mujoco-include:: mj_addM
 
 Add inertia matrix to destination matrix.
-Destination can be sparse uncompressed, or dense when all int* are NULL
+Destination can be sparse or dense when all int* are NULL.
 
 .. _mj_applyFT:
 
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 5bca71ea..b955cb13 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -485,7 +485,7 @@ MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*
 MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
 
 // Add inertia matrix to destination matrix.
-// Destination can be sparse uncompressed, or dense when all int* are NULL
+// Destination can be sparse or dense when all int* are NULL.
 MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
 
 // Apply Cartesian force and torque (outside xfrc_applied mechanism).
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index b74e222f..f62a0e7a 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -2900,7 +2900,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Add inertia matrix to destination matrix. Destination can be sparse uncompressed, or dense when all int* are NULL',  # pylint: disable=line-too-long
+         doc='Add inertia matrix to destination matrix. Destination can be sparse or dense when all int* are NULL.',  # pylint: disable=line-too-long
      )),
     ('mj_applyFT',
      FunctionDecl(
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 541cf31f..3d95da43 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1062,7 +1062,7 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
 
 
 // add inertia matrix to destination matrix
-//  destination can be sparse uncompressed, or dense when all int* are NULL
+//  destination can be sparse or dense when all int* are NULL
 void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
              int* rownnz, int* rowadr, int* colind) {
   // sparse
diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h
index 220979da..818e9622 100644
--- a/src/engine/engine_support.h
+++ b/src/engine/engine_support.h
@@ -131,7 +131,7 @@ MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum*
 MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
 
 // add inertia matrix to destination matrix
-//  destination can be sparse uncompressed, or dense when all int* are NULL
+//  destination can be sparse or dense when all int* are NULL
 MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
                    int* rownnz, int* rowadr, int* colind);
 

From bd5cb88211bef3064d1fb51e363f08cbe0d88b8b Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Mon, 12 May 2025 08:35:57 -0700
Subject: [PATCH 111/191] Change mjPhysics schema library name from
 mujocoPhysics to mjcPhysics.

PiperOrigin-RevId: 757777584
Change-Id: I6c8661aac3018892f113e65fada1b27903635200
---
 src/experimental/usd/mjcPhysics/schema.usda | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 1a13a089..d6e2727d 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -7,7 +7,7 @@
 
 over "GLOBAL" (
   customData = {
-    string libraryName = "mujocoPhysics"
+    string libraryName = "mjcPhysics"
     string libraryPath = "."
     bool useLiteralIdentifier = 0
     dictionary libraryTokens = {
@@ -521,4 +521,3 @@ class "MjcSiteAPI"
 )
 {}
 
-

From b53ed63b5fa0ac8bffffc0c033fca85011c26e73 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 12 May 2025 08:58:12 -0700
Subject: [PATCH 112/191] Use `2humanoid100.xml` model in a benchmark test.

PiperOrigin-RevId: 757784271
Change-Id: I7da11ab85ba9f5e023cdbe3c77d31224f3444ca5
---
 .../engine_util_sparse_benchmark_test.cc      |  19 +-
 test/benchmark/testdata/2humanoid100.xml      | 123 +++++++++
 test/benchmark/testdata/humanoid.xml          | 252 ++++++++++++++++++
 3 files changed, 388 insertions(+), 6 deletions(-)
 create mode 100644 test/benchmark/testdata/2humanoid100.xml
 create mode 100644 test/benchmark/testdata/humanoid.xml

diff --git a/test/benchmark/engine_util_sparse_benchmark_test.cc b/test/benchmark/engine_util_sparse_benchmark_test.cc
index 2c2ff6aa..6be10ded 100644
--- a/test/benchmark/engine_util_sparse_benchmark_test.cc
+++ b/test/benchmark/engine_util_sparse_benchmark_test.cc
@@ -544,11 +544,15 @@ BM_transposeSparse_old(benchmark::State& state) {
 BENCHMARK(BM_transposeSparse_old);
 
 static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
-  static mjModel* m = LoadModelFromPath("humanoid/humanoid100.xml");
-  mjData* d = mj_makeData(m);
+  static mjModel* m =
+      LoadModelFromPath("../test/benchmark/testdata/2humanoid100.xml");
 
-  // force use of sparse matrices
+  // force use of sparse matrices, Newton solver, no islands
   m->opt.jacobian = mjJAC_SPARSE;
+  m->opt.solver = mjSOL_NEWTON;
+  m->opt.enableflags &= ~mjENBL_ISLAND;
+
+  mjData* d = mj_makeData(m);
 
   // warm-up rollout to get a typical state
   while (d->time < 2) {
@@ -575,10 +579,13 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
 
   // time benchmark
   if (func) {
-    for (auto s : state) {
-      mju_sqrMatTDUncompressedInit(rowadr, m->nv);
+    mju_sqrMatTDSparseCount(rownnz, rowadr, m->nv,
+      d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
+      d->efc_JT_rownnz, d->efc_JT_rowadr,
+      d->efc_JT_colind, nullptr, d, 1);
 
-      // compute H = J'*D*J, uncompressed layout
+    for (auto s : state) {
+      // compute H = J'*D*J, compressed layout
       func(H, d->efc_J, d->efc_JT, D, d->nefc, m->nv, rownnz, rowadr, colind,
          d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
          d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,
diff --git a/test/benchmark/testdata/2humanoid100.xml b/test/benchmark/testdata/2humanoid100.xml
new file mode 100644
index 00000000..424ed2c4
--- /dev/null
+++ b/test/benchmark/testdata/2humanoid100.xml
@@ -0,0 +1,123 @@
+<mujoco model="2 Humanoids and 100 objects">
+<!--
+     Model designed for a maximally-elaborate island structure.
+     More horizontal gravity leads to larger, fewer islands.
+-->
+  <option timestep="0.005" solver="CG" gravity="-1 -1 -10">
+    <flag island="enable"/>
+  </option>
+
+  <size memory="100M"/>
+
+  <default>
+    <geom solimp=".9 .9 .01"/>
+    <default class="capsule">
+      <geom type="capsule" material="capsule" size="0.1 0.05"/>
+    </default>
+    <default class="ellipsoid">
+      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
+    </default>
+    <default class="box">
+      <geom type="box" material="box" size="0.15 0.1 0.05"/>
+    </default>
+    <default class="cylinder">
+      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
+    </default>
+    <default class="sphere">
+      <geom type="sphere" material="sphere" size="0.1"/>
+    </default>
+    <default class="border">
+      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
+    </default>
+    <default class="borderpost">
+      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
+    </default>
+  </default>
+
+  <asset>
+    <model file="humanoid.xml"/>
+    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
+    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
+    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
+    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
+    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
+    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
+    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
+    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
+    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
+  </asset>
+
+  <visual>
+    <quality shadowsize="4096" offsamples="8"/>
+    <map znear="0.1" force="0.05"/>
+  </visual>
+
+  <statistic extent="4"/>
+
+  <worldbody>
+    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
+    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
+    <geom class="border" fromto="-3 3 0 3 3 0"/>
+    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
+    <geom class="border" fromto="3 3 0 3 -3 0"/>
+    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
+    <geom class="borderpost" pos="3 3 0"/>
+    <geom class="borderpost" pos="-3 3 0"/>
+    <geom class="borderpost" pos="3 -3 0"/>
+    <geom class="borderpost" pos="-3 -3 0"/>
+
+    <replicate count="4" euler="0 0 90">
+      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
+    </replicate>
+
+    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+      <body pos="-2 0 0.5" euler="30 40 0">
+        <freejoint/>
+        <geom class="capsule"/>
+      </body>
+    </replicate>
+
+    <attach model="Humanoid" body="torso" prefix="1_"/>
+
+    <frame euler="0 0 72">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="20 40 60">
+          <freejoint/>
+          <geom class="ellipsoid"/>
+        </body>
+      </replicate>
+    </frame>
+
+    <frame euler="0 0 144">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="30 70 110">
+          <freejoint/>
+          <geom class="box"/>
+        </body>
+      </replicate>
+    </frame>
+
+    <frame pos="1 1 0" euler="0 0 144">
+      <attach model="Humanoid" body="torso" prefix="2_"/>
+    </frame>
+
+    <frame euler="0 0 216">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="60 30 0">
+          <freejoint/>
+          <geom class="cylinder"/>
+        </body>
+      </replicate>
+    </frame>
+
+    <frame euler="0 0 288">
+      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
+        <body pos="-2 0 0.5" euler="60 30 0">
+          <freejoint/>
+          <geom class="sphere"/>
+        </body>
+      </replicate>
+    </frame>
+
+  </worldbody>
+</mujoco>
diff --git a/test/benchmark/testdata/humanoid.xml b/test/benchmark/testdata/humanoid.xml
new file mode 100644
index 00000000..7545e193
--- /dev/null
+++ b/test/benchmark/testdata/humanoid.xml
@@ -0,0 +1,252 @@
+<mujoco model="Humanoid">
+  <option timestep="0.005"/>
+
+  <visual>
+    <map force="0.1" zfar="30"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
+  </visual>
+
+  <statistic center="0 0 0.7"/>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
+    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
+    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+  </asset>
+
+  <default>
+    <motor ctrlrange="-1 1" ctrllimited="true"/>
+    <default class="body">
+
+      <!-- geoms -->
+      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
+      <default class="thigh">
+        <geom size=".06"/>
+      </default>
+      <default class="shin">
+        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
+      </default>
+      <default class="foot">
+        <geom size=".027"/>
+        <default class="foot1">
+          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
+        </default>
+        <default class="foot2">
+          <geom fromto="-.07 .01 0 .14  .03 0"/>
+        </default>
+      </default>
+      <default class="arm_upper">
+        <geom size=".04"/>
+      </default>
+      <default class="arm_lower">
+        <geom size=".031"/>
+      </default>
+      <default class="hand">
+        <geom type="sphere" size=".04"/>
+      </default>
+
+      <!-- joints -->
+      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
+      <default class="joint_big">
+        <joint damping="5" stiffness="10"/>
+        <default class="hip_x">
+          <joint range="-30 10"/>
+        </default>
+        <default class="hip_z">
+          <joint range="-60 35"/>
+        </default>
+        <default class="hip_y">
+          <joint axis="0 1 0" range="-150 20"/>
+        </default>
+        <default class="joint_big_stiff">
+          <joint stiffness="20"/>
+        </default>
+      </default>
+      <default class="knee">
+        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
+      </default>
+      <default class="ankle">
+        <joint range="-50 50"/>
+        <default class="ankle_y">
+          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
+        </default>
+        <default class="ankle_x">
+          <joint pos="0 0 .04" stiffness="3"/>
+        </default>
+      </default>
+      <default class="shoulder">
+        <joint range="-85 60"/>
+      </default>
+      <default class="elbow">
+        <joint range="-100 50" stiffness="0"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
+    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="torso" pos="0 0 1.282" childclass="body">
+      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <freejoint name="root"/>
+      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
+      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
+      <body name="head" pos="0 0 .19">
+        <geom name="head" type="sphere" size=".09"/>
+        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
+      </body>
+      <body name="waist_lower" pos="-.01 0 -.26">
+        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
+        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
+        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
+        <body name="pelvis" pos="0 0 -.165">
+          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
+          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
+          <body name="thigh_right" pos="0 -.1 -.04">
+            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
+            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
+            <joint name="hip_y_right" class="hip_y"/>
+            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
+            <body name="shin_right" pos="0 .01 -.4">
+              <joint name="knee_right" class="knee"/>
+              <geom name="shin_right" class="shin"/>
+              <body name="foot_right" pos="0 0 -.39">
+                <joint name="ankle_y_right" class="ankle_y"/>
+                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
+                <geom name="foot1_right" class="foot1"/>
+                <geom name="foot2_right" class="foot2"/>
+              </body>
+            </body>
+          </body>
+          <body name="thigh_left" pos="0 .1 -.04">
+            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
+            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
+            <joint name="hip_y_left" class="hip_y"/>
+            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
+            <body name="shin_left" pos="0 -.01 -.4">
+              <joint name="knee_left" class="knee"/>
+              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
+              <body name="foot_left" pos="0 0 -.39">
+                <joint name="ankle_y_left" class="ankle_y"/>
+                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
+                <geom name="foot1_left" class="foot1"/>
+                <geom name="foot2_left" class="foot2"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="upper_arm_right" pos="0 -.17 .06">
+        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
+        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
+        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
+        <body name="lower_arm_right" pos=".18 -.18 -.18">
+          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
+          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
+          <body name="hand_right" pos=".18 .18 .18">
+            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
+          </body>
+        </body>
+      </body>
+      <body name="upper_arm_left" pos="0 .17 .06">
+        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
+        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
+        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
+        <body name="lower_arm_left" pos=".18 .18 -.18">
+          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
+          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
+          <body name="hand_left" pos=".18 -.18 .18">
+            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="waist_lower" body2="thigh_right"/>
+    <exclude body1="waist_lower" body2="thigh_left"/>
+  </contact>
+
+  <tendon>
+    <fixed name="hamstring_right" limited="true" range="-0.3 2">
+      <joint joint="hip_y_right" coef=".5"/>
+      <joint joint="knee_right" coef="-.5"/>
+    </fixed>
+    <fixed name="hamstring_left" limited="true" range="-0.3 2">
+      <joint joint="hip_y_left" coef=".5"/>
+      <joint joint="knee_left" coef="-.5"/>
+    </fixed>
+  </tendon>
+
+  <actuator>
+    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
+    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
+    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
+    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
+    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
+    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
+    <motor name="knee_right"      gear="80"  joint="knee_right"/>
+    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
+    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
+    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
+    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
+    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
+    <motor name="knee_left"       gear="80"  joint="knee_left"/>
+    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
+    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
+    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
+    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
+    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
+    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
+    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
+    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
+  </actuator>
+
+  <keyframe>
+    <!--
+    The values below are split into rows for readibility:
+      torso position
+      torso orientation
+      spinal
+      right leg
+      left leg
+      arms
+    -->
+    <key name="squat"
+         qpos="0 0 0.596
+               0.988015 0 0.154359 0
+               0 0.4 0
+               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
+               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
+               0 0 0 0 0 0"/>
+    <key name="stand_on_left_leg"
+         qpos="0 0 1.21948
+               0.971588 -0.179973 0.135318 -0.0729076
+               -0.0516 -0.202 0.23
+               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
+               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
+               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
+    <key name="prone"
+         qpos="0.4 0 0.0757706
+               0.7325 0 0.680767 0
+               0 0.0729 0
+               0.0077 0.0019 -0.026 -0.351 -0.27 0
+               0.0077 0.0019 -0.026 -0.351 -0.27 0
+               0.56 -0.62 -1.752
+               0.56 -0.62 -1.752"/>
+    <key name="supine"
+         qpos="-0.4 0 0.08122
+               0.722788 0 -0.69107 0
+               0 -0.25 0
+               0.0182 0.0142 0.3 0.042 -0.44 -0.02
+               0.0182 0.0142 0.3 0.042 -0.44 -0.02
+               0.186 -0.73 -1.73
+               0.186 -0.73 -1.73"/>
+  </keyframe>
+</mujoco>

From 09bf5409ab07b425a914320132c8bf7ac3f0a3e5 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Mon, 12 May 2025 08:59:34 -0700
Subject: [PATCH 113/191] Add code generated files for mjcPhysics schema.

PiperOrigin-RevId: 757784741
Change-Id: Iacef6ef78c8e95ce51c5546562ad5b679f460deb
---
 src/experimental/usd/mjcPhysics/api.h         |   42 +
 .../usd/mjcPhysics/generatedSchema.usda       |  228 +++
 src/experimental/usd/mjcPhysics/plugInfo.json |   38 +
 src/experimental/usd/mjcPhysics/sceneAPI.cpp  |  701 +++++++++
 src/experimental/usd/mjcPhysics/sceneAPI.h    | 1379 +++++++++++++++++
 src/experimental/usd/mjcPhysics/siteAPI.cpp   |   99 ++
 src/experimental/usd/mjcPhysics/siteAPI.h     |  158 ++
 src/experimental/usd/mjcPhysics/tokens.cpp    |  156 ++
 src/experimental/usd/mjcPhysics/tokens.h      |  332 ++++
 .../usd/mjcPhysics/wrapSceneAPI.cpp           |  653 ++++++++
 .../usd/mjcPhysics/wrapSiteAPI.cpp            |  120 ++
 .../usd/mjcPhysics/wrapTokens.cpp             |  150 ++
 12 files changed, 4056 insertions(+)
 create mode 100644 src/experimental/usd/mjcPhysics/api.h
 create mode 100644 src/experimental/usd/mjcPhysics/generatedSchema.usda
 create mode 100644 src/experimental/usd/mjcPhysics/plugInfo.json
 create mode 100644 src/experimental/usd/mjcPhysics/sceneAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/sceneAPI.h
 create mode 100644 src/experimental/usd/mjcPhysics/siteAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/siteAPI.h
 create mode 100644 src/experimental/usd/mjcPhysics/tokens.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/tokens.h
 create mode 100644 src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/wrapTokens.cpp

diff --git a/src/experimental/usd/mjcPhysics/api.h b/src/experimental/usd/mjcPhysics/api.h
new file mode 100644
index 00000000..dc5476c9
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/api.h
@@ -0,0 +1,42 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_API_H
+#define MJCPHYSICS_API_H
+
+#include "pxr/base/arch/export.h"
+
+#if defined(PXR_STATIC)
+#define MJCPHYSICS_API
+#define MJCPHYSICS_API_TEMPLATE_CLASS(...)
+#define MJCPHYSICS_API_TEMPLATE_STRUCT(...)
+#define MJCPHYSICS_LOCAL
+#else
+#if defined(MJCPHYSICS_EXPORTS)
+#define MJCPHYSICS_API ARCH_EXPORT
+#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
+  ARCH_EXPORT_TEMPLATE(class, __VA_ARGS__)
+#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
+  ARCH_EXPORT_TEMPLATE(struct, __VA_ARGS__)
+#else
+#define MJCPHYSICS_API ARCH_IMPORT
+#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
+  ARCH_IMPORT_TEMPLATE(class, __VA_ARGS__)
+#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
+  ARCH_IMPORT_TEMPLATE(struct, __VA_ARGS__)
+#endif
+#define MJCPHYSICS_LOCAL ARCH_HIDDEN
+#endif
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
new file mode 100644
index 00000000..62050c6c
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -0,0 +1,228 @@
+#usda 1.0
+(
+    "WARNING: THIS FILE IS GENERATED BY usdGenSchema.  DO NOT EDIT."
+)
+
+class "MjcPhysicsSceneAPI" (
+    doc = "API providing global simulation options for Mujoco."
+)
+{
+    uniform int[] mjc:physics:actuatorgroupdisable (
+        displayName = "Actuator Group Disable"
+        doc = "List of actuator groups to disable."
+    )
+    uniform double mjc:physics:apirate = 100 (
+        displayName = "ApiRate"
+        doc = """Determines the rate (in Hz) at which an external API allows
+        the update function to be executed."""
+    )
+    uniform int mjc:physics:ccd_iterations = 50 (
+        displayName = "CCD Iterations"
+        doc = "Maximum number of iterations of the algorithm used for convex collisions."
+    )
+    uniform double mjc:physics:ccd_tolerance = 0.000001 (
+        displayName = "CCD Tolerance"
+        doc = """Tolerance threshold used for early termination of the convex
+        collision algorithm."""
+    )
+    uniform token mjc:physics:cone = "pyramidal" (
+        allowedTokens = ["pyramidal", "elliptic"]
+        displayName = "Friction Cone Type"
+        doc = "The type of contact friction cone."
+    )
+    uniform double mjc:physics:density = 0 (
+        displayName = "Density"
+        doc = "Density of medium."
+    )
+    uniform bool mjc:physics:flag:actuation = 1 (
+        displayName = "Actuation Forces Toggle"
+        doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
+    )
+    uniform bool mjc:physics:flag:autoreset = 1 (
+        displayName = "Automatic Simulation Reset Toggle"
+        doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
+    )
+    uniform bool mjc:physics:flag:clampctrl = 1 (
+        displayName = "Control Input Clamping Toggle"
+        doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
+    )
+    uniform bool mjc:physics:flag:constraint = 1 (
+        displayName = "Constraint Solver Toggle"
+        doc = "Enables constraint solver."
+    )
+    uniform bool mjc:physics:flag:contact = 1 (
+        displayName = "Contact Constraints and Collision Detection Toggle"
+        doc = "Enables collision detection and all standard computations related to contact constraints."
+    )
+    uniform bool mjc:physics:flag:energy = 0 (
+        displayName = "Energy Computation Toggle"
+        doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
+    )
+    uniform bool mjc:physics:flag:equality = 1 (
+        displayName = "Equality Constraints Toggle"
+        doc = "Enables all standard computations related to equality constraints."
+    )
+    uniform bool mjc:physics:flag:eulerdamp = 1 (
+        displayName = "Euler Integrator Damping Toggle"
+        doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
+    )
+    uniform bool mjc:physics:flag:filterparent = 1 (
+        displayName = "Parent-Child Contact Filtering Toggle"
+        doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
+    )
+    uniform bool mjc:physics:flag:frictionloss = 1 (
+        displayName = "Friction Loss Constraints Toggle"
+        doc = "Enables all standard computations related to friction loss constraints."
+    )
+    uniform bool mjc:physics:flag:fwdinv = 0 (
+        displayName = "Forward/Inverse Dynamics Comparison Toggle"
+        doc = "Enables the automatic comparison of forward and inverse dynamics."
+    )
+    uniform bool mjc:physics:flag:gravity = 1 (
+        displayName = "Gravity Toggle"
+        doc = "Enables the application of gravitational acceleration as defined in mjOption."
+    )
+    uniform bool mjc:physics:flag:invdiscrete = 0 (
+        displayName = "Discrete-Time Inverse Dynamics Toggle"
+        doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
+    )
+    uniform bool mjc:physics:flag:island = 0 (
+        displayName = "Constraint Island Discovery Toggle"
+        doc = "Enables the discovery of constraint islands."
+    )
+    uniform bool mjc:physics:flag:limit = 1 (
+        displayName = "Joint and Tendon Limit Constraints Toggle"
+        doc = "Enables all standard computations related to joint and tendon limit constraints."
+    )
+    uniform bool mjc:physics:flag:midphase = 1 (
+        displayName = "Mid-Phase Collision Filtering Toggle"
+        doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
+    )
+    uniform bool mjc:physics:flag:multiccd = 0 (
+        displayName = "Multiple Contact Collision Detection (CCD) Toggle"
+        doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
+    )
+    uniform bool mjc:physics:flag:nativeccd = 1 (
+        displayName = "Native Convex Collision Detection Toggle"
+        doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
+    )
+    uniform bool mjc:physics:flag:override = 0 (
+        displayName = "Contact Override Mechanism Toggle"
+        doc = "Enables the contact override mechanism."
+    )
+    uniform bool mjc:physics:flag:passive = 1 (
+        displayName = "Passive Forces Toggle"
+        doc = "Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."
+    )
+    uniform bool mjc:physics:flag:refsafe = 1 (
+        displayName = "Solver Reference Safety Mechanism Toggle"
+        doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
+    )
+    uniform bool mjc:physics:flag:sensor = 1 (
+        displayName = "Sensor Computations Toggle"
+        doc = "Enables all computations related to sensors."
+    )
+    uniform bool mjc:physics:flag:warmstart = 1 (
+        displayName = "Solver Warm-Starting Toggle"
+        doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
+    )
+    uniform double mjc:physics:impratio = 1 (
+        displayName = "Impedance Ratio"
+        doc = """Ratio of frictional-to-normal constraint impedance for elliptic
+        friction cones."""
+    )
+    uniform token mjc:physics:integrator = "euler" (
+        allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
+        displayName = "Integrator"
+        doc = "Numerical integrator to be used."
+    )
+    uniform int mjc:physics:iterations = 100 (
+        displayName = "Solver Iterations"
+        doc = "Maximum number of iterations of the constraint solver."
+    )
+    uniform token mjc:physics:jacobian = "auto" (
+        allowedTokens = ["auto", "dense", "sparse"]
+        displayName = "Jacobian Type"
+        doc = "The type of constraint Jacobian and matrices computed from it."
+    )
+    uniform int mjc:physics:ls_iterations = 50 (
+        displayName = "Linesearch Iterations"
+        doc = """Maximum number of linesearch iterations performed by CG/Newton
+        constraint solvers."""
+    )
+    uniform double mjc:physics:ls_tolerance = 0.01 (
+        displayName = "Linesearch Tolerance"
+        doc = "Tolerance threshold used for early termination of the linesearch algorithm."
+    )
+    uniform double3 mjc:physics:magnetic = (0, -0.5, 0) (
+        displayName = "Magnetic Flux"
+        doc = "Global magnetic flux."
+    )
+    uniform int mjc:physics:noslip_iterations = 0 (
+        displayName = "Noslip Iterations"
+        doc = "Maximum number of iterations of the Noslip solver."
+    )
+    uniform double mjc:physics:noslip_tolerance = 0.000001 (
+        displayName = "Noslip Tolerance"
+        doc = "Tolerance threshold used for early termination of the Noslip solver."
+    )
+    uniform double[] mjc:physics:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
+        displayName = "Contact Override Friction"
+        doc = """Replaces the friction parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+    uniform double mjc:physics:o_margin = 0 (
+        displayName = "Contact Override Margin"
+        doc = """Replaces the margin parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+    uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
+        displayName = "Contact Override SolImp"
+        doc = """Replaces the solimp parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+    uniform double[] mjc:physics:o_solref = [0.02, 1] (
+        displayName = "Contact Override SolRef"
+        doc = """Replaces the solref parameter of all active contact pairs when
+        Contact override is enabled."""
+    )
+    uniform int mjc:physics:sdf_initpoints = 40 (
+        displayName = "SDF Initial Points"
+        doc = """Number of starting points used for finding contacts with Signed
+        Distance Field collisions."""
+    )
+    uniform int mjc:physics:sdf_iterations = 10 (
+        displayName = "SDF Iterations"
+        doc = """Number of iterations used for Signed Distance Field collisions
+        (per initial point)."""
+    )
+    uniform token mjc:physics:solver = "newton" (
+        allowedTokens = ["pgs", "cg", "newton"]
+        displayName = "Solver"
+        doc = "Constraint solver algorithm to be used."
+    )
+    uniform double mjc:physics:timestep = 0.002 (
+        displayName = "Timestep"
+        doc = "Controls the timestep in seconds used by MuJoCo."
+    )
+    uniform double mjc:physics:tolerance = 1e-8 (
+        displayName = "Solver Tolerance"
+        doc = """Tolerance threshold used for early termination of the iterative
+        solver."""
+    )
+    uniform double mjc:physics:viscosity = 0 (
+        displayName = "Viscosity"
+        doc = "Viscosity of medium."
+    )
+    uniform double3 mjc:physics:wind = (0, 0, 0) (
+        displayName = "Wind Velocity"
+        doc = "Velocity vector of medium (i.e. wind)."
+    )
+}
+
+class "MjcSiteAPI" (
+    doc = "API describing a Mujoco site."
+)
+{
+}
+
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
new file mode 100644
index 00000000..fcf19910
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -0,0 +1,38 @@
+#Portions of this file auto - generated by usdGenSchema.
+#Edits will survive regeneration except for comments and
+#changes to types with autoGenerated = true.
+{
+  "Plugins": [
+    {
+      "Info": {
+        "Types": {
+          "MjcPhysicsSceneAPI": {
+            "alias": {
+              "UsdSchemaBase": "MjcPhysicsSceneAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          },
+          "MjcPhysicsSiteAPI": {
+            "alias": {
+              "UsdSchemaBase": "MjcSiteAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          }
+        }
+      },
+      "LibraryPath": "",
+      "Name": "mjcPhysics",
+      "ResourcePath": "",
+      "Root": ".",
+      "Type": "library"
+    }
+  ]
+}
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.cpp b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
new file mode 100644
index 00000000..0c01a533
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
@@ -0,0 +1,701 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./sceneAPI.h"
+
+#include "pxr/usd/sdf/assetPath.h"
+#include "pxr/usd/sdf/types.h"
+#include "pxr/usd/usd/schemaRegistry.h"
+#include "pxr/usd/usd/typed.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsSceneAPI, TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsSceneAPI::~MjcPhysicsSceneAPI() {}
+
+/* static */
+MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Get(const UsdStagePtr &stage,
+                                           const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsSceneAPI();
+  }
+  return MjcPhysicsSceneAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsSceneAPI::_GetSchemaKind() const {
+  return MjcPhysicsSceneAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsSceneAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsSceneAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Apply(const UsdPrim &prim) {
+  if (prim.ApplyAPI<MjcPhysicsSceneAPI>()) {
+    return MjcPhysicsSceneAPI(prim);
+  }
+  return MjcPhysicsSceneAPI();
+}
+
+/* static */
+const TfType &MjcPhysicsSceneAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsSceneAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsSceneAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsSceneAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetTimestepAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsTimestep);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const &defaultValue,
+                                                    bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsTimestep, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetApiRateAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsApirate);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateApiRateAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsApirate, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetImpRatioAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsImpratio);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateImpRatioAttr(VtValue const &defaultValue,
+                                                    bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsImpratio, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetWindAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsWind);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateWindAttr(VtValue const &defaultValue,
+                                                bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsWind, SdfValueTypeNames->Double3,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetMagneticAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsMagnetic);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateMagneticAttr(VtValue const &defaultValue,
+                                                    bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsMagnetic, SdfValueTypeNames->Double3,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetDensityAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsDensity);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateDensityAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsDensity, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetViscosityAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsViscosity);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateViscosityAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsViscosity, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetOMarginAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_margin);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateOMarginAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsO_margin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetOSolRefAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_solref);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateOSolRefAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsO_solref, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetOSolImpAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_solimp);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateOSolImpAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsO_solimp, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetOFrictionAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_friction);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateOFrictionAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsO_friction, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetIntegratorAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsIntegrator);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateIntegratorAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsIntegrator, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetConeAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCone);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateConeAttr(VtValue const &defaultValue,
+                                                bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsCone, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetJacobianAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsJacobian);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateJacobianAttr(VtValue const &defaultValue,
+                                                    bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsJacobian, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetSolverAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSolver);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateSolverAttr(VtValue const &defaultValue,
+                                                  bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsSolver, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetIterationsAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsIterations);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateIterationsAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsIterations, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetToleranceAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsTolerance);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateToleranceAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsTolerance, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetLSIterationsAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsLs_iterations);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateLSIterationsAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsLs_iterations, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetLSToleranceAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsLs_tolerance);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateLSToleranceAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsLs_tolerance, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetNoslipIterationsAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsNoslip_iterations);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateNoslipIterationsAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsNoslip_iterations, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetNoslipToleranceAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsNoslip_tolerance);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateNoslipToleranceAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsNoslip_tolerance, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetCCDIterationsAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCcd_iterations);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateCCDIterationsAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsCcd_iterations, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetCCDToleranceAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCcd_tolerance);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateCCDToleranceAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsCcd_tolerance, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetSDFIterationsAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSdf_iterations);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateSDFIterationsAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsSdf_iterations, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetSDFInitPointsAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSdf_initpoints);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateSDFInitPointsAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsSdf_initpoints, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetActuatorGroupDisableAttr() const {
+  return GetPrim().GetAttribute(
+      MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateActuatorGroupDisableAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable,
+      SdfValueTypeNames->IntArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetConstraintFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagConstraint);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateConstraintFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagConstraint, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetEqualityFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEquality);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateEqualityFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagEquality, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetFrictionLossFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFrictionloss);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateFrictionLossFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagFrictionloss, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetLimitFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagLimit);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateLimitFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagLimit, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetContactFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagContact);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateContactFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagContact, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetPassiveFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagPassive);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreatePassiveFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagPassive, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetGravityFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagGravity);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateGravityFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagGravity, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetClampCtrlFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagClampctrl);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateClampCtrlFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagClampctrl, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetWarmStartFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagWarmstart);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateWarmStartFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagWarmstart, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetFilterParentFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFilterparent);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateFilterParentFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagFilterparent, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetActuationFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagActuation);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateActuationFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagActuation, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetRefSafeFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagRefsafe);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateRefSafeFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagRefsafe, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetSensorFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagSensor);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateSensorFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagSensor, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetMidPhaseFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagMidphase);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateMidPhaseFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagMidphase, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetNativeCCDFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagNativeccd);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateNativeCCDFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagNativeccd, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetEulerDampFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEulerdamp);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateEulerDampFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagEulerdamp, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetAutoResetFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagAutoreset);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateAutoResetFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagAutoreset, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetOverrideFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagOverride);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateOverrideFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagOverride, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetEnergyFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEnergy);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateEnergyFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagEnergy, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetFwdinvFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFwdinv);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateFwdinvFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagFwdinv, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetInvDiscreteFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateInvDiscreteFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetMultiCCDFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagMulticcd);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateMultiCCDFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagMulticcd, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::GetIslandFlagAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagIsland);
+}
+
+UsdAttribute MjcPhysicsSceneAPI::CreateIslandFlagAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcPhysicsFlagIsland, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+namespace {
+static inline TfTokenVector _ConcatenateAttributeNames(
+    const TfTokenVector &left, const TfTokenVector &right) {
+  TfTokenVector result;
+  result.reserve(left.size() + right.size());
+  result.insert(result.end(), left.begin(), left.end());
+  result.insert(result.end(), right.begin(), right.end());
+  return result;
+}
+}  // namespace
+
+/*static*/
+const TfTokenVector &MjcPhysicsSceneAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcPhysicsTimestep,
+      MjcPhysicsTokens->mjcPhysicsApirate,
+      MjcPhysicsTokens->mjcPhysicsImpratio,
+      MjcPhysicsTokens->mjcPhysicsWind,
+      MjcPhysicsTokens->mjcPhysicsMagnetic,
+      MjcPhysicsTokens->mjcPhysicsDensity,
+      MjcPhysicsTokens->mjcPhysicsViscosity,
+      MjcPhysicsTokens->mjcPhysicsO_margin,
+      MjcPhysicsTokens->mjcPhysicsO_solref,
+      MjcPhysicsTokens->mjcPhysicsO_solimp,
+      MjcPhysicsTokens->mjcPhysicsO_friction,
+      MjcPhysicsTokens->mjcPhysicsIntegrator,
+      MjcPhysicsTokens->mjcPhysicsCone,
+      MjcPhysicsTokens->mjcPhysicsJacobian,
+      MjcPhysicsTokens->mjcPhysicsSolver,
+      MjcPhysicsTokens->mjcPhysicsIterations,
+      MjcPhysicsTokens->mjcPhysicsTolerance,
+      MjcPhysicsTokens->mjcPhysicsLs_iterations,
+      MjcPhysicsTokens->mjcPhysicsLs_tolerance,
+      MjcPhysicsTokens->mjcPhysicsNoslip_iterations,
+      MjcPhysicsTokens->mjcPhysicsNoslip_tolerance,
+      MjcPhysicsTokens->mjcPhysicsCcd_iterations,
+      MjcPhysicsTokens->mjcPhysicsCcd_tolerance,
+      MjcPhysicsTokens->mjcPhysicsSdf_iterations,
+      MjcPhysicsTokens->mjcPhysicsSdf_initpoints,
+      MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable,
+      MjcPhysicsTokens->mjcPhysicsFlagConstraint,
+      MjcPhysicsTokens->mjcPhysicsFlagEquality,
+      MjcPhysicsTokens->mjcPhysicsFlagFrictionloss,
+      MjcPhysicsTokens->mjcPhysicsFlagLimit,
+      MjcPhysicsTokens->mjcPhysicsFlagContact,
+      MjcPhysicsTokens->mjcPhysicsFlagPassive,
+      MjcPhysicsTokens->mjcPhysicsFlagGravity,
+      MjcPhysicsTokens->mjcPhysicsFlagClampctrl,
+      MjcPhysicsTokens->mjcPhysicsFlagWarmstart,
+      MjcPhysicsTokens->mjcPhysicsFlagFilterparent,
+      MjcPhysicsTokens->mjcPhysicsFlagActuation,
+      MjcPhysicsTokens->mjcPhysicsFlagRefsafe,
+      MjcPhysicsTokens->mjcPhysicsFlagSensor,
+      MjcPhysicsTokens->mjcPhysicsFlagMidphase,
+      MjcPhysicsTokens->mjcPhysicsFlagNativeccd,
+      MjcPhysicsTokens->mjcPhysicsFlagEulerdamp,
+      MjcPhysicsTokens->mjcPhysicsFlagAutoreset,
+      MjcPhysicsTokens->mjcPhysicsFlagOverride,
+      MjcPhysicsTokens->mjcPhysicsFlagEnergy,
+      MjcPhysicsTokens->mjcPhysicsFlagFwdinv,
+      MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete,
+      MjcPhysicsTokens->mjcPhysicsFlagMulticcd,
+      MjcPhysicsTokens->mjcPhysicsFlagIsland,
+  };
+  static TfTokenVector allNames = _ConcatenateAttributeNames(
+      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.h b/src/experimental/usd/mjcPhysics/sceneAPI.h
new file mode 100644
index 00000000..0fd0d56e
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.h
@@ -0,0 +1,1379 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_SCENEAPI_H
+#define MJCPHYSICS_GENERATED_SCENEAPI_H
+
+/// \file mjcPhysics/sceneAPI.h
+
+#include "./api.h"
+#include "./tokens.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/vec3d.h"
+#include "pxr/base/gf/vec3f.h"
+#include "pxr/base/tf/token.h"
+#include "pxr/base/tf/type.h"
+#include "pxr/base/vt/value.h"
+#include "pxr/pxr.h"
+#include "pxr/usd/usd/apiSchemaBase.h"
+#include "pxr/usd/usd/prim.h"
+#include "pxr/usd/usd/stage.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// MJCPHYSICSSCENEAPI                                                         //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsSceneAPI
+///
+/// API providing global simulation options for Mujoco.
+///
+/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
+/// below that are text/tokens, the actual token is published and defined in
+/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
+/// use MjcPhysicsTokens->rightHanded as the value.
+///
+class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsSceneAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsSceneAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsSceneAPI(const UsdPrim &prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsSceneAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsSceneAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsSceneAPI(const UsdSchemaBase &schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsSceneAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsSceneAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsSceneAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsSceneAPI Get(const UsdStagePtr &stage, const SdfPath &path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "MjcPhysicsSceneAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsSceneAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsSceneAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsSceneAPI Apply(const UsdPrim &prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // TIMESTEP
+  // --------------------------------------------------------------------- //
+  /// Controls the timestep in seconds used by MuJoCo.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:timestep = 0.002` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetTimestepAttr() const;
+
+  /// See GetTimestepAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateTimestepAttr(VtValue const &defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // APIRATE
+  // --------------------------------------------------------------------- //
+  /// Determines the rate (in Hz) at which an external API allows
+  /// the update function to be executed.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:apirate = 100` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetApiRateAttr() const;
+
+  /// See GetApiRateAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateApiRateAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // IMPRATIO
+  // --------------------------------------------------------------------- //
+  /// Ratio of frictional-to-normal constraint impedance for elliptic
+  /// friction cones.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:impratio = 1` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetImpRatioAttr() const;
+
+  /// See GetImpRatioAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateImpRatioAttr(VtValue const &defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // WIND
+  // --------------------------------------------------------------------- //
+  /// Velocity vector of medium (i.e. wind).
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double3 mjc:physics:wind = (0, 0, 0)` |
+  /// | C++ Type | GfVec3d |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetWindAttr() const;
+
+  /// See GetWindAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateWindAttr(VtValue const &defaultValue = VtValue(),
+                              bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MAGNETIC
+  // --------------------------------------------------------------------- //
+  /// Global magnetic flux.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double3 mjc:physics:magnetic = (0, -0.5, 0)` |
+  /// | C++ Type | GfVec3d |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMagneticAttr() const;
+
+  /// See GetMagneticAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMagneticAttr(VtValue const &defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // DENSITY
+  // --------------------------------------------------------------------- //
+  /// Density of medium.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:density = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetDensityAttr() const;
+
+  /// See GetDensityAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateDensityAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // VISCOSITY
+  // --------------------------------------------------------------------- //
+  /// Viscosity of medium.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:viscosity = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetViscosityAttr() const;
+
+  /// See GetViscosityAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateViscosityAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // OMARGIN
+  // --------------------------------------------------------------------- //
+  /// Replaces the margin parameter of all active contact pairs when
+  /// Contact override is enabled.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:o_margin = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetOMarginAttr() const;
+
+  /// See GetOMarginAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateOMarginAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // OSOLREF
+  // --------------------------------------------------------------------- //
+  /// Replaces the solref parameter of all active contact pairs when
+  /// Contact override is enabled.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:physics:o_solref = [0.02, 1]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetOSolRefAttr() const;
+
+  /// See GetOSolRefAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateOSolRefAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // OSOLIMP
+  // --------------------------------------------------------------------- //
+  /// Replaces the solimp parameter of all active contact pairs when
+  /// Contact override is enabled.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:physics:o_solimp = [0.9, 0.95,
+  /// 0.001, 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd
+  /// Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
+  /// "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetOSolImpAttr() const;
+
+  /// See GetOSolImpAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateOSolImpAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // OFRICTION
+  // --------------------------------------------------------------------- //
+  /// Replaces the friction parameter of all active contact pairs when
+  /// Contact override is enabled.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:physics:o_friction = [1, 1, 0.005,
+  /// 0.0001, 0.0001]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes
+  /// "Usd Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
+  /// "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetOFrictionAttr() const;
+
+  /// See GetOFrictionAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateOFrictionAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // INTEGRATOR
+  // --------------------------------------------------------------------- //
+  /// Numerical integrator to be used.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:physics:integrator = "euler"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | euler, rk4, implicit,
+  /// implicitfast |
+  MJCPHYSICS_API
+  UsdAttribute GetIntegratorAttr() const;
+
+  /// See GetIntegratorAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateIntegratorAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CONE
+  // --------------------------------------------------------------------- //
+  /// The type of contact friction cone.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:physics:cone = "pyramidal"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | pyramidal, elliptic |
+  MJCPHYSICS_API
+  UsdAttribute GetConeAttr() const;
+
+  /// See GetConeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateConeAttr(VtValue const &defaultValue = VtValue(),
+                              bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // JACOBIAN
+  // --------------------------------------------------------------------- //
+  /// The type of constraint Jacobian and matrices computed from it.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:physics:jacobian = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | auto, dense, sparse |
+  MJCPHYSICS_API
+  UsdAttribute GetJacobianAttr() const;
+
+  /// See GetJacobianAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateJacobianAttr(VtValue const &defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SOLVER
+  // --------------------------------------------------------------------- //
+  /// Constraint solver algorithm to be used.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:physics:solver = "newton"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | pgs, cg, newton |
+  MJCPHYSICS_API
+  UsdAttribute GetSolverAttr() const;
+
+  /// See GetSolverAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateSolverAttr(VtValue const &defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // ITERATIONS
+  // --------------------------------------------------------------------- //
+  /// Maximum number of iterations of the constraint solver.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:physics:iterations = 100` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetIterationsAttr() const;
+
+  /// See GetIterationsAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateIterationsAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // TOLERANCE
+  // --------------------------------------------------------------------- //
+  /// Tolerance threshold used for early termination of the iterative
+  /// solver.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:tolerance = 1e-8` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetToleranceAttr() const;
+
+  /// See GetToleranceAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateToleranceAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // LSITERATIONS
+  // --------------------------------------------------------------------- //
+  /// Maximum number of linesearch iterations performed by CG/Newton
+  /// constraint solvers.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:physics:ls_iterations = 50` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetLSIterationsAttr() const;
+
+  /// See GetLSIterationsAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateLSIterationsAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // LSTOLERANCE
+  // --------------------------------------------------------------------- //
+  /// Tolerance threshold used for early termination of the linesearch
+  /// algorithm.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:ls_tolerance = 0.01` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetLSToleranceAttr() const;
+
+  /// See GetLSToleranceAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateLSToleranceAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // NOSLIPITERATIONS
+  // --------------------------------------------------------------------- //
+  /// Maximum number of iterations of the Noslip solver.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:physics:noslip_iterations = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetNoslipIterationsAttr() const;
+
+  /// See GetNoslipIterationsAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateNoslipIterationsAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // NOSLIPTOLERANCE
+  // --------------------------------------------------------------------- //
+  /// Tolerance threshold used for early termination of the Noslip solver.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:noslip_tolerance = 0.000001` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetNoslipToleranceAttr() const;
+
+  /// See GetNoslipToleranceAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateNoslipToleranceAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CCDITERATIONS
+  // --------------------------------------------------------------------- //
+  /// Maximum number of iterations of the algorithm used for convex collisions.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:physics:ccd_iterations = 50` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetCCDIterationsAttr() const;
+
+  /// See GetCCDIterationsAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateCCDIterationsAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CCDTOLERANCE
+  // --------------------------------------------------------------------- //
+  /// Tolerance threshold used for early termination of the convex
+  /// collision algorithm.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:physics:ccd_tolerance = 0.000001` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetCCDToleranceAttr() const;
+
+  /// See GetCCDToleranceAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateCCDToleranceAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SDFITERATIONS
+  // --------------------------------------------------------------------- //
+  /// Number of iterations used for Signed Distance Field collisions
+  /// (per initial point).
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:physics:sdf_iterations = 10` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetSDFIterationsAttr() const;
+
+  /// See GetSDFIterationsAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateSDFIterationsAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SDFINITPOINTS
+  // --------------------------------------------------------------------- //
+  /// Number of starting points used for finding contacts with Signed
+  /// Distance Field collisions.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:physics:sdf_initpoints = 40` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetSDFInitPointsAttr() const;
+
+  /// See GetSDFInitPointsAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateSDFInitPointsAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // ACTUATORGROUPDISABLE
+  // --------------------------------------------------------------------- //
+  /// List of actuator groups to disable.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int[] mjc:physics:actuatorgroupdisable` |
+  /// | C++ Type | VtArray<int> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetActuatorGroupDisableAttr() const;
+
+  /// See GetActuatorGroupDisableAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateActuatorGroupDisableAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CONSTRAINTFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables constraint solver.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:constraint = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetConstraintFlagAttr() const;
+
+  /// See GetConstraintFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateConstraintFlagAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // EQUALITYFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables all standard computations related to equality constraints.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:equality = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetEqualityFlagAttr() const;
+
+  /// See GetEqualityFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateEqualityFlagAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // FRICTIONLOSSFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables all standard computations related to friction loss constraints.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:frictionloss = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetFrictionLossFlagAttr() const;
+
+  /// See GetFrictionLossFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateFrictionLossFlagAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // LIMITFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables all standard computations related to joint and tendon limit
+  /// constraints.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:limit = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetLimitFlagAttr() const;
+
+  /// See GetLimitFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateLimitFlagAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CONTACTFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables collision detection and all standard computations related to
+  /// contact constraints.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:contact = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetContactFlagAttr() const;
+
+  /// See GetContactFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateContactFlagAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // PASSIVEFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the simulation of joint and tendon spring-dampers, fluid dynamics
+  /// forces, and custom passive forces.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:passive = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetPassiveFlagAttr() const;
+
+  /// See GetPassiveFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreatePassiveFlagAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // GRAVITYFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the application of gravitational acceleration as defined in
+  /// mjOption.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:gravity = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGravityFlagAttr() const;
+
+  /// See GetGravityFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateGravityFlagAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CLAMPCTRLFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the clamping of control inputs to all actuators, according to
+  /// actuator-specific attributes.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:clampctrl = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetClampCtrlFlagAttr() const;
+
+  /// See GetClampCtrlFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateClampCtrlFlagAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // WARMSTARTFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables warm-starting of the constraint solver, using the solution from
+  /// the previous time step to initialize the iterative optimization.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:warmstart = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetWarmStartFlagAttr() const;
+
+  /// See GetWarmStartFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateWarmStartFlagAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // FILTERPARENTFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the filtering of contact pairs where the two geoms belong to a
+  /// parent and child body.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:filterparent = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetFilterParentFlagAttr() const;
+
+  /// See GetFilterParentFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateFilterParentFlagAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // ACTUATIONFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables all standard computations related to actuator forces, including
+  /// actuator dynamics.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:actuation = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetActuationFlagAttr() const;
+
+  /// See GetActuationFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateActuationFlagAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // REFSAFEFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables a safety mechanism that prevents instabilities due to solref[0]
+  /// being too small compared to the simulation timestep.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:refsafe = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetRefSafeFlagAttr() const;
+
+  /// See GetRefSafeFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateRefSafeFlagAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SENSORFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables all computations related to sensors.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:sensor = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetSensorFlagAttr() const;
+
+  /// See GetSensorFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateSensorFlagAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MIDPHASEFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables mid-phase collision filtering using a static AABB bounding volume
+  /// hierarchy (BVH).
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:midphase = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMidPhaseFlagAttr() const;
+
+  /// See GetMidPhaseFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMidPhaseFlagAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // NATIVECCDFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the native convex collision detection pipeline instead of using
+  /// the libccd library.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:nativeccd = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetNativeCCDFlagAttr() const;
+
+  /// See GetNativeCCDFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateNativeCCDFlagAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // EULERDAMPFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables implicit integration with respect to joint damping in the Euler
+  /// integrator.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:eulerdamp = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetEulerDampFlagAttr() const;
+
+  /// See GetEulerDampFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateEulerDampFlagAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // AUTORESETFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the automatic resetting of the simulation state when numerical
+  /// issues are detected.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:autoreset = 1` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetAutoResetFlagAttr() const;
+
+  /// See GetAutoResetFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateAutoResetFlagAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // OVERRIDEFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the contact override mechanism.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:override = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetOverrideFlagAttr() const;
+
+  /// See GetOverrideFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateOverrideFlagAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // ENERGYFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the computation of potential and kinetic energy
+  /// (mjData.energy[0,1]).
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:energy = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetEnergyFlagAttr() const;
+
+  /// See GetEnergyFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateEnergyFlagAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // FWDINVFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the automatic comparison of forward and inverse dynamics.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:fwdinv = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetFwdinvFlagAttr() const;
+
+  /// See GetFwdinvFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateFwdinvFlagAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // INVDISCRETEFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables discrete-time inverse dynamics with mj_inverse for integrators
+  /// other than RK4.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:invdiscrete = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetInvDiscreteFlagAttr() const;
+
+  /// See GetInvDiscreteFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateInvDiscreteFlagAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MULTICCDFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables multiple-contact collision detection for geom pairs using a
+  /// general-purpose convex-convex collider.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:multiccd = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMultiCCDFlagAttr() const;
+
+  /// See GetMultiCCDFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMultiCCDFlagAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // ISLANDFLAG
+  // --------------------------------------------------------------------- //
+  /// Enables the discovery of constraint islands.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:physics:flag:island = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetIslandFlagAttr() const;
+
+  /// See GetIslandFlagAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateIslandFlagAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.cpp b/src/experimental/usd/mjcPhysics/siteAPI.cpp
new file mode 100644
index 00000000..1693dd16
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/siteAPI.cpp
@@ -0,0 +1,99 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./siteAPI.h"
+
+#include "pxr/usd/sdf/assetPath.h"
+#include "pxr/usd/sdf/types.h"
+#include "pxr/usd/usd/schemaRegistry.h"
+#include "pxr/usd/usd/typed.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsSiteAPI, TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsSiteAPI::~MjcPhysicsSiteAPI() {}
+
+/* static */
+MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Get(const UsdStagePtr &stage,
+                                         const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsSiteAPI();
+  }
+  return MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsSiteAPI::_GetSchemaKind() const {
+  return MjcPhysicsSiteAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsSiteAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsSiteAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim &prim) {
+  if (prim.ApplyAPI<MjcPhysicsSiteAPI>()) {
+    return MjcPhysicsSiteAPI(prim);
+  }
+  return MjcPhysicsSiteAPI();
+}
+
+/* static */
+const TfType &MjcPhysicsSiteAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsSiteAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsSiteAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsSiteAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+/*static*/
+const TfTokenVector &MjcPhysicsSiteAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames;
+  static TfTokenVector allNames =
+      UsdAPISchemaBase::GetSchemaAttributeNames(true);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.h b/src/experimental/usd/mjcPhysics/siteAPI.h
new file mode 100644
index 00000000..e1981297
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/siteAPI.h
@@ -0,0 +1,158 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_SITEAPI_H
+#define MJCPHYSICS_GENERATED_SITEAPI_H
+
+/// \file mjcPhysics/siteAPI.h
+
+#include "./api.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/vec3d.h"
+#include "pxr/base/gf/vec3f.h"
+#include "pxr/base/tf/token.h"
+#include "pxr/base/tf/type.h"
+#include "pxr/base/vt/value.h"
+#include "pxr/pxr.h"
+#include "pxr/usd/usd/apiSchemaBase.h"
+#include "pxr/usd/usd/prim.h"
+#include "pxr/usd/usd/stage.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// MJCSITEAPI                                                                 //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsSiteAPI
+///
+/// API describing a Mujoco site.
+///
+class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsSiteAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsSiteAPI(const UsdPrim &prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsSiteAPI(const UsdSchemaBase &schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsSiteAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsSiteAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsSiteAPI Get(const UsdStagePtr &stage, const SdfPath &path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "MjcSiteAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsSiteAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsSiteAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsSiteAPI Apply(const UsdPrim &prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
new file mode 100644
index 00000000..b6bfd4b8
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -0,0 +1,156 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./tokens.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+MjcPhysicsTokensType::MjcPhysicsTokensType()
+    : auto_("auto", TfToken::Immortal),
+      cg("cg", TfToken::Immortal),
+      dense("dense", TfToken::Immortal),
+      elliptic("elliptic", TfToken::Immortal),
+      euler("euler", TfToken::Immortal),
+      implicit("implicit", TfToken::Immortal),
+      implicitfast("implicitfast", TfToken::Immortal),
+      mjcPhysicsActuatorgroupdisable("mjc:physics:actuatorgroupdisable",
+                                     TfToken::Immortal),
+      mjcPhysicsApirate("mjc:physics:apirate", TfToken::Immortal),
+      mjcPhysicsCcd_iterations("mjc:physics:ccd_iterations", TfToken::Immortal),
+      mjcPhysicsCcd_tolerance("mjc:physics:ccd_tolerance", TfToken::Immortal),
+      mjcPhysicsCone("mjc:physics:cone", TfToken::Immortal),
+      mjcPhysicsDensity("mjc:physics:density", TfToken::Immortal),
+      mjcPhysicsFlagActuation("mjc:physics:flag:actuation", TfToken::Immortal),
+      mjcPhysicsFlagAutoreset("mjc:physics:flag:autoreset", TfToken::Immortal),
+      mjcPhysicsFlagClampctrl("mjc:physics:flag:clampctrl", TfToken::Immortal),
+      mjcPhysicsFlagConstraint("mjc:physics:flag:constraint",
+                               TfToken::Immortal),
+      mjcPhysicsFlagContact("mjc:physics:flag:contact", TfToken::Immortal),
+      mjcPhysicsFlagEnergy("mjc:physics:flag:energy", TfToken::Immortal),
+      mjcPhysicsFlagEquality("mjc:physics:flag:equality", TfToken::Immortal),
+      mjcPhysicsFlagEulerdamp("mjc:physics:flag:eulerdamp", TfToken::Immortal),
+      mjcPhysicsFlagFilterparent("mjc:physics:flag:filterparent",
+                                 TfToken::Immortal),
+      mjcPhysicsFlagFrictionloss("mjc:physics:flag:frictionloss",
+                                 TfToken::Immortal),
+      mjcPhysicsFlagFwdinv("mjc:physics:flag:fwdinv", TfToken::Immortal),
+      mjcPhysicsFlagGravity("mjc:physics:flag:gravity", TfToken::Immortal),
+      mjcPhysicsFlagInvdiscrete("mjc:physics:flag:invdiscrete",
+                                TfToken::Immortal),
+      mjcPhysicsFlagIsland("mjc:physics:flag:island", TfToken::Immortal),
+      mjcPhysicsFlagLimit("mjc:physics:flag:limit", TfToken::Immortal),
+      mjcPhysicsFlagMidphase("mjc:physics:flag:midphase", TfToken::Immortal),
+      mjcPhysicsFlagMulticcd("mjc:physics:flag:multiccd", TfToken::Immortal),
+      mjcPhysicsFlagNativeccd("mjc:physics:flag:nativeccd", TfToken::Immortal),
+      mjcPhysicsFlagOverride("mjc:physics:flag:override", TfToken::Immortal),
+      mjcPhysicsFlagPassive("mjc:physics:flag:passive", TfToken::Immortal),
+      mjcPhysicsFlagRefsafe("mjc:physics:flag:refsafe", TfToken::Immortal),
+      mjcPhysicsFlagSensor("mjc:physics:flag:sensor", TfToken::Immortal),
+      mjcPhysicsFlagWarmstart("mjc:physics:flag:warmstart", TfToken::Immortal),
+      mjcPhysicsImpratio("mjc:physics:impratio", TfToken::Immortal),
+      mjcPhysicsIntegrator("mjc:physics:integrator", TfToken::Immortal),
+      mjcPhysicsIterations("mjc:physics:iterations", TfToken::Immortal),
+      mjcPhysicsJacobian("mjc:physics:jacobian", TfToken::Immortal),
+      mjcPhysicsLs_iterations("mjc:physics:ls_iterations", TfToken::Immortal),
+      mjcPhysicsLs_tolerance("mjc:physics:ls_tolerance", TfToken::Immortal),
+      mjcPhysicsMagnetic("mjc:physics:magnetic", TfToken::Immortal),
+      mjcPhysicsNoslip_iterations("mjc:physics:noslip_iterations",
+                                  TfToken::Immortal),
+      mjcPhysicsNoslip_tolerance("mjc:physics:noslip_tolerance",
+                                 TfToken::Immortal),
+      mjcPhysicsO_friction("mjc:physics:o_friction", TfToken::Immortal),
+      mjcPhysicsO_margin("mjc:physics:o_margin", TfToken::Immortal),
+      mjcPhysicsO_solimp("mjc:physics:o_solimp", TfToken::Immortal),
+      mjcPhysicsO_solref("mjc:physics:o_solref", TfToken::Immortal),
+      mjcPhysicsSdf_initpoints("mjc:physics:sdf_initpoints", TfToken::Immortal),
+      mjcPhysicsSdf_iterations("mjc:physics:sdf_iterations", TfToken::Immortal),
+      mjcPhysicsSolver("mjc:physics:solver", TfToken::Immortal),
+      mjcPhysicsTimestep("mjc:physics:timestep", TfToken::Immortal),
+      mjcPhysicsTolerance("mjc:physics:tolerance", TfToken::Immortal),
+      mjcPhysicsViscosity("mjc:physics:viscosity", TfToken::Immortal),
+      mjcPhysicsWind("mjc:physics:wind", TfToken::Immortal),
+      newton("newton", TfToken::Immortal),
+      pgs("pgs", TfToken::Immortal),
+      pyramidal("pyramidal", TfToken::Immortal),
+      rk4("rk4", TfToken::Immortal),
+      sparse("sparse", TfToken::Immortal),
+      MjcPhysicsSceneAPI("MjcPhysicsSceneAPI", TfToken::Immortal),
+      MjcSiteAPI("MjcSiteAPI", TfToken::Immortal),
+      allTokens({auto_,
+                 cg,
+                 dense,
+                 elliptic,
+                 euler,
+                 implicit,
+                 implicitfast,
+                 mjcPhysicsActuatorgroupdisable,
+                 mjcPhysicsApirate,
+                 mjcPhysicsCcd_iterations,
+                 mjcPhysicsCcd_tolerance,
+                 mjcPhysicsCone,
+                 mjcPhysicsDensity,
+                 mjcPhysicsFlagActuation,
+                 mjcPhysicsFlagAutoreset,
+                 mjcPhysicsFlagClampctrl,
+                 mjcPhysicsFlagConstraint,
+                 mjcPhysicsFlagContact,
+                 mjcPhysicsFlagEnergy,
+                 mjcPhysicsFlagEquality,
+                 mjcPhysicsFlagEulerdamp,
+                 mjcPhysicsFlagFilterparent,
+                 mjcPhysicsFlagFrictionloss,
+                 mjcPhysicsFlagFwdinv,
+                 mjcPhysicsFlagGravity,
+                 mjcPhysicsFlagInvdiscrete,
+                 mjcPhysicsFlagIsland,
+                 mjcPhysicsFlagLimit,
+                 mjcPhysicsFlagMidphase,
+                 mjcPhysicsFlagMulticcd,
+                 mjcPhysicsFlagNativeccd,
+                 mjcPhysicsFlagOverride,
+                 mjcPhysicsFlagPassive,
+                 mjcPhysicsFlagRefsafe,
+                 mjcPhysicsFlagSensor,
+                 mjcPhysicsFlagWarmstart,
+                 mjcPhysicsImpratio,
+                 mjcPhysicsIntegrator,
+                 mjcPhysicsIterations,
+                 mjcPhysicsJacobian,
+                 mjcPhysicsLs_iterations,
+                 mjcPhysicsLs_tolerance,
+                 mjcPhysicsMagnetic,
+                 mjcPhysicsNoslip_iterations,
+                 mjcPhysicsNoslip_tolerance,
+                 mjcPhysicsO_friction,
+                 mjcPhysicsO_margin,
+                 mjcPhysicsO_solimp,
+                 mjcPhysicsO_solref,
+                 mjcPhysicsSdf_initpoints,
+                 mjcPhysicsSdf_iterations,
+                 mjcPhysicsSolver,
+                 mjcPhysicsTimestep,
+                 mjcPhysicsTolerance,
+                 mjcPhysicsViscosity,
+                 mjcPhysicsWind,
+                 newton,
+                 pgs,
+                 pyramidal,
+                 rk4,
+                 sparse,
+                 MjcPhysicsSceneAPI,
+                 MjcSiteAPI}) {}
+
+TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
+
+PXR_NAMESPACE_CLOSE_SCOPE
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
new file mode 100644
index 00000000..8d6b5f92
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -0,0 +1,332 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_TOKENS_H
+#define MJCPHYSICS_TOKENS_H
+
+/// \file mjcPhysics/tokens.h
+
+// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
+//
+// This is an automatically generated file (by usdGenSchema.py).
+// Do not hand-edit!
+//
+// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
+
+#include <vector>
+
+#include "./api.h"
+#include "pxr/base/tf/staticData.h"
+#include "pxr/base/tf/token.h"
+#include "pxr/pxr.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+/// \class MjcPhysicsTokensType
+///
+/// \link MjcPhysicsTokens \endlink provides static, efficient
+/// \link TfToken TfTokens\endlink for use in all public USD API.
+///
+/// These tokens are auto-generated from the module's schema, representing
+/// property names, for when you need to fetch an attribute or relationship
+/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
+/// manner, and allow the compiler to verify that you spelled the name
+/// correctly.
+///
+/// MjcPhysicsTokens also contains all of the \em allowedTokens values
+/// declared for schema builtin attributes of 'token' scene description type.
+/// Use MjcPhysicsTokens like so:
+///
+/// \code
+///     gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->auto_);
+/// \endcode
+struct MjcPhysicsTokensType {
+  MJCPHYSICS_API MjcPhysicsTokensType();
+  /// \brief "auto"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
+  /// represents the auto constraint Jacobian and matrices computed from it.
+  const TfToken auto_;
+  /// \brief "cg"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
+  /// represents the CG constraint solver algorithm.
+  const TfToken cg;
+  /// \brief "dense"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
+  /// represents the dense constraint Jacobian and matrices computed from it.
+  const TfToken dense;
+  /// \brief "elliptic"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetConeAttr(),  This token
+  /// represents the elliptic contact friction cone type.
+  const TfToken elliptic;
+  /// \brief "euler"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the Euler numerical integrator.
+  const TfToken euler;
+  /// \brief "implicit"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the implicit numerical integrator.
+  const TfToken implicit;
+  /// \brief "implicitfast"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the implicitfast numerical integrator.
+  const TfToken implicitfast;
+  /// \brief "mjc:physics:actuatorgroupdisable"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsActuatorgroupdisable;
+  /// \brief "mjc:physics:apirate"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsApirate;
+  /// \brief "mjc:physics:ccd_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsCcd_iterations;
+  /// \brief "mjc:physics:ccd_tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsCcd_tolerance;
+  /// \brief "mjc:physics:cone"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsCone;
+  /// \brief "mjc:physics:density"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsDensity;
+  /// \brief "mjc:physics:flag:actuation"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagActuation;
+  /// \brief "mjc:physics:flag:autoreset"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagAutoreset;
+  /// \brief "mjc:physics:flag:clampctrl"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagClampctrl;
+  /// \brief "mjc:physics:flag:constraint"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagConstraint;
+  /// \brief "mjc:physics:flag:contact"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagContact;
+  /// \brief "mjc:physics:flag:energy"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagEnergy;
+  /// \brief "mjc:physics:flag:equality"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagEquality;
+  /// \brief "mjc:physics:flag:eulerdamp"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagEulerdamp;
+  /// \brief "mjc:physics:flag:filterparent"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagFilterparent;
+  /// \brief "mjc:physics:flag:frictionloss"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagFrictionloss;
+  /// \brief "mjc:physics:flag:fwdinv"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagFwdinv;
+  /// \brief "mjc:physics:flag:gravity"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagGravity;
+  /// \brief "mjc:physics:flag:invdiscrete"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagInvdiscrete;
+  /// \brief "mjc:physics:flag:island"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagIsland;
+  /// \brief "mjc:physics:flag:limit"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagLimit;
+  /// \brief "mjc:physics:flag:midphase"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagMidphase;
+  /// \brief "mjc:physics:flag:multiccd"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagMulticcd;
+  /// \brief "mjc:physics:flag:nativeccd"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagNativeccd;
+  /// \brief "mjc:physics:flag:override"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagOverride;
+  /// \brief "mjc:physics:flag:passive"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagPassive;
+  /// \brief "mjc:physics:flag:refsafe"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagRefsafe;
+  /// \brief "mjc:physics:flag:sensor"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagSensor;
+  /// \brief "mjc:physics:flag:warmstart"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsFlagWarmstart;
+  /// \brief "mjc:physics:impratio"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsImpratio;
+  /// \brief "mjc:physics:integrator"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsIntegrator;
+  /// \brief "mjc:physics:iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsIterations;
+  /// \brief "mjc:physics:jacobian"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsJacobian;
+  /// \brief "mjc:physics:ls_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsLs_iterations;
+  /// \brief "mjc:physics:ls_tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsLs_tolerance;
+  /// \brief "mjc:physics:magnetic"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsMagnetic;
+  /// \brief "mjc:physics:noslip_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsNoslip_iterations;
+  /// \brief "mjc:physics:noslip_tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsNoslip_tolerance;
+  /// \brief "mjc:physics:o_friction"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsO_friction;
+  /// \brief "mjc:physics:o_margin"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsO_margin;
+  /// \brief "mjc:physics:o_solimp"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsO_solimp;
+  /// \brief "mjc:physics:o_solref"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsO_solref;
+  /// \brief "mjc:physics:sdf_initpoints"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsSdf_initpoints;
+  /// \brief "mjc:physics:sdf_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsSdf_iterations;
+  /// \brief "mjc:physics:solver"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsSolver;
+  /// \brief "mjc:physics:timestep"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsTimestep;
+  /// \brief "mjc:physics:tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsTolerance;
+  /// \brief "mjc:physics:viscosity"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsViscosity;
+  /// \brief "mjc:physics:wind"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcPhysicsWind;
+  /// \brief "newton"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
+  /// represents the Newton constraint solver algorithm.
+  const TfToken newton;
+  /// \brief "pgs"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
+  /// represents the PGS constraint solver algorithm.
+  const TfToken pgs;
+  /// \brief "pyramidal"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(),  This token
+  /// represents the pyramidal contact friction cone type.
+  const TfToken pyramidal;
+  /// \brief "rk4"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the RK4 numerical integrator.
+  const TfToken rk4;
+  /// \brief "sparse"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
+  /// represents the sparse constraint Jacobian and matrices computed from it.
+  const TfToken sparse;
+  /// \brief "MjcPhysicsSceneAPI"
+  ///
+  /// Schema identifer and family for MjcPhysicsSceneAPI
+  const TfToken MjcPhysicsSceneAPI;
+  /// \brief "MjcSiteAPI"
+  ///
+  /// Schema identifer and family for MjcPhysicsSiteAPI
+  const TfToken MjcSiteAPI;
+  /// A vector of all of the tokens listed above.
+  const std::vector<TfToken> allTokens;
+};
+
+/// \var MjcPhysicsTokens
+///
+/// A global variable with static, efficient \link TfToken TfTokens\endlink
+/// for use in all public USD API.  \sa MjcPhysicsTokensType
+extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp b/src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp
new file mode 100644
index 00000000..f8936938
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp
@@ -0,0 +1,653 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <boost/python.hpp>
+#include <string>
+
+#include "./sceneAPI.h"
+#include "pxr/base/tf/pyAnnotatedBoolResult.h"
+#include "pxr/base/tf/pyContainerConversions.h"
+#include "pxr/base/tf/pyResultConversions.h"
+#include "pxr/base/tf/pyUtils.h"
+#include "pxr/base/tf/wrapTypeHelpers.h"
+#include "pxr/usd/sdf/primSpec.h"
+#include "pxr/usd/usd/pyConversions.h"
+#include "pxr/usd/usd/schemaBase.h"
+
+using namespace boost::python;
+
+PXR_NAMESPACE_USING_DIRECTIVE
+
+namespace {
+
+#define WRAP_CUSTOM    \
+  template <class Cls> \
+  static void _CustomWrapCode(Cls &_class)
+
+// fwd decl.
+WRAP_CUSTOM;
+
+static UsdAttribute _CreateTimestepAttr(MjcPhysicsSceneAPI &self,
+                                        object defaultVal, bool writeSparsely) {
+  return self.CreateTimestepAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateApiRateAttr(MjcPhysicsSceneAPI &self,
+                                       object defaultVal, bool writeSparsely) {
+  return self.CreateApiRateAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateImpRatioAttr(MjcPhysicsSceneAPI &self,
+                                        object defaultVal, bool writeSparsely) {
+  return self.CreateImpRatioAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateWindAttr(MjcPhysicsSceneAPI &self, object defaultVal,
+                                    bool writeSparsely) {
+  return self.CreateWindAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double3),
+      writeSparsely);
+}
+
+static UsdAttribute _CreateMagneticAttr(MjcPhysicsSceneAPI &self,
+                                        object defaultVal, bool writeSparsely) {
+  return self.CreateMagneticAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double3),
+      writeSparsely);
+}
+
+static UsdAttribute _CreateDensityAttr(MjcPhysicsSceneAPI &self,
+                                       object defaultVal, bool writeSparsely) {
+  return self.CreateDensityAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateViscosityAttr(MjcPhysicsSceneAPI &self,
+                                         object defaultVal,
+                                         bool writeSparsely) {
+  return self.CreateViscosityAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateOMarginAttr(MjcPhysicsSceneAPI &self,
+                                       object defaultVal, bool writeSparsely) {
+  return self.CreateOMarginAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateOSolRefAttr(MjcPhysicsSceneAPI &self,
+                                       object defaultVal, bool writeSparsely) {
+  return self.CreateOSolRefAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
+      writeSparsely);
+}
+
+static UsdAttribute _CreateOSolImpAttr(MjcPhysicsSceneAPI &self,
+                                       object defaultVal, bool writeSparsely) {
+  return self.CreateOSolImpAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
+      writeSparsely);
+}
+
+static UsdAttribute _CreateOFrictionAttr(MjcPhysicsSceneAPI &self,
+                                         object defaultVal,
+                                         bool writeSparsely) {
+  return self.CreateOFrictionAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
+      writeSparsely);
+}
+
+static UsdAttribute _CreateIntegratorAttr(MjcPhysicsSceneAPI &self,
+                                          object defaultVal,
+                                          bool writeSparsely) {
+  return self.CreateIntegratorAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
+}
+
+static UsdAttribute _CreateConeAttr(MjcPhysicsSceneAPI &self, object defaultVal,
+                                    bool writeSparsely) {
+  return self.CreateConeAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
+}
+
+static UsdAttribute _CreateJacobianAttr(MjcPhysicsSceneAPI &self,
+                                        object defaultVal, bool writeSparsely) {
+  return self.CreateJacobianAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
+}
+
+static UsdAttribute _CreateSolverAttr(MjcPhysicsSceneAPI &self,
+                                      object defaultVal, bool writeSparsely) {
+  return self.CreateSolverAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
+}
+
+static UsdAttribute _CreateIterationsAttr(MjcPhysicsSceneAPI &self,
+                                          object defaultVal,
+                                          bool writeSparsely) {
+  return self.CreateIterationsAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
+}
+
+static UsdAttribute _CreateToleranceAttr(MjcPhysicsSceneAPI &self,
+                                         object defaultVal,
+                                         bool writeSparsely) {
+  return self.CreateToleranceAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateLSIterationsAttr(MjcPhysicsSceneAPI &self,
+                                            object defaultVal,
+                                            bool writeSparsely) {
+  return self.CreateLSIterationsAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
+}
+
+static UsdAttribute _CreateLSToleranceAttr(MjcPhysicsSceneAPI &self,
+                                           object defaultVal,
+                                           bool writeSparsely) {
+  return self.CreateLSToleranceAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateNoslipIterationsAttr(MjcPhysicsSceneAPI &self,
+                                                object defaultVal,
+                                                bool writeSparsely) {
+  return self.CreateNoslipIterationsAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
+}
+
+static UsdAttribute _CreateNoslipToleranceAttr(MjcPhysicsSceneAPI &self,
+                                               object defaultVal,
+                                               bool writeSparsely) {
+  return self.CreateNoslipToleranceAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateCCDIterationsAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateCCDIterationsAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
+}
+
+static UsdAttribute _CreateCCDToleranceAttr(MjcPhysicsSceneAPI &self,
+                                            object defaultVal,
+                                            bool writeSparsely) {
+  return self.CreateCCDToleranceAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
+}
+
+static UsdAttribute _CreateSDFIterationsAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateSDFIterationsAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
+}
+
+static UsdAttribute _CreateSDFInitPointsAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateSDFInitPointsAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
+}
+
+static UsdAttribute _CreateActuatorGroupDisableAttr(MjcPhysicsSceneAPI &self,
+                                                    object defaultVal,
+                                                    bool writeSparsely) {
+  return self.CreateActuatorGroupDisableAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->IntArray),
+      writeSparsely);
+}
+
+static UsdAttribute _CreateConstraintFlagAttr(MjcPhysicsSceneAPI &self,
+                                              object defaultVal,
+                                              bool writeSparsely) {
+  return self.CreateConstraintFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateEqualityFlagAttr(MjcPhysicsSceneAPI &self,
+                                            object defaultVal,
+                                            bool writeSparsely) {
+  return self.CreateEqualityFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateFrictionLossFlagAttr(MjcPhysicsSceneAPI &self,
+                                                object defaultVal,
+                                                bool writeSparsely) {
+  return self.CreateFrictionLossFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateLimitFlagAttr(MjcPhysicsSceneAPI &self,
+                                         object defaultVal,
+                                         bool writeSparsely) {
+  return self.CreateLimitFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateContactFlagAttr(MjcPhysicsSceneAPI &self,
+                                           object defaultVal,
+                                           bool writeSparsely) {
+  return self.CreateContactFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreatePassiveFlagAttr(MjcPhysicsSceneAPI &self,
+                                           object defaultVal,
+                                           bool writeSparsely) {
+  return self.CreatePassiveFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateGravityFlagAttr(MjcPhysicsSceneAPI &self,
+                                           object defaultVal,
+                                           bool writeSparsely) {
+  return self.CreateGravityFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateClampCtrlFlagAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateClampCtrlFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateWarmStartFlagAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateWarmStartFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateFilterParentFlagAttr(MjcPhysicsSceneAPI &self,
+                                                object defaultVal,
+                                                bool writeSparsely) {
+  return self.CreateFilterParentFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateActuationFlagAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateActuationFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateRefSafeFlagAttr(MjcPhysicsSceneAPI &self,
+                                           object defaultVal,
+                                           bool writeSparsely) {
+  return self.CreateRefSafeFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateSensorFlagAttr(MjcPhysicsSceneAPI &self,
+                                          object defaultVal,
+                                          bool writeSparsely) {
+  return self.CreateSensorFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateMidPhaseFlagAttr(MjcPhysicsSceneAPI &self,
+                                            object defaultVal,
+                                            bool writeSparsely) {
+  return self.CreateMidPhaseFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateNativeCCDFlagAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateNativeCCDFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateEulerDampFlagAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateEulerDampFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateAutoResetFlagAttr(MjcPhysicsSceneAPI &self,
+                                             object defaultVal,
+                                             bool writeSparsely) {
+  return self.CreateAutoResetFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateOverrideFlagAttr(MjcPhysicsSceneAPI &self,
+                                            object defaultVal,
+                                            bool writeSparsely) {
+  return self.CreateOverrideFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateEnergyFlagAttr(MjcPhysicsSceneAPI &self,
+                                          object defaultVal,
+                                          bool writeSparsely) {
+  return self.CreateEnergyFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateFwdinvFlagAttr(MjcPhysicsSceneAPI &self,
+                                          object defaultVal,
+                                          bool writeSparsely) {
+  return self.CreateFwdinvFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateInvDiscreteFlagAttr(MjcPhysicsSceneAPI &self,
+                                               object defaultVal,
+                                               bool writeSparsely) {
+  return self.CreateInvDiscreteFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateMultiCCDFlagAttr(MjcPhysicsSceneAPI &self,
+                                            object defaultVal,
+                                            bool writeSparsely) {
+  return self.CreateMultiCCDFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static UsdAttribute _CreateIslandFlagAttr(MjcPhysicsSceneAPI &self,
+                                          object defaultVal,
+                                          bool writeSparsely) {
+  return self.CreateIslandFlagAttr(
+      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
+}
+
+static std::string _Repr(const MjcPhysicsSceneAPI &self) {
+  std::string primRepr = TfPyRepr(self.GetPrim());
+  return TfStringPrintf("MjcPhysics.SceneAPI(%s)", primRepr.c_str());
+}
+
+struct MjcPhysicsSceneAPI_CanApplyResult
+    : public TfPyAnnotatedBoolResult<std::string> {
+  MjcPhysicsSceneAPI_CanApplyResult(bool val, std::string const &msg)
+      : TfPyAnnotatedBoolResult<std::string>(val, msg) {}
+};
+
+static MjcPhysicsSceneAPI_CanApplyResult _WrapCanApply(const UsdPrim &prim) {
+  std::string whyNot;
+  bool result = MjcPhysicsSceneAPI::CanApply(prim, &whyNot);
+  return MjcPhysicsSceneAPI_CanApplyResult(result, whyNot);
+}
+
+}  // anonymous namespace
+
+void wrapMjcPhysicsSceneAPI() {
+  typedef MjcPhysicsSceneAPI This;
+
+  MjcPhysicsSceneAPI_CanApplyResult::Wrap<MjcPhysicsSceneAPI_CanApplyResult>(
+      "_CanApplyResult", "whyNot");
+
+  class_<This, bases<UsdAPISchemaBase> > cls("SceneAPI");
+
+  cls.def(init<UsdPrim>(arg("prim")))
+      .def(init<UsdSchemaBase const &>(arg("schemaObj")))
+      .def(TfTypePythonClass())
+
+      .def("Get", &This::Get, (arg("stage"), arg("path")))
+      .staticmethod("Get")
+
+      .def("CanApply", &_WrapCanApply, (arg("prim")))
+      .staticmethod("CanApply")
+
+      .def("Apply", &This::Apply, (arg("prim")))
+      .staticmethod("Apply")
+
+      .def("GetSchemaAttributeNames", &This::GetSchemaAttributeNames,
+           arg("includeInherited") = true,
+           return_value_policy<TfPySequenceToList>())
+      .staticmethod("GetSchemaAttributeNames")
+
+      .def("_GetStaticTfType", (TfType const &(*)())TfType::Find<This>,
+           return_value_policy<return_by_value>())
+      .staticmethod("_GetStaticTfType")
+
+      .def(!self)
+
+      .def("GetTimestepAttr", &This::GetTimestepAttr)
+      .def("CreateTimestepAttr", &_CreateTimestepAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetApiRateAttr", &This::GetApiRateAttr)
+      .def("CreateApiRateAttr", &_CreateApiRateAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetImpRatioAttr", &This::GetImpRatioAttr)
+      .def("CreateImpRatioAttr", &_CreateImpRatioAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetWindAttr", &This::GetWindAttr)
+      .def("CreateWindAttr", &_CreateWindAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetMagneticAttr", &This::GetMagneticAttr)
+      .def("CreateMagneticAttr", &_CreateMagneticAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetDensityAttr", &This::GetDensityAttr)
+      .def("CreateDensityAttr", &_CreateDensityAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetViscosityAttr", &This::GetViscosityAttr)
+      .def("CreateViscosityAttr", &_CreateViscosityAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetOMarginAttr", &This::GetOMarginAttr)
+      .def("CreateOMarginAttr", &_CreateOMarginAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetOSolRefAttr", &This::GetOSolRefAttr)
+      .def("CreateOSolRefAttr", &_CreateOSolRefAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetOSolImpAttr", &This::GetOSolImpAttr)
+      .def("CreateOSolImpAttr", &_CreateOSolImpAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetOFrictionAttr", &This::GetOFrictionAttr)
+      .def("CreateOFrictionAttr", &_CreateOFrictionAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetIntegratorAttr", &This::GetIntegratorAttr)
+      .def("CreateIntegratorAttr", &_CreateIntegratorAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetConeAttr", &This::GetConeAttr)
+      .def("CreateConeAttr", &_CreateConeAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetJacobianAttr", &This::GetJacobianAttr)
+      .def("CreateJacobianAttr", &_CreateJacobianAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetSolverAttr", &This::GetSolverAttr)
+      .def("CreateSolverAttr", &_CreateSolverAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetIterationsAttr", &This::GetIterationsAttr)
+      .def("CreateIterationsAttr", &_CreateIterationsAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetToleranceAttr", &This::GetToleranceAttr)
+      .def("CreateToleranceAttr", &_CreateToleranceAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetLSIterationsAttr", &This::GetLSIterationsAttr)
+      .def("CreateLSIterationsAttr", &_CreateLSIterationsAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetLSToleranceAttr", &This::GetLSToleranceAttr)
+      .def("CreateLSToleranceAttr", &_CreateLSToleranceAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetNoslipIterationsAttr", &This::GetNoslipIterationsAttr)
+      .def("CreateNoslipIterationsAttr", &_CreateNoslipIterationsAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetNoslipToleranceAttr", &This::GetNoslipToleranceAttr)
+      .def("CreateNoslipToleranceAttr", &_CreateNoslipToleranceAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetCCDIterationsAttr", &This::GetCCDIterationsAttr)
+      .def("CreateCCDIterationsAttr", &_CreateCCDIterationsAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetCCDToleranceAttr", &This::GetCCDToleranceAttr)
+      .def("CreateCCDToleranceAttr", &_CreateCCDToleranceAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetSDFIterationsAttr", &This::GetSDFIterationsAttr)
+      .def("CreateSDFIterationsAttr", &_CreateSDFIterationsAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetSDFInitPointsAttr", &This::GetSDFInitPointsAttr)
+      .def("CreateSDFInitPointsAttr", &_CreateSDFInitPointsAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetActuatorGroupDisableAttr", &This::GetActuatorGroupDisableAttr)
+      .def("CreateActuatorGroupDisableAttr", &_CreateActuatorGroupDisableAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetConstraintFlagAttr", &This::GetConstraintFlagAttr)
+      .def("CreateConstraintFlagAttr", &_CreateConstraintFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetEqualityFlagAttr", &This::GetEqualityFlagAttr)
+      .def("CreateEqualityFlagAttr", &_CreateEqualityFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetFrictionLossFlagAttr", &This::GetFrictionLossFlagAttr)
+      .def("CreateFrictionLossFlagAttr", &_CreateFrictionLossFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetLimitFlagAttr", &This::GetLimitFlagAttr)
+      .def("CreateLimitFlagAttr", &_CreateLimitFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetContactFlagAttr", &This::GetContactFlagAttr)
+      .def("CreateContactFlagAttr", &_CreateContactFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetPassiveFlagAttr", &This::GetPassiveFlagAttr)
+      .def("CreatePassiveFlagAttr", &_CreatePassiveFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetGravityFlagAttr", &This::GetGravityFlagAttr)
+      .def("CreateGravityFlagAttr", &_CreateGravityFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetClampCtrlFlagAttr", &This::GetClampCtrlFlagAttr)
+      .def("CreateClampCtrlFlagAttr", &_CreateClampCtrlFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetWarmStartFlagAttr", &This::GetWarmStartFlagAttr)
+      .def("CreateWarmStartFlagAttr", &_CreateWarmStartFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetFilterParentFlagAttr", &This::GetFilterParentFlagAttr)
+      .def("CreateFilterParentFlagAttr", &_CreateFilterParentFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetActuationFlagAttr", &This::GetActuationFlagAttr)
+      .def("CreateActuationFlagAttr", &_CreateActuationFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetRefSafeFlagAttr", &This::GetRefSafeFlagAttr)
+      .def("CreateRefSafeFlagAttr", &_CreateRefSafeFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetSensorFlagAttr", &This::GetSensorFlagAttr)
+      .def("CreateSensorFlagAttr", &_CreateSensorFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetMidPhaseFlagAttr", &This::GetMidPhaseFlagAttr)
+      .def("CreateMidPhaseFlagAttr", &_CreateMidPhaseFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetNativeCCDFlagAttr", &This::GetNativeCCDFlagAttr)
+      .def("CreateNativeCCDFlagAttr", &_CreateNativeCCDFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetEulerDampFlagAttr", &This::GetEulerDampFlagAttr)
+      .def("CreateEulerDampFlagAttr", &_CreateEulerDampFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetAutoResetFlagAttr", &This::GetAutoResetFlagAttr)
+      .def("CreateAutoResetFlagAttr", &_CreateAutoResetFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetOverrideFlagAttr", &This::GetOverrideFlagAttr)
+      .def("CreateOverrideFlagAttr", &_CreateOverrideFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetEnergyFlagAttr", &This::GetEnergyFlagAttr)
+      .def("CreateEnergyFlagAttr", &_CreateEnergyFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetFwdinvFlagAttr", &This::GetFwdinvFlagAttr)
+      .def("CreateFwdinvFlagAttr", &_CreateFwdinvFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetInvDiscreteFlagAttr", &This::GetInvDiscreteFlagAttr)
+      .def("CreateInvDiscreteFlagAttr", &_CreateInvDiscreteFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetMultiCCDFlagAttr", &This::GetMultiCCDFlagAttr)
+      .def("CreateMultiCCDFlagAttr", &_CreateMultiCCDFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("GetIslandFlagAttr", &This::GetIslandFlagAttr)
+      .def("CreateIslandFlagAttr", &_CreateIslandFlagAttr,
+           (arg("defaultValue") = object(), arg("writeSparsely") = false))
+
+      .def("__repr__", ::_Repr);
+
+  _CustomWrapCode(cls);
+}
+
+// ===================================================================== //
+// Feel free to add custom code below this line, it will be preserved by
+// the code generator.  The entry point for your custom code should look
+// minimally like the following:
+//
+// WRAP_CUSTOM {
+//     _class
+//         .def("MyCustomMethod", ...)
+//     ;
+// }
+//
+// Of course any other ancillary or support code may be provided.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'namespace {', '}'.
+//
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
+
+namespace {
+
+WRAP_CUSTOM {}
+
+}  // namespace
diff --git a/src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp b/src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp
new file mode 100644
index 00000000..267978d7
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp
@@ -0,0 +1,120 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <boost/python.hpp>
+#include <string>
+
+#include "./siteAPI.h"
+#include "pxr/base/tf/pyAnnotatedBoolResult.h"
+#include "pxr/base/tf/pyContainerConversions.h"
+#include "pxr/base/tf/pyResultConversions.h"
+#include "pxr/base/tf/pyUtils.h"
+#include "pxr/base/tf/wrapTypeHelpers.h"
+#include "pxr/usd/sdf/primSpec.h"
+#include "pxr/usd/usd/pyConversions.h"
+#include "pxr/usd/usd/schemaBase.h"
+
+using namespace boost::python;
+
+PXR_NAMESPACE_USING_DIRECTIVE
+
+namespace {
+
+#define WRAP_CUSTOM    \
+  template <class Cls> \
+  static void _CustomWrapCode(Cls &_class)
+
+// fwd decl.
+WRAP_CUSTOM;
+
+static std::string _Repr(const MjcPhysicsSiteAPI &self) {
+  std::string primRepr = TfPyRepr(self.GetPrim());
+  return TfStringPrintf("MjcPhysics.SiteAPI(%s)", primRepr.c_str());
+}
+
+struct MjcPhysicsSiteAPI_CanApplyResult
+    : public TfPyAnnotatedBoolResult<std::string> {
+  MjcPhysicsSiteAPI_CanApplyResult(bool val, std::string const &msg)
+      : TfPyAnnotatedBoolResult<std::string>(val, msg) {}
+};
+
+static MjcPhysicsSiteAPI_CanApplyResult _WrapCanApply(const UsdPrim &prim) {
+  std::string whyNot;
+  bool result = MjcPhysicsSiteAPI::CanApply(prim, &whyNot);
+  return MjcPhysicsSiteAPI_CanApplyResult(result, whyNot);
+}
+
+}  // anonymous namespace
+
+void wrapMjcPhysicsSiteAPI() {
+  typedef MjcPhysicsSiteAPI This;
+
+  MjcPhysicsSiteAPI_CanApplyResult::Wrap<MjcPhysicsSiteAPI_CanApplyResult>(
+      "_CanApplyResult", "whyNot");
+
+  class_<This, bases<UsdAPISchemaBase> > cls("SiteAPI");
+
+  cls.def(init<UsdPrim>(arg("prim")))
+      .def(init<UsdSchemaBase const &>(arg("schemaObj")))
+      .def(TfTypePythonClass())
+
+      .def("Get", &This::Get, (arg("stage"), arg("path")))
+      .staticmethod("Get")
+
+      .def("CanApply", &_WrapCanApply, (arg("prim")))
+      .staticmethod("CanApply")
+
+      .def("Apply", &This::Apply, (arg("prim")))
+      .staticmethod("Apply")
+
+      .def("GetSchemaAttributeNames", &This::GetSchemaAttributeNames,
+           arg("includeInherited") = true,
+           return_value_policy<TfPySequenceToList>())
+      .staticmethod("GetSchemaAttributeNames")
+
+      .def("_GetStaticTfType", (TfType const &(*)())TfType::Find<This>,
+           return_value_policy<return_by_value>())
+      .staticmethod("_GetStaticTfType")
+
+      .def(!self)
+
+      .def("__repr__", ::_Repr);
+
+  _CustomWrapCode(cls);
+}
+
+// ===================================================================== //
+// Feel free to add custom code below this line, it will be preserved by
+// the code generator.  The entry point for your custom code should look
+// minimally like the following:
+//
+// WRAP_CUSTOM {
+//     _class
+//         .def("MyCustomMethod", ...)
+//     ;
+// }
+//
+// Of course any other ancillary or support code may be provided.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'namespace {', '}'.
+//
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
+
+namespace {
+
+WRAP_CUSTOM {}
+
+}  // namespace
diff --git a/src/experimental/usd/mjcPhysics/wrapTokens.cpp b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
new file mode 100644
index 00000000..bd9d4b75
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
@@ -0,0 +1,150 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// GENERATED FILE.  DO NOT EDIT.
+#include <boost/python/class.hpp>
+
+#include "./tokens.h"
+
+PXR_NAMESPACE_USING_DIRECTIVE
+
+namespace {
+
+// Helper to return a static token as a string.  We wrap tokens as Python
+// strings and for some reason simply wrapping the token using def_readonly
+// bypasses to-Python conversion, leading to the error that there's no
+// Python type for the C++ TfToken type.  So we wrap this functor instead.
+class _WrapStaticToken {
+ public:
+  _WrapStaticToken(const TfToken* token) : _token(token) {}
+
+  std::string operator()() const { return _token->GetString(); }
+
+ private:
+  const TfToken* _token;
+};
+
+template <typename T>
+void _AddToken(T& cls, const char* name, const TfToken& token) {
+  cls.add_static_property(
+      name,
+      boost::python::make_function(
+          _WrapStaticToken(&token),
+          boost::python::return_value_policy<boost::python::return_by_value>(),
+          boost::mpl::vector1<std::string>()));
+}
+
+}  // namespace
+
+void wrapMjcPhysicsTokens() {
+  boost::python::class_<MjcPhysicsTokensType, boost::noncopyable> cls(
+      "Tokens", boost::python::no_init);
+  _AddToken(cls, "auto_", MjcPhysicsTokens->auto_);
+  _AddToken(cls, "cg", MjcPhysicsTokens->cg);
+  _AddToken(cls, "dense", MjcPhysicsTokens->dense);
+  _AddToken(cls, "elliptic", MjcPhysicsTokens->elliptic);
+  _AddToken(cls, "euler", MjcPhysicsTokens->euler);
+  _AddToken(cls, "implicit", MjcPhysicsTokens->implicit);
+  _AddToken(cls, "implicitfast", MjcPhysicsTokens->implicitfast);
+  _AddToken(cls, "mjcPhysicsActuatorgroupdisable",
+            MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable);
+  _AddToken(cls, "mjcPhysicsApirate", MjcPhysicsTokens->mjcPhysicsApirate);
+  _AddToken(cls, "mjcPhysicsCcd_iterations",
+            MjcPhysicsTokens->mjcPhysicsCcd_iterations);
+  _AddToken(cls, "mjcPhysicsCcd_tolerance",
+            MjcPhysicsTokens->mjcPhysicsCcd_tolerance);
+  _AddToken(cls, "mjcPhysicsCone", MjcPhysicsTokens->mjcPhysicsCone);
+  _AddToken(cls, "mjcPhysicsDensity", MjcPhysicsTokens->mjcPhysicsDensity);
+  _AddToken(cls, "mjcPhysicsFlagActuation",
+            MjcPhysicsTokens->mjcPhysicsFlagActuation);
+  _AddToken(cls, "mjcPhysicsFlagAutoreset",
+            MjcPhysicsTokens->mjcPhysicsFlagAutoreset);
+  _AddToken(cls, "mjcPhysicsFlagClampctrl",
+            MjcPhysicsTokens->mjcPhysicsFlagClampctrl);
+  _AddToken(cls, "mjcPhysicsFlagConstraint",
+            MjcPhysicsTokens->mjcPhysicsFlagConstraint);
+  _AddToken(cls, "mjcPhysicsFlagContact",
+            MjcPhysicsTokens->mjcPhysicsFlagContact);
+  _AddToken(cls, "mjcPhysicsFlagEnergy",
+            MjcPhysicsTokens->mjcPhysicsFlagEnergy);
+  _AddToken(cls, "mjcPhysicsFlagEquality",
+            MjcPhysicsTokens->mjcPhysicsFlagEquality);
+  _AddToken(cls, "mjcPhysicsFlagEulerdamp",
+            MjcPhysicsTokens->mjcPhysicsFlagEulerdamp);
+  _AddToken(cls, "mjcPhysicsFlagFilterparent",
+            MjcPhysicsTokens->mjcPhysicsFlagFilterparent);
+  _AddToken(cls, "mjcPhysicsFlagFrictionloss",
+            MjcPhysicsTokens->mjcPhysicsFlagFrictionloss);
+  _AddToken(cls, "mjcPhysicsFlagFwdinv",
+            MjcPhysicsTokens->mjcPhysicsFlagFwdinv);
+  _AddToken(cls, "mjcPhysicsFlagGravity",
+            MjcPhysicsTokens->mjcPhysicsFlagGravity);
+  _AddToken(cls, "mjcPhysicsFlagInvdiscrete",
+            MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete);
+  _AddToken(cls, "mjcPhysicsFlagIsland",
+            MjcPhysicsTokens->mjcPhysicsFlagIsland);
+  _AddToken(cls, "mjcPhysicsFlagLimit", MjcPhysicsTokens->mjcPhysicsFlagLimit);
+  _AddToken(cls, "mjcPhysicsFlagMidphase",
+            MjcPhysicsTokens->mjcPhysicsFlagMidphase);
+  _AddToken(cls, "mjcPhysicsFlagMulticcd",
+            MjcPhysicsTokens->mjcPhysicsFlagMulticcd);
+  _AddToken(cls, "mjcPhysicsFlagNativeccd",
+            MjcPhysicsTokens->mjcPhysicsFlagNativeccd);
+  _AddToken(cls, "mjcPhysicsFlagOverride",
+            MjcPhysicsTokens->mjcPhysicsFlagOverride);
+  _AddToken(cls, "mjcPhysicsFlagPassive",
+            MjcPhysicsTokens->mjcPhysicsFlagPassive);
+  _AddToken(cls, "mjcPhysicsFlagRefsafe",
+            MjcPhysicsTokens->mjcPhysicsFlagRefsafe);
+  _AddToken(cls, "mjcPhysicsFlagSensor",
+            MjcPhysicsTokens->mjcPhysicsFlagSensor);
+  _AddToken(cls, "mjcPhysicsFlagWarmstart",
+            MjcPhysicsTokens->mjcPhysicsFlagWarmstart);
+  _AddToken(cls, "mjcPhysicsImpratio", MjcPhysicsTokens->mjcPhysicsImpratio);
+  _AddToken(cls, "mjcPhysicsIntegrator",
+            MjcPhysicsTokens->mjcPhysicsIntegrator);
+  _AddToken(cls, "mjcPhysicsIterations",
+            MjcPhysicsTokens->mjcPhysicsIterations);
+  _AddToken(cls, "mjcPhysicsJacobian", MjcPhysicsTokens->mjcPhysicsJacobian);
+  _AddToken(cls, "mjcPhysicsLs_iterations",
+            MjcPhysicsTokens->mjcPhysicsLs_iterations);
+  _AddToken(cls, "mjcPhysicsLs_tolerance",
+            MjcPhysicsTokens->mjcPhysicsLs_tolerance);
+  _AddToken(cls, "mjcPhysicsMagnetic", MjcPhysicsTokens->mjcPhysicsMagnetic);
+  _AddToken(cls, "mjcPhysicsNoslip_iterations",
+            MjcPhysicsTokens->mjcPhysicsNoslip_iterations);
+  _AddToken(cls, "mjcPhysicsNoslip_tolerance",
+            MjcPhysicsTokens->mjcPhysicsNoslip_tolerance);
+  _AddToken(cls, "mjcPhysicsO_friction",
+            MjcPhysicsTokens->mjcPhysicsO_friction);
+  _AddToken(cls, "mjcPhysicsO_margin", MjcPhysicsTokens->mjcPhysicsO_margin);
+  _AddToken(cls, "mjcPhysicsO_solimp", MjcPhysicsTokens->mjcPhysicsO_solimp);
+  _AddToken(cls, "mjcPhysicsO_solref", MjcPhysicsTokens->mjcPhysicsO_solref);
+  _AddToken(cls, "mjcPhysicsSdf_initpoints",
+            MjcPhysicsTokens->mjcPhysicsSdf_initpoints);
+  _AddToken(cls, "mjcPhysicsSdf_iterations",
+            MjcPhysicsTokens->mjcPhysicsSdf_iterations);
+  _AddToken(cls, "mjcPhysicsSolver", MjcPhysicsTokens->mjcPhysicsSolver);
+  _AddToken(cls, "mjcPhysicsTimestep", MjcPhysicsTokens->mjcPhysicsTimestep);
+  _AddToken(cls, "mjcPhysicsTolerance", MjcPhysicsTokens->mjcPhysicsTolerance);
+  _AddToken(cls, "mjcPhysicsViscosity", MjcPhysicsTokens->mjcPhysicsViscosity);
+  _AddToken(cls, "mjcPhysicsWind", MjcPhysicsTokens->mjcPhysicsWind);
+  _AddToken(cls, "newton", MjcPhysicsTokens->newton);
+  _AddToken(cls, "pgs", MjcPhysicsTokens->pgs);
+  _AddToken(cls, "pyramidal", MjcPhysicsTokens->pyramidal);
+  _AddToken(cls, "rk4", MjcPhysicsTokens->rk4);
+  _AddToken(cls, "sparse", MjcPhysicsTokens->sparse);
+  _AddToken(cls, "MjcPhysicsSceneAPI", MjcPhysicsTokens->MjcPhysicsSceneAPI);
+  _AddToken(cls, "MjcSiteAPI", MjcPhysicsTokens->MjcSiteAPI);
+}

From d77126dc58860f60710ed2a78a80f4f81ec1a786 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 12 May 2025 09:12:44 -0700
Subject: [PATCH 114/191] Add `vertcollide` option for adding spheres at flex
 vertices.

PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
---
 doc/XMLreference.rst                          |   12 +-
 doc/XMLschema.rst                             |    4 +-
 doc/includes/references.h                     |    3 +-
 include/mujoco/mjspec.h                       |    3 +-
 .../plugin/elasticity/poncho_vertcollide.xml  | 1432 +++++++++++++++++
 python/mujoco/introspect/structs.py           |    7 +-
 src/user/user_flexcomp.cc                     |   16 +
 src/xml/xml_native_reader.cc                  |   14 +-
 8 files changed, 1480 insertions(+), 11 deletions(-)
 create mode 100644 model/plugin/elasticity/poncho_vertcollide.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 647a731b..efbecc2f 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -3554,6 +3554,7 @@ saving the XML:
 
 .. _flexcomp-contact-internal:
 .. _flexcomp-contact-selfcollide:
+.. _flexcomp-contact-vertcollide:
 .. _flexcomp-contact-activelayers:
 .. _flexcomp-contact-contype:
 .. _flexcomp-contact-conaffinity:
@@ -3567,8 +3568,8 @@ saving the XML:
 .. _flexcomp-contact-gap:
 
 .. |body/flexcomp/contact attrib list| replace::
-   :at:`internal`, :at:`selfcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`, :at:`condim`,
-   :at:`priority`, :at:`friction`, :at:`solmix`, :at:`solimp`, :at:`margin`, :at:`gap`
+   :at:`internal`, :at:`selfcollide`, :at:`vertcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`,
+   :at:`condim`, :at:`priority`, :at:`friction`, :at:`solmix`, :at:`solimp`, :at:`margin`, :at:`gap`
 
 |body/flexcomp/contact attrib list|
    Same as in :ref:`flex/contact<flex-contact>`. All attributes are passed through to the automatically-generated flex.
@@ -4086,6 +4087,13 @@ extensions specific to flexes.
    **sap** in 1D and 2D, and **bvh** in 3D. Which strategy performs better depends on the specifics of the model. The
    automatic setting is just a simple rule which we have found to perform well in general.
 
+.. _flex-contact-vertcollide:
+
+:at:`vertcollide`: :at-val:`[true, false], "false"`
+   Enables or disables vertex collisions. if **true**, spherical geoms are added at the vertices of flex, with radius
+   equal to the radius of the flex. These geoms can collide with other geoms and are not visible by default. If
+   **false**, no additional geoms are added.
+
 .. _flex-contact-activelayers:
 
 :at:`activelayers`: :at-val:`int(1), "1"`
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 9036d1c0..5b32d4bb 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -452,7 +452,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`margin<flexcomp-contact-margin>`                          | :ref:`gap<flexcomp-contact-gap>`                                | :ref:`internal<flexcomp-contact-internal>`                      | :ref:`selfcollide<flexcomp-contact-selfcollide>`                | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`activelayers<flexcomp-contact-activelayers>`              |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`activelayers<flexcomp-contact-activelayers>`              | :ref:`vertcollide<flexcomp-contact-vertcollide>`                |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| flexcomp |br| |_2| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -502,7 +502,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`margin<flex-contact-margin>`                              | :ref:`gap<flex-contact-gap>`                                    | :ref:`internal<flex-contact-internal>`                          | :ref:`selfcollide<flex-contact-selfcollide>`                    | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`activelayers<flex-contact-activelayers>`                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`activelayers<flex-contact-activelayers>`                  | :ref:`vertcollide<flex-contact-vertcollide>`                    |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| flex |br| |_2| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 0689e150..d8071b2c 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2049,7 +2049,8 @@ typedef struct mjsFlex_ {          // flex specification
   double radius;                   // radius around primitive element
   mjtByte internal;                // enable internal collisions
   mjtByte flatskin;                // render flex skin with flat shading
-  int selfcollide;                 // mode for flex self colllision
+  int selfcollide;                 // mode for flex self collision
+  int vertcollide;                 // mode for vertex collision
   int activelayers;                // number of active element layers in 3D
   int group;                       // group for visualizatioh
   double edgestiffness;            // edge stiffness
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 3202d9dc..fb95afad 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -430,7 +430,8 @@ typedef struct mjsFlex_ {          // flex specification
   double radius;                   // radius around primitive element
   mjtByte internal;                // enable internal collisions
   mjtByte flatskin;                // render flex skin with flat shading
-  int selfcollide;                 // mode for flex self colllision
+  int selfcollide;                 // mode for flex self collision
+  int vertcollide;                 // mode for vertex collision
   int activelayers;                // number of active element layers in 3D
   int group;                       // group for visualizatioh
   double edgestiffness;            // edge stiffness
diff --git a/model/plugin/elasticity/poncho_vertcollide.xml b/model/plugin/elasticity/poncho_vertcollide.xml
new file mode 100644
index 00000000..895df038
--- /dev/null
+++ b/model/plugin/elasticity/poncho_vertcollide.xml
@@ -0,0 +1,1432 @@
+<!-- Copyright 2021 DeepMind Technologies Limited
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+         http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<mujoco model="Poncho">
+  <include file="mannequin.xml"/>
+  <option timestep="0.01" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
+    <flag energy="enable"/>
+  </option>
+
+  <extension>
+    <plugin plugin="mujoco.elasticity.shell"/>
+  </extension>
+
+  <visual>
+    <map force="0.1" zfar="30"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <quality shadowsize="4096"/>
+    <global offwidth="800" offheight="800"/>
+  </visual>
+
+  <default>
+    <geom solref="0.003 1"/>
+  </default>
+
+  <worldbody>
+    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
+
+    <flexcomp name="f1" type="direct" rgba=".8 .2 .2 1" radius="0.02" dim="2" pos="0 0 2"
+              mass="1"
+         point="0 0 0
+                -1 1 0
+                -0.875 1 0
+                -0.833333333333 0.91666666513 0
+                -1 0.875 0
+                -0.916666667179 0.833333331284 0
+                -0.812500001409 0.81249999936 0
+                -0.750000001537 0.749999999488 0
+                -0.75 1 0
+                -0.718750000576 0.906249998143 0
+                -1 0.75 0
+                -0.906250000192 0.718749998527 0
+                -0.833333333333 0.666666665642 0
+                -0.734187703053 0.642350849083 0
+                -0.666666667691 0.833333331284 0
+                -0.612946163782 0.7237083968 0
+                -0.625 1 0
+                -0.583333333846 0.91666666513 0
+                -0.616996739355 0.622692032086 0
+                -0.719104332867 0.539663811624 0
+                -1 0.625 0
+                -0.916666667179 0.583333331797 0
+                -0.80969723436 0.526920937586 0
+                -0.532291254804 0.804324341663 0
+                -0.506101050606 0.604081197552 0
+                -0.484329717592 0.699035373329 0
+                -0.5 1 0
+                -0.446144899117 0.890322007975 0
+                -0.620892626346 0.525533370884 0
+                -0.704717288729 0.441717328263 0
+                -0.527201429221 0.512053329881 0
+                -0.442916397325 0.477752897868 0
+                -1 0.5 0
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+                -0.787495191849 0.395653921455 0
+                -0.406068846868 0.777075424862 0
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+                -0.375 1 0
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+                -0.35276170024 0.535166987623 0
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+                -0.609096078117 0.430160367238 0
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+                -0.440517550279 0.399063026439 0
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+                -1 0.375 0
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+                269 298 302
+                206 237 238
+                268 298 269
+                184 155 183
+                175 173 204
+                146 145 143
+                277 298 268
+                236 244 268
+                311 310 342
+                309 311 341
+                279 310 311
+                277 299 298
+                159 152 129
+                186 188 158
+                180 209 210
+                125 153 154
+                179 187 209
+                246 278 245
+                152 153 124
+                127 104 126
+                182 185 156
+                115 104 127
+                104 84 103
+                154 127 126
+                116 114 94
+                115 116 93
+                115 144 116
+                284 283 315
+                220 219 250
+                252 220 250
+                159 188 187
+                186 219 188
+                186 218 219
+                218 248 249
+                312 314 282
+                313 282 314
+                313 343 315
+                281 313 283
+                314 343 313
+                315 344 345
+                281 248 282
+                313 281 282
+                373 346 345
+                252 284 286
+                249 248 281
+                283 249 281
+                250 219 249
+                157 156 185
+                183 157 185
+                128 127 156
+                154 181 156
+                125 154 126
+                180 179 209
+                180 210 181
+                154 180 181
+                252 250 284
+                251 242 247
+                220 188 219
+                251 285 275
+                242 251 275
+                247 280 251
+                252 280 247
+                286 317 318
+                187 188 220
+                158 188 159
+                316 284 315
+                318 285 286
+                347 318 317
+                285 280 286
+                307 285 318
+                307 275 285
+                306 308 276
+                339 306 307
+                338 308 306
+                242 209 217
+                217 187 220
+                375 346 374
+                242 210 209
+                274 306 276
+                243 274 276
+                275 306 274
+                246 279 278
+                345 344 373
+                316 315 345
+                346 316 345
+                286 284 316
+                280 285 251
+                339 307 318
+                339 338 306
+                250 283 284
+                315 343 344
+                346 317 316
+                283 313 315
+                218 249 219
+                204 213 236
+                173 184 204
+                213 244 236
+                183 215 184
+                215 214 245
+                176 205 206
+                245 244 213
+                269 236 268
+                183 155 157
+                214 183 185
+                216 214 185
+                216 245 214
+                184 173 155
+                237 204 236
+                175 146 173
+                205 175 204
+                205 174 175
+                122 139 111
+                97 121 119
+                150 151 122
+                102 101 125
+                103 102 125
+                83 101 102
+                393 397 412
+                346 375 347
+                317 346 347
+                339 318 347
+                286 316 317
+                373 374 346
+                374 397 375
+                145 146 174
+                147 145 174
+                118 117 145
+                413 394 392
+                413 393 412
+                430 429 442
+                396 395 414
+                413 429 415
+                237 206 205
+                430 443 431
+                429 430 415
+                442 443 430
+                443 442 454
+                456 443 454
+                431 416 430
+                408 387 386
+                332 360 333
+                334 362 360
+                302 329 334
+                300 302 332
+                270 238 269
+                309 279 311
+                330 309 341
+                357 330 341
+                359 331 330
+                277 278 309
+                210 211 182
+                181 210 182
+                247 220 252
+                247 217 220
+                286 280 252
+                242 217 247
+                241 242 275
+                211 210 242
+                209 187 217
+                368 392 367
+                375 368 347
+                375 393 368
+                276 308 279
+                246 276 279
+                216 246 245
+                243 276 246
+                212 243 216
+                241 275 274
+                243 241 274
+                211 242 241
+                275 307 306
+                367 338 339
+                340 308 338
+                367 340 338
+                369 342 340
+                394 395 371
+                472 471 477
+                444 456 457
+                445 444 457
+                455 450 445
+                464 455 457
+                464 469 461
+                437 422 432
+                431 443 444
+                463 471 465
+                371 342 369
+                357 383 359
+                370 357 341
+                372 383 357
+                384 405 383
+                417 406 396
+                422 424 406
+                417 422 406
+                416 417 396
+                432 444 445
+                437 424 422
+                385 359 383
+                407 385 405
+                386 362 385
+                309 330 299
+                383 405 385
+                330 357 359
+                384 396 406
+                405 384 406
+                372 396 384
+                370 371 395
+                357 370 372
+                342 371 370
+                311 342 341
+                310 340 342
+                372 384 383
+                385 362 358
+                279 308 310
+                340 310 308
+                339 368 367
+                396 414 416
+                392 394 369
+                367 392 369
+                340 367 369
+                339 347 368
+                393 413 392
+                368 393 392
+                375 397 393
+                413 415 414
+                429 413 412
+                395 396 372
+                370 395 372
+                341 342 370
+                369 394 371
+                414 415 430
+                394 414 395
+                394 413 414
+                302 270 269
+                237 269 238
+                204 237 205
+                236 269 237
+                456 463 465
+                469 476 470
+                467 460 462
+                464 465 472
+                461 455 464
+                462 461 469
+                451 450 461
+                457 465 464
+                447 459 458
+                446 447 458
+                435 448 447
+                434 435 447
+                381 403 402
+                421 436 435
+                402 403 420
+                428 436 421
+                448 459 447
+                436 448 435
+                436 449 448
+                420 421 435
+                450 439 437
+                457 455 445
+                453 462 460
+                441 452 449
+                461 462 453
+                424 407 405
+                427 426 410
+                408 425 410
+                440 451 438
+                439 440 427
+                439 451 440
+                407 386 385
+                425 407 424
+                439 425 424
+                427 410 425
+                425 408 407
+                365 390 389
+                437 439 424
+                426 409 410
+                411 423 428
+                404 409 423
+                361 363 335
+                390 365 387
+                410 390 408
+                410 409 390
+                389 363 365
+                388 389 409
+                391 382 404
+                364 389 388
+                333 303 301
+                336 327 305
+                364 336 363
+                364 355 336
+                335 336 305
+                438 428 423
+                440 438 426
+                441 449 436
+                451 441 438
+                452 461 453
+                449 452 453
+                451 461 452
+                455 461 450
+                441 436 428
+                472 476 469
+                471 472 465
+                477 476 472
+                460 467 468
+                459 460 468
+                462 469 470
+                449 453 460
+                452 441 451
+                428 438 441
+                462 470 467
+                474 470 476
+                481 479 476
+                480 475 474
+                449 460 448
+                474 467 470
+                475 473 468
+                416 431 417
+                302 300 270
+                450 451 439
+                456 444 443
+                463 456 454
+                417 432 422
+                465 457 456
+                464 472 469
+                439 427 425
+                445 450 437
+                426 423 409
+                440 426 427
+                438 423 426
+                424 405 406
+                416 414 430
+                325 354 352
+                355 356 337
+                327 355 328
+                327 336 355
+                411 391 404
+                421 411 428
+                403 381 391
+                421 403 411
+                421 420 403
+                401 380 402
+                411 404 423
+                366 391 381
+                366 356 382
+                337 356 366
+                326 337 353
+                326 355 337
+                364 388 382
+                434 447 446
+                300 332 301
+                468 473 466
+                448 460 459
+                467 475 468
+                434 446 433
+                420 434 419
+                420 435 434
+                411 403 391
+                418 400 419
+                380 379 354
+                262 294 295
+                387 360 362
+                390 387 408
+                361 333 360
+                365 361 387
+                365 363 361
+                364 363 389
+                335 333 361
+                366 381 380
+                337 366 353
+                382 388 404
+                366 382 391
+                356 355 382
+                432 445 437
+                431 432 417
+                431 444 432
+                404 388 409
+                358 329 331
+                358 334 329
+                386 387 362
+                407 408 386
+                390 409 389
+                360 332 334
+                387 361 360
+                335 303 333
+                332 302 334
+                419 434 433
+                400 418 399
+                379 401 400
+                377 379 399
+                377 352 379
+                419 433 418
+                401 419 400
+                402 420 419
+                325 352 324
+                366 380 353
+                379 400 399
+                380 401 379
+                353 380 354
+                381 402 380
+                402 419 401
+                398 399 418
+                398 376 378">
+      <edge equality="true" damping="0.1"/>
+      <contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
+      <plugin plugin="mujoco.elasticity.shell">
+        <config key="poisson" value="0"/>
+        <config key="thickness" value="8e-3"/>
+        <!--Units are in Pa (SI)-->
+        <config key="young" value="3e5"/>
+      </plugin>
+    </flexcomp>
+
+  </worldbody>
+
+</mujoco>
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index c7c3f4d1..e3ec1bc8 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -10722,7 +10722,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='selfcollide',
                  type=ValueType(name='int'),
-                 doc='mode for flex self colllision',
+                 doc='mode for flex self collision',
+             ),
+             StructFieldDecl(
+                 name='vertcollide',
+                 type=ValueType(name='int'),
+                 doc='mode for vertex collision',
              ),
              StructFieldDecl(
                  name='activelayers',
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 1d0dbece..cb7124c1 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -33,6 +33,7 @@
 #include "engine/engine_util_errmem.h"
 #include "user/user_flexcomp.h"
 #include <mujoco/mjspec.h>
+#include "user/user_api.h"
 #include "user/user_model.h"
 #include "user/user_objects.h"
 #include "user/user_resource.h"
@@ -459,6 +460,14 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
       // add new body at vertex coordinates
       mjsBody* pb = mjs_addBody(body, 0);
 
+      // add geom if vertcollide
+      if (dflex->vertcollide) {
+        mjsGeom* geom = mjs_addGeom(pb, 0);
+        geom->type = mjGEOM_SPHERE;
+        geom->size[0] = dflex->radius;
+        geom->group = 4;
+      }
+
       // set frame and inertial
       pb->pos[0] = point[3*i];
       pb->pos[1] = point[3*i+1];
@@ -544,6 +553,13 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
           pb->inertia[2] = pb->mass*(2.0*inertiabox*inertiabox)/3.0;
           pb->explicitinertial = true;
 
+          // add geom if vertcollide
+          if (dflex->vertcollide) {
+            mjsGeom* geom = mjs_addGeom(pb, 0);
+            geom->type = mjGEOM_SPHERE;
+            geom->size[0] = dflex->radius;
+          }
+
           for (int d=0; d < 3; d++) {
             mjsJoint* jnt = mjs_addJoint(pb, 0);
             jnt->type = mjJNT_SLIDE;
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index a5bf6824..8404364a 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -311,9 +311,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"<"},
             {"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
             {"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
-            {"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
+            {"contact", "?", "14", "contype", "conaffinity", "condim", "priority",
                 "friction", "solmix", "solref", "solimp", "margin", "gap",
-                "internal", "selfcollide", "activelayers"},
+                "internal", "selfcollide", "activelayers", "vertcollide"},
             {"pin", "*", "4", "id", "range", "grid", "gridrange"},
             {"plugin", "*", "2", "plugin", "instance"},
             {"<"},
@@ -327,9 +327,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"flex", "*", "13", "name", "group", "dim", "radius", "material",
             "rgba", "flatskin", "body", "vertex", "element", "texcoord", "elemtexcoord", "node"},
         {"<"},
-            {"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
+            {"contact", "?", "14", "contype", "conaffinity", "condim", "priority",
                 "friction", "solmix", "solref", "solimp", "margin", "gap",
-                "internal", "selfcollide", "activelayers"},
+                "internal", "selfcollide", "activelayers", "vertcollide"},
             {"edge", "?", "2", "stiffness", "damping"},
             {"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
         {">"},
@@ -1380,6 +1380,9 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
       flex->internal = (n == 1);
     }
     MapValue(cont, "selfcollide", &flex->selfcollide, flexself_map, 5);
+    if (MapValue(cont, "vertcollide", &flex->vertcollide, bool_map, 2)) {
+      flex->vertcollide = (n == 1);
+    }
     ReadAttrInt(cont, "activelayers", &flex->activelayers);
   }
 
@@ -2682,6 +2685,9 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
       dflex.internal = (n == 1);
     }
     MapValue(cont, "selfcollide", &dflex.selfcollide, flexself_map, 5);
+    if (MapValue(cont, "vertcollide", &n, bool_map, 2)) {
+      dflex.vertcollide = (n == 1);
+    }
     ReadAttrInt(cont, "activelayers", &dflex.activelayers);
   }
 

From 8a7c42c747bfcf9160e3125048219566b41ff8cf Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 12 May 2025 10:52:41 -0700
Subject: [PATCH 115/191] Add SDF functions to public API.

PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
---
 doc/APIreference/APItypes.rst         | 20 ++++++
 doc/includes/references.h             | 19 ++++++
 include/mujoco/mjmodel.h              |  8 +++
 include/mujoco/mjplugin.h             | 10 +++
 include/mujoco/mujoco.h               | 13 ++++
 python/mujoco/introspect/enums.py     | 11 ++++
 python/mujoco/introspect/functions.py | 93 +++++++++++++++++++++++++++
 python/mujoco/introspect/structs.py   | 49 ++++++++++++++
 src/engine/engine_collision_sdf.h     | 19 +-----
 unity/Runtime/Bindings/MjBindings.cs  |  6 ++
 10 files changed, 232 insertions(+), 16 deletions(-)

diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
index 7e2befa0..205b7762 100644
--- a/doc/APIreference/APItypes.rst
+++ b/doc/APIreference/APItypes.rst
@@ -357,6 +357,26 @@ last argument to :ref:`mj_local2global`.
 .. mujoco-include:: mjtSameFrame
 
 
+.. _mjtFlexSelf:
+
+mjtFlexSelf
+~~~~~~~~~~~~
+
+Types of flex self-collisions midphase.
+
+.. mujoco-include:: mjtFlexSelf
+
+
+.. _mjtSDFType:
+
+mjtSDFType
+~~~~~~~~~~~
+
+Formulas used to combine SDFs when calling mjc_distance and mjc_gradient.
+
+.. mujoco-include:: mjtSDFType
+
+
 .. _tyDataEnums:
 
 Data
diff --git a/doc/includes/references.h b/doc/includes/references.h
index d8071b2c..363906a0 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -766,6 +766,12 @@ typedef enum mjtFlexSelf_ {       // mode for flex selfcollide
   mjFLEXSELF_SAP,                 // use SAP in midphase
   mjFLEXSELF_AUTO                 // choose between BVH and SAP automatically
 } mjtFlexSelf;
+typedef enum mjtSDFType_ {        // signed distance function (SDF) type
+  mjSDFTYPE_SINGLE     = 0,       // single SDF
+  mjSDFTYPE_INTERSECTION,         // max(A, B)
+  mjSDFTYPE_MIDSURFACE,           // A - B
+  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
+} mjtSDFType;
 struct mjLROpt_ {                 // options for mj_setLengthRange()
   // flags
   int mode;                       // which actuators to process (mjtLRMode)
@@ -1586,6 +1592,15 @@ struct mjpPlugin_ {
   void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
 };
 typedef struct mjpPlugin_ mjpPlugin;
+struct mjSDF_ {
+  const mjpPlugin** plugin;
+  int* id;
+  mjtSDFType type;
+  mjtNum* relpos;
+  mjtNum* relmat;
+  mjtGeom* geomtype;
+};
+typedef struct mjSDF_ mjSDF;
 typedef enum mjtGridPos_ {        // grid position for overlay
   mjGRID_TOPLEFT      = 0,        // top left
   mjGRID_TOPRIGHT,                // top right
@@ -3637,6 +3652,10 @@ void mju_insertionSortInt(int* list, int n);
 mjtNum mju_Halton(int index, int base);
 char* mju_strncpy(char *dst, const char *src, int n);
 mjtNum mju_sigmoid(mjtNum x);
+const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
+mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
+void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
+                  const mjtNum x[3]);
 void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
                       mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
 void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index b6bdbfc6..ceaa76d1 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -407,6 +407,14 @@ typedef enum mjtFlexSelf_ {       // mode for flex selfcollide
 } mjtFlexSelf;
 
 
+typedef enum mjtSDFType_ {        // signed distance function (SDF) type
+  mjSDFTYPE_SINGLE     = 0,       // single SDF
+  mjSDFTYPE_INTERSECTION,         // max(A, B)
+  mjSDFTYPE_MIDSURFACE,           // A - B
+  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
+} mjtSDFType;
+
+
 //---------------------------------- mjLROpt -------------------------------------------------------
 
 struct mjLROpt_ {                 // options for mj_setLengthRange()
diff --git a/include/mujoco/mjplugin.h b/include/mujoco/mjplugin.h
index 0fc31a6c..44f2af20 100644
--- a/include/mujoco/mjplugin.h
+++ b/include/mujoco/mjplugin.h
@@ -135,6 +135,16 @@ struct mjpPlugin_ {
 };
 typedef struct mjpPlugin_ mjpPlugin;
 
+struct mjSDF_ {
+  const mjpPlugin** plugin;
+  int* id;
+  mjtSDFType type;
+  mjtNum* relpos;
+  mjtNum* relmat;
+  mjtGeom* geomtype;
+};
+typedef struct mjSDF_ mjSDF;
+
 #if defined(__has_attribute)
 
   #if __has_attribute(constructor)
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index b955cb13..784d1ab8 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1308,6 +1308,19 @@ MJAPI char* mju_strncpy(char *dst, const char *src, int n);
 MJAPI mjtNum mju_sigmoid(mjtNum x);
 
 
+//---------------------------------- Signed Distance Function --------------------------------------
+
+// get sdf from geom id
+MJAPI const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
+
+// signed distance function
+MJAPI mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
+
+// gradient of sdf
+MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
+                        const mjtNum x[3]);
+
+
 //---------------------------------- Derivatives ---------------------------------------------------
 
 // Finite differenced transition matrices (control theory notation)
diff --git a/python/mujoco/introspect/enums.py b/python/mujoco/introspect/enums.py
index dd1a1fad..a1cab44f 100644
--- a/python/mujoco/introspect/enums.py
+++ b/python/mujoco/introspect/enums.py
@@ -428,6 +428,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjFLEXSELF_AUTO', 4),
          ]),
      )),
+    ('mjtSDFType',
+     EnumDecl(
+         name='mjtSDFType',
+         declname='enum mjtSDFType_',
+         values=dict([
+             ('mjSDFTYPE_SINGLE', 0),
+             ('mjSDFTYPE_INTERSECTION', 1),
+             ('mjSDFTYPE_MIDSURFACE', 2),
+             ('mjSDFTYPE_COLLISION', 3),
+         ]),
+     )),
     ('mjtTaskStatus',
      EnumDecl(
          name='mjtTaskStatus',
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index f62a0e7a..ef8bcd58 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -8570,6 +8570,99 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Sigmoid function over 0<=x<=1 using quintic polynomial.',
      )),
+    ('mjc_getSDF',
+     FunctionDecl(
+         name='mjc_getSDF',
+         return_type=PointerType(
+             inner_type=ValueType(name='mjpPlugin', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='id',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='get sdf from geom id',
+     )),
+    ('mjc_distance',
+     FunctionDecl(
+         name='mjc_distance',
+         return_type=ValueType(name='mjtNum'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='s',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjSDF', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='x',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum', is_const=True),
+                     extents=(3,),
+                 ),
+             ),
+         ),
+         doc='signed distance function',
+     )),
+    ('mjc_gradient',
+     FunctionDecl(
+         name='mjc_gradient',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='s',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjSDF', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='gradient',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum'),
+                     extents=(3,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='x',
+                 type=ArrayType(
+                     inner_type=ValueType(name='mjtNum', is_const=True),
+                     extents=(3,),
+                 ),
+             ),
+         ),
+         doc='gradient of sdf',
+     )),
     ('mjd_transitionFD',
      FunctionDecl(
          name='mjd_transitionFD',
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index e3ec1bc8..5ccdc9b8 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -8966,6 +8966,55 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
+    ('mjSDF',
+     StructDecl(
+         name='mjSDF',
+         declname='struct mjSDF_',
+         fields=(
+             StructFieldDecl(
+                 name='plugin',
+                 type=PointerType(
+                     inner_type=PointerType(
+                         inner_type=ValueType(name='mjpPlugin', is_const=True),
+                     ),
+                 ),
+                 doc='',
+             ),
+             StructFieldDecl(
+                 name='id',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='',
+             ),
+             StructFieldDecl(
+                 name='type',
+                 type=ValueType(name='mjtSDFType'),
+                 doc='',
+             ),
+             StructFieldDecl(
+                 name='relpos',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='',
+             ),
+             StructFieldDecl(
+                 name='relmat',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='',
+             ),
+             StructFieldDecl(
+                 name='geomtype',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtGeom'),
+                 ),
+                 doc='',
+             ),
+         ),
+     )),
     ('mjrRect',
      StructDecl(
          name='mjrRect',
diff --git a/src/engine/engine_collision_sdf.h b/src/engine/engine_collision_sdf.h
index c6acbe1c..c0ea7cdb 100644
--- a/src/engine/engine_collision_sdf.h
+++ b/src/engine/engine_collision_sdf.h
@@ -19,27 +19,14 @@
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mjtnum.h>
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-typedef enum mjtSDFType_ {        // signed distance function (SDF) type
-  mjSDFTYPE_SINGLE     = 0,       // single SDF
-  mjSDFTYPE_INTERSECTION,         // max(A, B)
-  mjSDFTYPE_MIDSURFACE,           // A - B
-  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
-} mjtSDFType;
-
-struct mjSDF_ {
-  const mjpPlugin** plugin;
-  int* id;
-  mjtSDFType type;
-  mjtNum* relpos;
-  mjtNum* relmat;
-  mjtGeom* geomtype;
-};
-typedef struct mjSDF_ mjSDF;
+// get sdf from geom id
+MJAPI const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
 
 // signed distance function
 MJAPI mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index b7137723..c1042de6 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -419,6 +419,12 @@ public enum mjtFlexSelf : int{
   mjFLEXSELF_SAP = 3,
   mjFLEXSELF_AUTO = 4,
 }
+public enum mjtSDFType : int{
+  mjSDFTYPE_SINGLE = 0,
+  mjSDFTYPE_INTERSECTION = 1,
+  mjSDFTYPE_MIDSURFACE = 2,
+  mjSDFTYPE_COLLISION = 3,
+}
 public enum mjtPluginCapabilityBit : int{
   mjPLUGIN_ACTUATOR = 1,
   mjPLUGIN_SENSOR = 2,

From 755564a3484447cdf03d79030f96b1f3460cf515 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 12 May 2025 15:38:15 -0700
Subject: [PATCH 116/191] Remove unused code related to legacy island
 implementation.

Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
---
 doc/includes/references.h                  |  2 +-
 include/mujoco/mjdata.h                    |  2 +-
 python/mujoco/introspect/structs.py        |  2 +-
 src/engine/engine_core_constraint.c        |  4 +-
 src/engine/engine_core_constraint.h        |  4 +-
 src/engine/engine_core_smooth.c            |  4 +-
 src/engine/engine_solver.c                 |  3 +-
 src/engine/engine_support.c                |  2 +-
 src/engine/engine_util_solve.c             |  6 +-
 src/engine/engine_util_sparse.c            | 14 ++---
 src/engine/engine_util_sparse.h            | 43 +++++---------
 src/engine/engine_util_sparse_avx.h        | 65 ++++++----------------
 test/engine/engine_core_constraint_test.cc |  5 +-
 test/engine/engine_util_sparse_test.cc     | 49 +++++-----------
 14 files changed, 67 insertions(+), 138 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 363906a0..402043aa 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -388,7 +388,7 @@ struct mjData_ {
   int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
   int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
   int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
-  int*    map_idof2dof;      // map from idof to dof; idof >= ni: unconstrained  (nv x 1)
+  int*    map_idof2dof;      // map from idof to dof;  >= nidof: unconstrained   (nv x 1)
 
   // computed by mj_island (dofs sorted by island)
   mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 839b3aed..963630cc 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -416,7 +416,7 @@ struct mjData_ {
   int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
   int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
   int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
-  int*    map_idof2dof;      // map from idof to dof; idof >= ni: unconstrained  (nv x 1)
+  int*    map_idof2dof;      // map from idof to dof;  >= nidof: unconstrained   (nv x 1)
 
   // computed by mj_island (dofs sorted by island)
   mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 5ccdc9b8..b4e48f39 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -5981,7 +5981,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='map from idof to dof; idof >= ni: unconstrained',
+                 doc='map from idof to dof;  >= nidof: unconstrained',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 391ed4d2..dba314d9 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -2286,7 +2286,7 @@ void mj_referenceConstraint(const mjModel* m, mjData* d) {
 //---------------------------- update constraint state ---------------------------------------------
 
 // compute efc_state, efc_force
-//  optional: cost(qacc) = shat(jar); cone Hessians
+//  optional: cost(qacc) = s_hat(jar); cone Hessians
 void mj_constraintUpdate_impl(int ne, int nf, int nefc,
                               const mjtNum* D, const mjtNum* R, const mjtNum* floss,
                               const mjtNum* jar, const int* type, const int* id,
@@ -2485,7 +2485,7 @@ void mj_constraintUpdate_impl(int ne, int nf, int nefc,
 
 
 // compute efc_state, efc_force, qfrc_constraint
-// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
+// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
 void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
                          mjtNum cost[1], int flg_coneHessian) {
   mj_constraintUpdate_impl(d->ne, d->nf, d->nefc, d->efc_D, d->efc_R, d->efc_frictionloss,
diff --git a/src/engine/engine_core_constraint.h b/src/engine/engine_core_constraint.h
index f752b143..a0a7c6ca 100644
--- a/src/engine/engine_core_constraint.h
+++ b/src/engine/engine_core_constraint.h
@@ -97,7 +97,7 @@ MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
 MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
 
 // compute efc_state, efc_force
-//  optional: cost(qacc) = shat(jar); cone Hessians
+//  optional: cost(qacc) = s_hat(jar); cone Hessians
 MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
                                     const mjtNum* D, const mjtNum* R, const mjtNum* floss,
                                     const mjtNum* jar, const int* type, const int* id,
@@ -105,7 +105,7 @@ MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
                                     int flg_coneHessian);
 
 // compute efc_state, efc_force, qfrc_constraint
-// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
+// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
 MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
                                mjtNum cost[1], int flg_coneHessian);
 
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index b2bdc8b5..112f62bd 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1875,13 +1875,13 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv,
 
       // one vector
       if (n == 1) {
-        x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr, /*flg_unc1=*/0);
+        x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr);
       }
 
       // multiple vectors
       else {
         for (int offset=0; offset < n*nv; offset+=nv) {
-          x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr, /*flg_unc1=*/0);
+          x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr);
         }
       }
     }
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index fb9dedd1..354386bb 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -187,8 +187,7 @@ static void residual(const mjModel* m, const mjData* d, mjtNum* res, int i, int
       res[j] = d->efc_b[i+j] + mju_dotSparse(d->efc_AR + d->efc_AR_rowadr[i+j],
                                              d->efc_force,
                                              d->efc_AR_rownnz[i+j],
-                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j],
-                                             /*flg_unc1=*/0);
+                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j]);
     }
   }
 
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 3d95da43..b7036659 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1048,7 +1048,7 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
     // non-simple: add off-diagonals
     if (!m->dof_simplenum[i]) {
       int adr = d->M_rowadr[i];
-      res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr, /*flg_unc1=*/0);
+      res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
     }
   }
 
diff --git a/src/engine/engine_util_solve.c b/src/engine/engine_util_solve.c
index 11889667..4d9bde30 100644
--- a/src/engine/engine_util_solve.c
+++ b/src/engine/engine_util_solve.c
@@ -275,7 +275,7 @@ void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
 
     // x(i) -= sum_j L(i,j)*x(j), j=0:i-1
     if (nnz > 1) {
-      res[i] -= mju_dotSparse(mat+adr, res, nnz-1, colind+adr, /*flg_unc1=*/0);
+      res[i] -= mju_dotSparse(mat+adr, res, nnz-1, colind+adr);
       // modulo AVX, the above line does
       // for (int j=0; j<nnz-1; j++)
       //   res[i] -= mat[adr+j]*res[colind[adr+j]];
@@ -710,7 +710,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
     int nnz = rownnz[i] - d1;
     if (nnz > 0) {
       int adr = rowadr[i] + d1;
-      res[i] -= mju_dotSparse(LU+adr, res, nnz, colind+adr, /*flg_unc1=*/0);
+      res[i] -= mju_dotSparse(LU+adr, res, nnz, colind+adr);
     }
   }
 
@@ -720,7 +720,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
     int d = diag[i];
     int adr = rowadr[i];
     if (d > 0) {
-      res[i] -= mju_dotSparse(LU+adr, res, d, colind+adr, /*flg_unc1=*/0);
+      res[i] -= mju_dotSparse(LU+adr, res, d, colind+adr);
     }
 
     // divide by diagonal element of L
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 00fb99d9..250020e4 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -60,9 +60,8 @@ void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
 
 
 // dot-product, both vectors are sparse
-//  flg_unc2: is vec2 memory layout uncompressed
-mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, int nnz2,
-                      const int* ind2, int flg_unc2) {
+mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
+                      const mjtNum* vec2, const int* ind2, int nnz2) {
   int i1 = 0, i2 = 0;
   mjtNum res = 0;
 
@@ -77,12 +76,7 @@ mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const in
 
     // match: accumulate result, advance both
     if (adr1 == adr2) {
-      if (flg_unc2) {
-        res += vec1[i1++] * vec2[adr2];
-        i2++;
-      } else {
-        res += vec1[i1++] * vec2[i2++];
-      }
+      res += vec1[i1++] * vec2[i2++];
     }
 
     // otherwise advance smaller
@@ -161,7 +155,7 @@ void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
 #else
   // regular sparse dot-product
   for (int r=0; r < nr; r++) {
-    res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
+    res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
   }
 #endif  // mjUSEAVX
 }
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index 1246abc1..ea26014b 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -28,9 +28,9 @@ extern "C" {
 
 //------------------------------ sparse operations -------------------------------------------------
 
-// dot-product, both vectors are sparse, vec2 can be uncompressed
-MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
-                            int nnz2, const int* ind2, int flg_unc2);
+// dot-product, both vectors are sparse
+MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
+                            const mjtNum* vec2, const int* ind2, int nnz2);
 
 // convert matrix from dense to sparse
 //  nnz is size of res and colind, return 1 if too small, 0 otherwise
@@ -128,12 +128,10 @@ MJAPI void mju_blockDiagSparse(
 // ------------------------------ inlined functions ------------------------------------------------
 
 // dot-product, first vector is sparse
-//  flg_unc1: is vec1 memory layout uncompressed
 static inline
-mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
-                     int flg_unc1) {
+mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1) {
 #ifdef mjUSEAVX
-  return mju_dotSparse_avx(vec1, vec2, nnz1, ind1, flg_unc1);
+  return mju_dotSparse_avx(vec1, vec2, nnz1, ind1);
 #else
   int i = 0;
   mjtNum res = 0;
@@ -143,33 +141,18 @@ mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int
   mjtNum res2 = 0;
   mjtNum res3 = 0;
 
-
-  if (flg_unc1) {
-    for (; i <= n_4; i+=4) {
-      res0 += vec1[ind1[i+0]] * vec2[ind1[i+0]];
-      res1 += vec1[ind1[i+1]] * vec2[ind1[i+1]];
-      res2 += vec1[ind1[i+2]] * vec2[ind1[i+2]];
-      res3 += vec1[ind1[i+3]] * vec2[ind1[i+3]];
-    }
-  } else {
-    for (; i <= n_4; i+=4) {
-      res0 += vec1[i+0] * vec2[ind1[i+0]];
-      res1 += vec1[i+1] * vec2[ind1[i+1]];
-      res2 += vec1[i+2] * vec2[ind1[i+2]];
-      res3 += vec1[i+3] * vec2[ind1[i+3]];
-    }
+  for (; i <= n_4; i+=4) {
+    res0 += vec1[i+0] * vec2[ind1[i+0]];
+    res1 += vec1[i+1] * vec2[ind1[i+1]];
+    res2 += vec1[i+2] * vec2[ind1[i+2]];
+    res3 += vec1[i+3] * vec2[ind1[i+3]];
   }
+
   res = (res0 + res2) + (res1 + res3);
 
   // scalar part
-  if (flg_unc1) {
-    for (; i < nnz1; i++) {
-      res += vec1[ind1[i]] * vec2[ind1[i]];
-    }
-  } else {
-    for (; i < nnz1; i++) {
-      res += vec1[i] * vec2[ind1[i]];
-    }
+  for (; i < nnz1; i++) {
+    res += vec1[i] * vec2[ind1[i]];
   }
 
   return res;
diff --git a/src/engine/engine_util_sparse_avx.h b/src/engine/engine_util_sparse_avx.h
index 708db7c7..bdc9e931 100644
--- a/src/engine/engine_util_sparse_avx.h
+++ b/src/engine/engine_util_sparse_avx.h
@@ -30,10 +30,8 @@
 //------------------------------ sparse operations using avx ---------------------------------------
 
 // dot-product, first vector is sparse
-//  flg_unc1: is vec1 memory layout uncompressed
 static inline
-mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
-                         int flg_unc1) {
+mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1) {
   int i = 0;
   mjtNum res = 0;
   int nnz1_4 = nnz1 - 4;
@@ -48,43 +46,22 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const
                          vec2[ind1[2]],
                          vec2[ind1[1]],
                          vec2[ind1[0]]);
-    if (flg_unc1) {
-      val1 = _mm256_set_pd(vec1[ind1[3]],
-                           vec1[ind1[2]],
-                           vec1[ind1[1]],
-                           vec1[ind1[0]]);
-    } else {
-      val1 = _mm256_loadu_pd(vec1);
-    }
+
+    val1 = _mm256_loadu_pd(vec1);
+
     sum = _mm256_mul_pd(val1, val2);
     i = 4;
 
     // parallel computation
-    if (flg_unc1) {
-      while (i<=nnz1_4) {
-        val1 = _mm256_set_pd(vec1[ind1[i+3]],
-                             vec1[ind1[i+2]],
-                             vec1[ind1[i+1]],
-                             vec1[ind1[i+0]]);
-        val2 = _mm256_set_pd(vec2[ind1[i+3]],
-                             vec2[ind1[i+2]],
-                             vec2[ind1[i+1]],
-                             vec2[ind1[i+0]]);
-        prod = _mm256_mul_pd(val1, val2);
-        sum = _mm256_add_pd(sum, prod);
-        i += 4;
-      }
-    } else {
-      while (i<=nnz1_4) {
-        val1 = _mm256_loadu_pd(vec1+i);
-        val2 = _mm256_set_pd(vec2[ind1[i+3]],
-                             vec2[ind1[i+2]],
-                             vec2[ind1[i+1]],
-                             vec2[ind1[i+0]]);
-        prod = _mm256_mul_pd(val1, val2);
-        sum = _mm256_add_pd(sum, prod);
-        i += 4;
-      }
+    while (i<=nnz1_4) {
+      val1 = _mm256_loadu_pd(vec1+i);
+      val2 = _mm256_set_pd(vec2[ind1[i+3]],
+                            vec2[ind1[i+2]],
+                            vec2[ind1[i+1]],
+                            vec2[ind1[i+0]]);
+      prod = _mm256_mul_pd(val1, val2);
+      sum = _mm256_add_pd(sum, prod);
+      i += 4;
     }
 
     // reduce
@@ -96,14 +73,8 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const
   }
 
   // scalar part
-  if (flg_unc1) {
-    for (; i < nnz1; i++) {
-      res += vec1[ind1[i]] * vec2[ind1[i]];
-    }
-  } else {
-    for (; i < nnz1; i++) {
-      res += vec1[i] * vec2[ind1[i]];
-    }
+  for (; i < nnz1; i++) {
+    res += vec1[i] * vec2[ind1[i]];
   }
 
   return res;
@@ -209,7 +180,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
   if (!rowsuper) {
     // regular sparse dot-product
     for (int r=0; r<nr; r++) {
-      res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
+      res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
     }
 
     return;
@@ -232,7 +203,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
 
       // handle remaining rows
       while (rs>0) {
-        res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
+        res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
 
         r++;
         rs--;
@@ -243,7 +214,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
     }
 
     else {
-      res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
+      res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
     }
   }
 }
diff --git a/test/engine/engine_core_constraint_test.cc b/test/engine/engine_core_constraint_test.cc
index 3704bdfc..9f970b18 100644
--- a/test/engine/engine_core_constraint_test.cc
+++ b/test/engine/engine_core_constraint_test.cc
@@ -32,6 +32,7 @@ namespace mujoco {
 namespace {
 
 using ::testing::DoubleNear;
+using ::testing::NotNull;
 using ::testing::Pointwise;
 using CoreConstraintTest = MujocoTest;
 
@@ -291,7 +292,9 @@ static const char* const kIlslandEfcPath =
 // validate mj_constraintUpdate_impl
 TEST_F(CoreConstraintTest, ConstraintUpdateImpl) {
   const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
+  char err[1024];
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, err, 1024);
+  ASSERT_THAT(model, NotNull()) << err;
   mjData* d1 = mj_makeData(model);
   mjData* d2 = mj_makeData(model);
 
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index c62e3384..2f1e087f 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -54,57 +54,36 @@ using EngineUtilSparseTest = MujocoTest;
 
 TEST_F(EngineUtilSparseTest, MjuDot) {
   mjtNum a[] = {2,    3,       4,          5,          6,       7,    8};
-  mjtNum u[] = {2, 1, 3, 1, 1, 4, 1, 1, 1, 5, 1, 1, 1, 6, 1, 1, 7, 1, 8};
   mjtNum b[] = {8, 1, 7, 1, 1, 6, 1, 1, 1, 5, 1, 1, 1, 4, 1, 1, 3, 1, 2};
   int i[] = {0, 2, 5, 9, 13, 16, 18};
 
   // test various vector lengths as mju_dotSparse adds numbers in groups of four
 
-  // a is compressed
-  int flg_unc1 = 0;
-  EXPECT_EQ(mju_dotSparse(a, b, 0, i, flg_unc1), 0);
-  EXPECT_EQ(mju_dotSparse(a, b, 1, i, flg_unc1), 2*8);
-  EXPECT_EQ(mju_dotSparse(a, b, 2, i, flg_unc1), 2*8 + 3*7);
-  EXPECT_EQ(mju_dotSparse(a, b, 3, i, flg_unc1), 2*8 + 3*7 + 4*6);
-  EXPECT_EQ(mju_dotSparse(a, b, 4, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5);
-  EXPECT_EQ(mju_dotSparse(a, b, 5, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
-  EXPECT_EQ(mju_dotSparse(a, b, 6, i, flg_unc1),
+  EXPECT_EQ(mju_dotSparse(a, b, 0, i), 0);
+  EXPECT_EQ(mju_dotSparse(a, b, 1, i), 2*8);
+  EXPECT_EQ(mju_dotSparse(a, b, 2, i), 2*8 + 3*7);
+  EXPECT_EQ(mju_dotSparse(a, b, 3, i), 2*8 + 3*7 + 4*6);
+  EXPECT_EQ(mju_dotSparse(a, b, 4, i), 2*8 + 3*7 + 4*6 + 5*5);
+  EXPECT_EQ(mju_dotSparse(a, b, 5, i), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
+  EXPECT_EQ(mju_dotSparse(a, b, 6, i),
             2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3);
-  EXPECT_EQ(mju_dotSparse(a, b, 7, i, flg_unc1),
-            2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3 + 8*2);
-
-  // u is compressed
-  flg_unc1 = 1;
-  EXPECT_EQ(mju_dotSparse(u, b, 0, i, flg_unc1), 0);
-  EXPECT_EQ(mju_dotSparse(u, b, 1, i, flg_unc1), 2*8);
-  EXPECT_EQ(mju_dotSparse(u, b, 2, i, flg_unc1), 2*8 + 3*7);
-  EXPECT_EQ(mju_dotSparse(u, b, 3, i, flg_unc1), 2*8 + 3*7 + 4*6);
-  EXPECT_EQ(mju_dotSparse(u, b, 4, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5);
-  EXPECT_EQ(mju_dotSparse(u, b, 5, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
-  EXPECT_EQ(mju_dotSparse(u, b, 6, i, flg_unc1),
-            2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3);
-  EXPECT_EQ(mju_dotSparse(u, b, 7, i, flg_unc1),
+  EXPECT_EQ(mju_dotSparse(a, b, 7, i),
             2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3 + 8*2);
 }
 
 TEST_F(EngineUtilSparseTest, MjuDot2) {
   constexpr int annz = 6;
   constexpr int bnnz = 5;
-  int ia[annz]   = {0,    2,       5, 6, 7};
+
+  // values
   mjtNum a[annz] = {2,    3,       4, 5, 6};
-  int ib[bnnz]   = {   1, 2, 3,    5,    7};
   mjtNum b[bnnz] = {   8, 7, 6,    5,    4};
-  mjtNum u[]     = {1, 8, 7, 6, 1, 5, 1, 4};
 
-  // test various vector lengths as mju_dotSparse adds numbers in groups of four
+  // indices
+  int ia[annz]   = {0,    2,       5, 6, 7};
+  int ib[bnnz]   = {   1, 2, 3,    5,    7};
 
-  // a is compressed
-  int flg_unc2 = 0;
-  EXPECT_EQ(mju_dotSparse2(a, b, annz, ia, bnnz, ib, flg_unc2), 3*7+4*5+6*4);
-
-  // u is uncompressed
-  flg_unc2 = 1;
-  EXPECT_EQ(mju_dotSparse2(a, u, annz, ia, bnnz, ib, flg_unc2), 3*7+4*5+6*4);
+  EXPECT_EQ(mju_dotSparse2(a, ia, annz, b, ib, bnnz), 3 * 7 + 4 * 5 + 6 * 4);
 }
 
 TEST_F(EngineUtilSparseTest, CombineSparseCount) {

From 436b5a8e1f35b6acc5c64944b58a4834e8d38f0c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 12 May 2025 16:18:51 -0700
Subject: [PATCH 117/191] Add `mju_addToSymSparse`

- Internal engine function to add a symmetric sparse matrix to a dense matrix.
- Also minor refactors to related functions.

PiperOrigin-RevId: 757954336
Change-Id: I8d8a48bcbbd5d6c618ae097a87df2bc1e6f5ef1d
---
 src/engine/engine_support.c            | 16 +++++------
 src/engine/engine_support.h            |  4 +--
 src/engine/engine_util_blas.c          | 22 ++++++++++-----
 src/engine/engine_util_blas.h          |  4 +++
 src/engine/engine_util_sparse.c        | 37 +++++++++++++++++++++++++-
 src/engine/engine_util_sparse.h        | 11 ++++++++
 test/engine/engine_util_sparse_test.cc | 34 +++++++++++++++++++++++
 7 files changed, 109 insertions(+), 19 deletions(-)

diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index b7036659..5eb0c9fd 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1089,20 +1089,18 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
 
 // add inertia matrix to sparse destination matrix
 void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
-                   int* rownnz, int* rowadr, int* colind, mjtNum* M,
-                   int* M_rownnz, int* M_rowadr, int* M_colind) {
+                   int* rownnz, int* rowadr, int* colind, const mjtNum* M,
+                   const int* M_rownnz, const int* M_rowadr, const int* M_colind) {
   int nv = m->nv;
 
   mj_markStack(d);
+  mjtNum* buf_val = mjSTACKALLOC(d, nv, mjtNum);
   int* buf_ind = mjSTACKALLOC(d, nv, int);
-  mjtNum* sparse_buf = mjSTACKALLOC(d, nv, mjtNum);
 
-  // add to destination
-  for (int i=0; i < nv; i++) {
-    rownnz[i] = mju_combineSparse(dst + rowadr[i], M + M_rowadr[i], 1, 1,
-                                  rownnz[i], M_rownnz[i], colind + rowadr[i],
-                                  M_colind + M_rowadr[i], sparse_buf, buf_ind);
-  }
+  mju_addToMatSparse(dst, rownnz, rowadr, colind, nv,
+                     M, M_rownnz, M_rowadr, M_colind,
+                     buf_val, buf_ind);
+
   mj_freeStack(d);
 }
 
diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h
index 818e9622..5933f6a7 100644
--- a/src/engine/engine_support.h
+++ b/src/engine/engine_support.h
@@ -137,8 +137,8 @@ MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
 
 // add inertia matrix to sparse destination matrix
 MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
-                         int* rownnz, int* rowadr, int* colind, mjtNum* M,
-                         int* M_rownnz, int* M_rowadr, int* M_colind);
+                         int* rownnz, int* rowadr, int* colind, const mjtNum* M,
+                         const int* M_rownnz, const int* M_rowadr, const int* M_colind);
 
 // add inertia matrix to dense destination matrix
 MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);
diff --git a/src/engine/engine_util_blas.c b/src/engine/engine_util_blas.c
index c870c6fb..95055d72 100644
--- a/src/engine/engine_util_blas.c
+++ b/src/engine/engine_util_blas.c
@@ -843,9 +843,9 @@ void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
 }
 
 
-
-// compute M'*diag*M (diag=NULL: compute M'*M)
-void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc) {
+// compute M'*diag*M (diag=NULL: compute M'*M), upper triangle optional
+void mju_sqrMatTD_impl(mjtNum* res, const mjtNum* mat, const mjtNum* diag,
+                       int nr, int nc, int flg_upper) {
   mjtNum tmp;
 
   // half of MatMat routine: only lower triangle
@@ -870,15 +870,23 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
     }
   }
 
-  // make symmetric
-  for (int i=0; i < nc; i++) {
-    for (int j=i+1; j < nc; j++) {
-      res[i*nc+j] = res[j*nc+i];
+  // flg_upper is set: make symmetric
+  if (flg_upper) {
+    for (int i=0; i < nc; i++) {
+      for (int j=i+1; j < nc; j++) {
+        res[i*nc+j] = res[j*nc+i];
+      }
     }
   }
 }
 
 
+// compute M'*diag*M (diag=NULL: compute M'*M)
+void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc) {
+  mju_sqrMatTD_impl(res, mat, diag, nr, nc, /*flg_upper=*/ 1);
+}
+
+
 
 // multiply matrices, first argument transposed
 void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
diff --git a/src/engine/engine_util_blas.h b/src/engine/engine_util_blas.h
index 619a3225..4b2519c9 100644
--- a/src/engine/engine_util_blas.h
+++ b/src/engine/engine_util_blas.h
@@ -223,6 +223,10 @@ MJAPI void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
 MJAPI void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
                           int r1, int c1, int c2);
 
+// compute M'*diag*M (diag=NULL: compute M'*M), upper triangle optional
+void mju_sqrMatTD_impl(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc,
+                       int flg_upper);
+
 // compute M'*diag*M (diag=NULL: compute M'*M)
 MJAPI void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
 
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 250020e4..8d364c5e 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -186,6 +186,41 @@ void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
 }
 
 
+// add sparse matrix M to sparse destination matrix, requires pre-allocated buffers
+void mju_addToMatSparse(mjtNum* dst, int* rownnz, int* rowadr, int* colind, int nr,
+                        const mjtNum* M, const int* M_rownnz, const int* M_rowadr,
+                        const int* M_colind,
+                        mjtNum* buf_val, int* buf_ind) {
+  for (int i=0; i < nr; i++) {
+    rownnz[i] = mju_combineSparse(dst + rowadr[i], M + M_rowadr[i], 1, 1,
+                                  rownnz[i], M_rownnz[i], colind + rowadr[i],
+                                  M_colind + M_rowadr[i], buf_val, buf_ind);
+  }
+}
+
+
+// add symmetric matrix (lower triangle) to dense matrix, upper triangle optional
+void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
+                        const int* rownnz, const int* rowadr, const int* colind, int flg_upper) {
+  for (int i=0; i < n; i++) {
+    int start = rowadr[i];
+    int end = start + rownnz[i];
+    for (int adr=start; adr < end; adr++) {
+      mjtNum val = mat[adr];
+      int j = colind[adr];
+
+      // lower + diagonal
+      res[i*n + j] += val;
+
+      // strict upper
+      if (flg_upper && j < i) {
+        res[j*n + i] += val;
+      }
+    }
+  }
+}
+
+
 
 // multiply symmetric matrix (only lower triangle represented) by vector:
 //  res = (mat + strict_upper(mat')) * vec
@@ -214,7 +249,7 @@ void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
 
     // off-diagonals
     const int* ind = colind + adr;
-    for (int k=0; k < diag; k++) {
+    for (int k=diag-1; k >= 0; k--) {
       int j = ind[k];
       mjtNum val = row[k];
       res[i] += val * vec[j]; // strict lower
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index ea26014b..616b4d21 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -50,6 +50,17 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
 MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
                                 const int* rownnz, const int* rowadr, const int* colind);
 
+// add sparse matrix M to sparse destination matrix, requires pre-allocated buffers
+MJAPI void mju_addToMatSparse(mjtNum* dst, int* rownnz, int* rowadr, int* colind, int nr,
+                              const mjtNum* M, const int* M_rownnz, const int* M_rowadr,
+                              const int* M_colind,
+                              mjtNum* buf_val, int* buf_ind);
+
+// add symmetric matrix (only lower triangle represented) to dense matrix
+MJAPI void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
+                              const int* rownnz, const int* rowadr, const int* colind,
+                              int flg_upper);
+
 // multiply symmetric matrix (only lower triangle represented) by vector:
 //  res = (mat + strict_upper(mat')) * vec
 MJAPI void mju_mulSymVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index 2f1e087f..10875a67 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -1036,6 +1036,40 @@ TEST_F(EngineUtilSparseTest, MjuMulMatTVec) {
   EXPECT_THAT(AsVector(res, 3), ElementsAre(5, 28, 24));
 }
 
+TEST_F(EngineUtilSparseTest, MjuAddToSymSparse) {
+  //     1 2 4
+  // M = 2 3 0
+  //     4 0 5
+
+  // only lower triangle represented
+  mjtNum mat[] = {1, 2, 3, 4, 5};
+  int colind[] = {0, 0, 1, 0, 2};
+  int rownnz[] = {1, 2, 2};
+  int rowadr[] = {0, 1, 3};
+
+  //     0 0 0
+  // A = 5 4 2
+  //     4 3 2
+  mjtNum A[] = {0, 0, 0,
+                5, 4, 2,
+                4, 3, 2};
+
+  mju_addToSymSparse(A, mat, 3, rownnz, rowadr, colind, /*flg_upper=*/1);
+  EXPECT_THAT(AsVector(A, 9), ElementsAre(1, 2, 4,
+                                          7, 7, 2,
+                                          8, 3, 7));
+
+  // same as A
+  mjtNum B[] = {0, 0, 0,
+                5, 4, 2,
+                4, 3, 2};
+
+  mju_addToSymSparse(B, mat, 3, rownnz, rowadr, colind, /*flg_upper=*/0);
+  EXPECT_THAT(AsVector(B, 9), ElementsAre(1, 0, 0,
+                                          7, 7, 2,
+                                          8, 3, 7));
+}
+
 TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
   constexpr int n = 4;
   constexpr int nnz = 9;

From 627fffdef98a6f130ceb443ee94e3977453cdb0d Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 13 May 2025 10:19:22 -0700
Subject: [PATCH 118/191] Switch `mjData.{qH,qLD}` from full ("M") to reduced
 ("C") inertia matrix structure.

PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
---
 doc/includes/references.h                | 10 ++---
 include/mujoco/mjdata.h                  | 10 ++---
 include/mujoco/mjxmacro.h                | 10 ++---
 mjx/mujoco/mjx/_src/io.py                |  6 +--
 mjx/mujoco/mjx/_src/smooth_test.py       |  4 +-
 python/mujoco/introspect/structs.py      | 10 ++---
 src/engine/engine_core_constraint.c      | 18 ++++----
 src/engine/engine_core_smooth.c          | 13 +++---
 src/engine/engine_forward.c              | 18 ++++----
 src/engine/engine_island.c               |  6 +--
 src/engine/engine_print.c                |  6 +--
 src/engine/engine_solver.c               |  6 +--
 src/engine/engine_support.c              |  6 +--
 test/benchmark/factorI_benchmark_test.cc |  6 +--
 test/benchmark/inertia_benchmark_test.cc |  8 ++--
 test/benchmark/solveLD_benchmark_test.cc |  5 ++-
 test/engine/engine_core_smooth_test.cc   | 54 ++++++++++++------------
 test/engine/engine_derivative_test.cc    |  4 +-
 18 files changed, 99 insertions(+), 101 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 402043aa..a2b820e5 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -272,7 +272,7 @@ struct mjData_ {
   mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
 
   // computed by mj_fwdPosition/mj_factorM
-  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nM x 1)
+  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
   mjtNum* qLDiagInv;         // 1/diag(D)                                        (nv x 1)
 
   // computed by mj_collisionTree
@@ -305,7 +305,7 @@ struct mjData_ {
   mjtNum* subtree_angmom;    // angular momentum about subtree com               (nbody x 3)
 
   // computed by mj_Euler or mj_implicit
-  mjtNum* qH;                // L'*D*L factorization of modified M               (nM x 1)
+  mjtNum* qH;                // L'*D*L factorization of modified M               (nC x 1)
   mjtNum* qHDiagInv;         // 1/diag(D) of modified M                          (nv x 1)
 
   // computed by mj_resetData
@@ -396,9 +396,9 @@ struct mjData_ {
   int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
   int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
   int*    iM_diagnum;        // inertia: num of consecutive diagonal elements    (nidof x 1)
-  int*    iM_colind;         // inertia: column indices of non-zeros             (nM x 1)
-  mjtNum* iM;                // total inertia (sparse)                           (nM x 1)
-  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nM x 1)
+  int*    iM_colind;         // inertia: column indices of non-zeros             (nC x 1)
+  mjtNum* iM;                // total inertia (sparse)                           (nC x 1)
+  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
   mjtNum* iLDiagInv;         // 1/diag(D)                                        (nidof x 1)
   mjtNum* iacc;              // acceleration                                     (nidof x 1)
 
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 963630cc..9ac187dc 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -300,7 +300,7 @@ struct mjData_ {
   mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
 
   // computed by mj_fwdPosition/mj_factorM
-  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nM x 1)
+  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
   mjtNum* qLDiagInv;         // 1/diag(D)                                        (nv x 1)
 
   // computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
   mjtNum* subtree_angmom;    // angular momentum about subtree com               (nbody x 3)
 
   // computed by mj_Euler or mj_implicit
-  mjtNum* qH;                // L'*D*L factorization of modified M               (nM x 1)
+  mjtNum* qH;                // L'*D*L factorization of modified M               (nC x 1)
   mjtNum* qHDiagInv;         // 1/diag(D) of modified M                          (nv x 1)
 
   // computed by mj_resetData
@@ -424,9 +424,9 @@ struct mjData_ {
   int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
   int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
   int*    iM_diagnum;        // inertia: num of consecutive diagonal elements    (nidof x 1)
-  int*    iM_colind;         // inertia: column indices of non-zeros             (nM x 1)
-  mjtNum* iM;                // total inertia (sparse)                           (nM x 1)
-  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nM x 1)
+  int*    iM_colind;         // inertia: column indices of non-zeros             (nC x 1)
+  mjtNum* iM;                // total inertia (sparse)                           (nC x 1)
+  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
   mjtNum* iLDiagInv;         // 1/diag(D)                                        (nidof x 1)
   mjtNum* iacc;              // acceleration                                     (nidof x 1)
 
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 88e6c0f7..1f96199e 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -653,7 +653,7 @@
     X   ( mjtNum,    actuator_moment,   nJmom,       1           ) \
     X   ( mjtNum,    crb,               nbody,       10          ) \
     X   ( mjtNum,    qM,                nM,          1           ) \
-    X   ( mjtNum,    qLD,               nM,          1           ) \
+    X   ( mjtNum,    qLD,               nC,          1           ) \
     X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
     XMJV( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
     XMJV( mjtByte,   bvh_active,        nbvh,        1           ) \
@@ -670,7 +670,7 @@
     X   ( mjtNum,    qfrc_passive,      nv,          1           ) \
     X   ( mjtNum,    subtree_linvel,    nbody,       3           ) \
     X   ( mjtNum,    subtree_angmom,    nbody,       3           ) \
-    X   ( mjtNum,    qH,                nM,          1           ) \
+    X   ( mjtNum,    qH,                nC,          1           ) \
     X   ( mjtNum,    qHDiagInv,         nv,          1           ) \
     X   ( int,       B_rownnz,          nbody,       1           ) \
     X   ( int,       B_rowadr,          nbody,       1           ) \
@@ -758,9 +758,9 @@
     X( int,     iM_rownnz,         MJ_D(nidof),    1 ) \
     X( int,     iM_rowadr,         MJ_D(nidof),    1 ) \
     X( int,     iM_diagnum,        MJ_D(nidof),    1 ) \
-    X( int,     iM_colind,         MJ_M(nM),       1 ) \
-    X( mjtNum,  iM,                MJ_M(nM),       1 ) \
-    X( mjtNum,  iLD,               MJ_M(nM),       1 ) \
+    X( int,     iM_colind,         MJ_M(nC),       1 ) \
+    X( mjtNum,  iM,                MJ_M(nC),       1 ) \
+    X( mjtNum,  iLD,               MJ_M(nC),       1 ) \
     X( mjtNum,  iLDiagInv,         MJ_D(nidof),    1 ) \
     X( mjtNum,  iacc,              MJ_D(nidof),    1 ) \
     X( int,     efc_island,        MJ_D(nefc),     1 ) \
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 1d2ad234..8fc28d83 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -509,7 +509,7 @@ def _make_data_jax(
       'actuator_moment': (m.nu, m.nv, float_),
       'crb': (m.nbody, 10, float_),
       'qM': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
-      'qLD': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'qLD': (m.nC, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
       'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
       'ten_velocity': (m.ntendon, float_),
       'actuator_velocity': (m.nu, float_),
@@ -618,8 +618,8 @@ def _make_data_c(
       'flexedge_velocity': (nflexedge, float_),
       'crb': (m.nbody, 10, float_),
       'qM': (m.nM, float_),
-      'qLD': (m.nM, float_),
-      'qH': (m.nM, float_),
+      'qLD': (m.nC, float_),
+      'qH': (m.nC, float_),
       'qHDiagInv': (m.nv, float_),
       'qLDiagInv': (m.nv, float_),
       'ten_velocity': (m.ntendon, float_),
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 4f182a75..9e23fb68 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -91,8 +91,8 @@ class SmoothTest(absltest.TestCase):
     # factor_m
     dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
     qLDLegacy = np.zeros(mx.nM)  # pylint:disable=invalid-name
-    for i in range(m.nM):
-      qLDLegacy[d.mapM2M[i]] = d.qLD[i]
+    for i in range(m.nC):
+      qLDLegacy[d.mapM2C[i]] = d.qLD[i]
     _assert_eq(qLDLegacy, dx._impl.qLD, 'qLD')
     _assert_attr_eq(d, dx._impl, 'qLDiagInv')
     # com_vel
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index b4e48f39..500b2d40 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -5398,7 +5398,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc="L'*D*L factorization of M (sparse)",
-                 array_extent=('nM',),
+                 array_extent=('nC',),
              ),
              StructFieldDecl(
                  name='qLDiagInv',
@@ -5534,7 +5534,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc="L'*D*L factorization of modified M",
-                 array_extent=('nM',),
+                 array_extent=('nC',),
              ),
              StructFieldDecl(
                  name='qHDiagInv',
@@ -6030,7 +6030,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='int'),
                  ),
                  doc='inertia: column indices of non-zeros',
-                 array_extent=('nM',),
+                 array_extent=('nC',),
              ),
              StructFieldDecl(
                  name='iM',
@@ -6038,7 +6038,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc='total inertia (sparse)',
-                 array_extent=('nM',),
+                 array_extent=('nC',),
              ),
              StructFieldDecl(
                  name='iLD',
@@ -6046,7 +6046,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc="L'*D*L factorization of M (sparse)",
-                 array_extent=('nM',),
+                 array_extent=('nC',),
              ),
              StructFieldDecl(
                  name='iLDiagInv',
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index dba314d9..aa7267ed 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -2039,7 +2039,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
   // inverse square root of D from inertia LDL decomposition
   mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
   for (int i=0; i < nv; i++) {
-    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
+    int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
     sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
   }
 
@@ -2075,11 +2075,11 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
           continue;
         }
 
-        // traverse row j of M, marking new unique nonzeros
-        int nnzM = d->M_rownnz[j];
-        int adrM = d->M_rowadr[j];
-        for (int k=0; k < nnzM; k++) {
-          int c = d->M_colind[adrM + k];
+        // traverse row j of C, marking new unique nonzeros
+        int nnzC = d->C_rownnz[j];
+        int adrC = d->C_rowadr[j];
+        for (int k=0; k < nnzC; k++) {
+          int c = d->C_colind[adrC + k];
           if (marker[c] != r) {
             marker[c] = r;
             nnz++;
@@ -2159,10 +2159,10 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
           continue;
         }
         int j = B_colind[i];
-        int adrM = d->M_rowadr[j];
-        mju_addToSclSparseInc(B + adrB, d->qLD + adrM,
+        int adrC = d->C_rowadr[j];
+        mju_addToSclSparseInc(B + adrB, d->qLD + adrC,
                               nnzB, B_colind + adrB,
-                              d->M_rownnz[j]-1, d->M_colind + adrM, -b);
+                              d->C_rownnz[j]-1, d->C_colind + adrC, -b);
       }
 
       // B(r,:) <- sqrt(inv(D)) * B(r,:)
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 112f62bd..3b5601a2 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1653,9 +1653,8 @@ void mj_factorM(const mjModel* m, mjData* d) {
   TM_START;
 
   // gather LD <- M (legacy to CSR) and factorize in-place
-  mju_gather(d->qLD, d->qM, d->mapM2M, m->nM);
-  mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
-
+  mju_gather(d->qLD, d->qM, d->mapM2C, m->nC);
+  mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
   TM_ADD(mjTIMER_POS_INERTIA);
 }
 
@@ -1897,7 +1896,7 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
     mju_copy(x, y, n*m->nv);
   }
   mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 }
 
 
@@ -1908,9 +1907,9 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
   int nv = m->nv;
 
   // local copies of key variables
-  const int* rownnz = d->M_rownnz;
-  const int* rowadr = d->M_rowadr;
-  const int* colind = d->M_colind;
+  const int* rownnz = d->C_rownnz;
+  const int* rowadr = d->C_rowadr;
+  const int* colind = d->C_colind;
   const int* diagnum = m->dof_simplenum;
   const mjtNum* qLD = d->qLD;
 
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index b48b5804..0707efee 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -836,7 +836,7 @@ static void mj_advance(const mjModel* m, mjData* d,
 // Euler integrator, semi-implicit in velocity, possibly skipping factorisation
 void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
   TM_START;
-  int nv = m->nv, nM = m->nM;
+  int nv = m->nv, nC = m->nC;
   mj_markStack(d);
   mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
   mjtNum* qacc = mjSTACKALLOC(d, nv, mjtNum);
@@ -861,20 +861,20 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
   else {
     if (!skipfactor) {
       // qH = M + h*diag(B)
-      mju_gather(d->qH, d->qM, d->mapM2M, nM);
+      mju_gather(d->qH, d->qM, d->mapM2C, nC);
       for (int i=0; i < nv; i++) {
-        d->qH[d->M_rowadr[i] + d->M_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
+        d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
       }
 
       // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+      mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
     }
 
     // solve
     mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
     mju_copy(qacc, qfrc, m->nv);
     mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
   }
 
   // advance state and time
@@ -1003,7 +1003,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
 // fully implicit in velocity, possibly skipping factorization
 void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
   TM_START;
-  int nv = m->nv, nM = m->nM, nD = m->nD;
+  int nv = m->nv, nM = m->nM, nD = m->nD, nC = m->nC;
 
   mj_markStack(d);
   mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
@@ -1047,16 +1047,16 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
       mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM);
 
       // gather qH <- MhB (legacy to CSR)
-      mju_gather(d->qH, MhB, d->mapM2M, nM);
+      mju_gather(d->qH, MhB, d->mapM2C, nC);
 
       // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+      mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
     }
 
     // solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
     mju_copy(qacc, qfrc, nv);
     mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 
   } else {
     mjERROR("integrator must be implicit or implicitfast");
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
index 108844d8..5d04118e 100644
--- a/src/engine/engine_island.c
+++ b/src/engine/engine_island.c
@@ -536,12 +536,12 @@ void mj_island(const mjModel* m, mjData* d) {
   }
 
   // local CSR copy of qM
-  mjtNum* qM = mjSTACKALLOC(d, m->nM, mjtNum);
-  mju_gather(qM, d->qM, d->mapM2M, m->nM);
+  mjtNum* qM = mjSTACKALLOC(d, m->nC, mjtNum);
+  mju_gather(qM, d->qM, d->mapM2C, m->nC);
 
   // inertia: block-diagonalize both iLD <- qLD and iM <- qM
   mju_blockDiagSparse(d->iLD, d->iM_rownnz, d->iM_rowadr, d->iM_colind,
-                      d->qLD,  d->M_rownnz, d->M_rowadr, d->M_colind,
+                      d->qLD,  d->C_rownnz, d->C_rowadr, d->C_colind,
                       nidof, nisland,
                       d->map_idof2dof, d->map_dof2idof,
                       d->island_idofadr, d->island_idofadr,
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index 61a9ef02..bb9f4a9a 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -1126,12 +1126,12 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
 
   printInertia("QM", d->qM, m, fp, float_format);
 
-  printSparse("QLD", d->qLD, m->nv, d->M_rownnz,
-              d->M_rowadr, d->M_colind, fp, float_format);
+  printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
+              d->C_rowadr, d->C_colind, fp, float_format);
   printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
 
   if (!mju_isZero(d->qHDiagInv, m->nv)) {
-    printSparse("QH", d->qH, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind, fp, float_format);
+    printSparse("QH", d->qH, m->nv, d->C_rownnz, d->C_rowadr, d->C_colind, fp, float_format);
     printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
   }
 
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 354386bb..c2f15709 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -881,10 +881,10 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     ctx->qacc             = d->qacc;
 
     // inertia
-    ctx->M_rownnz         = d->M_rownnz;
-    ctx->M_rowadr         = d->M_rowadr;
+    ctx->M_rownnz         = d->C_rownnz;
+    ctx->M_rowadr         = d->C_rowadr;
     ctx->M_diagnum        = m->dof_simplenum;
-    ctx->M_colind         = d->M_colind;
+    ctx->M_colind         = d->C_colind;
     ctx->dof_Madr         = m->dof_Madr;
     ctx->dof_parentid     = m->dof_parentid;
     ctx->qM               = d->qM;
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 5eb0c9fd..362292da 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1047,14 +1047,14 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
 
     // non-simple: add off-diagonals
     if (!m->dof_simplenum[i]) {
-      int adr = d->M_rowadr[i];
-      res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
+      int adr = d->C_rowadr[i];
+      res[i] += mju_dotSparse(qLD+adr, vec, d->C_rownnz[i] - 1, d->C_colind+adr);
     }
   }
 
   // res *= sqrt(D)
   for (int i=0; i < nv; i++) {
-    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
+    int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
     res[i] *= mju_sqrt(qLD[diag]);
   }
 }
diff --git a/test/benchmark/factorI_benchmark_test.cc b/test/benchmark/factorI_benchmark_test.cc
index f2feea1e..998af271 100644
--- a/test/benchmark/factorI_benchmark_test.cc
+++ b/test/benchmark/factorI_benchmark_test.cc
@@ -45,8 +45,8 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
   mj_markStack(d);
 
   // M: mass matrix in CSR format
-  mjtNum* M = mj_stackAllocNum(d, m->nM);
-  mju_gather(M, d->qM, d->mapM2M, m->nM);
+  mjtNum* M = mj_stackAllocNum(d, m->nC);
+  mju_gather(M, d->qM, d->mapM2C, m->nC);
 
   // LDlegacy: legacy LD matrix (size nM)
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
@@ -59,7 +59,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
       } else {
         mju_copy(d->qLD, M, m->nC);
         mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                   d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
       }
     }
   }
diff --git a/test/benchmark/inertia_benchmark_test.cc b/test/benchmark/inertia_benchmark_test.cc
index 3bdeddfd..c8460cda 100644
--- a/test/benchmark/inertia_benchmark_test.cc
+++ b/test/benchmark/inertia_benchmark_test.cc
@@ -47,8 +47,8 @@ static void BM_solve(benchmark::State& state, SolveType type) {
   mj_markStack(d);
 
   // M: mass matrix in CSR format
-  mjtNum* M = mj_stackAllocNum(d, m->nM);
-  mju_gather(M, d->qM, d->mapM2M, m->nM);
+  mjtNum* M = mj_stackAllocNum(d, m->nC);
+  mju_gather(M, d->qM, d->mapM2C, m->nC);
 
   // LDlegacy: legacy LD matrix (size nM)
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
@@ -73,9 +73,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
         case SolveType::kCsr:
           mju_copy(d->qLD, M, m->nC);
           mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                     d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                     d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
           mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                     d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                     d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
       }
     }
   }
diff --git a/test/benchmark/solveLD_benchmark_test.cc b/test/benchmark/solveLD_benchmark_test.cc
index 6204425f..1ff28a4b 100644
--- a/test/benchmark/solveLD_benchmark_test.cc
+++ b/test/benchmark/solveLD_benchmark_test.cc
@@ -53,7 +53,8 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
 
   // scatter into legacy matrix
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
-  mju_scatter(LDlegacy, d->qLD, d->mapM2M, m->nM);
+  mju_zero(LDlegacy, m->nM);
+  mju_scatter(LDlegacy, d->qLD, d->mapM2C, m->nC);
 
   // benchmark
   while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
@@ -63,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
         mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
       } else {
         mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                   d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
       }
     }
   }
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 7e4c113a..6adb8764 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -649,7 +649,7 @@ TEST_F(CoreSmoothTest, FactorI) {
   int nv = model->nv;
   vector<mjtNum> Ldense(nv*nv, 0);
   mju_sparse2dense(Ldense.data(), data->qLD, nv, nv,
-                   data->M_rownnz, data->M_rowadr, data->M_colind);
+                   data->C_rownnz, data->C_rowadr, data->C_colind);
   for (int i=0; i < nv; i++) {
     // set diagonal to 1
     Ldense[i*nv+i] = 1;
@@ -658,7 +658,7 @@ TEST_F(CoreSmoothTest, FactorI) {
   // dense D matrix
   vector<mjtNum> Ddense(nv*nv);
   mju_sparse2dense(Ddense.data(), data->qLD, nv, nv,
-                   data->M_rownnz, data->M_rowadr, data->M_colind);
+                   data->C_rownnz, data->C_rowadr, data->C_colind);
   for (int i=0; i < nv; i++) {
     for (int j=0; j < nv; j++) {
       // zero everything except the diagonal
@@ -694,15 +694,16 @@ TEST_F(CoreSmoothTest, SolveLDs) {
 
   int nv = m->nv;
   int nM = m->nM;
+  int nC = m->nC;
 
-  // scatter M into LD: Legacy format
-  vector<mjtNum> LDlegacy(nM);
-  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nM);
+  // copy M into LD: Legacy format
+  vector<mjtNum> LDlegacy(nM, 0);
+  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2C, nC);
 
   // compare LD and LDs densified matrices
   vector<mjtNum> LDdense(nv*nv);
   mju_sparse2dense(LDdense.data(), d->qLD, nv, nv,
-                   d->M_rownnz, d->M_rowadr, d->M_colind);
+                   d->C_rownnz, d->C_rowadr, d->C_colind);
   vector<mjtNum> LDdense2(nv*nv);
   mj_fullM(m, LDdense2.data(), LDlegacy.data());
 
@@ -721,7 +722,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
 
   mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 
   // expect vectors to match up to floating point precision
   for (int i=0; i < nv; i++) {
@@ -742,11 +743,10 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
   mj_forward(m, d);
 
   int nv = m->nv;
-  int nM = m->nM;
 
-  // scatter LD into LDlegacy: Legacy format
-  vector<mjtNum> LDlegacy(nM);
-  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nM);
+  // copy LD into LDlegacy: Legacy format
+  vector<mjtNum> LDlegacy(m->nM, 0);
+  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2C, m->nC);
 
   // compare n LD and LDs vector solve
   int n = 3;
@@ -757,7 +757,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
 
   mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 
   // expect vectors to match up to floating point precision
   for (int i=0; i < nv*n; i++) {
@@ -781,7 +781,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
   int nv = m->nv;
   vector<mjtNum> sqrtInvD(nv);
   for (int i=0; i < nv; i++) {
-    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
+    int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
     sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
   }
 
@@ -795,7 +795,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
 
   mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 
   // expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
   for (int i=0; i < n; i++) {
@@ -816,27 +816,25 @@ TEST_F(CoreSmoothTest, FactorIs) {
   mjData* d = mj_makeData(m);
   mj_forward(m, d);
 
-  int nM = m->nM, nv = m->nv;
+  int nC = m->nC, nM = m->nM, nv = m->nv;
 
   // copy qM into into qLDlegacy and factorize
   vector<mjtNum> qLDlegacy(nM);
   mj_factorI_legacy(m, d, d->qM, qLDlegacy.data(), d->qLDiagInv);
 
   // copy qLDlegacy into qLDexpected: CSR format
-  vector<mjtNum> qLDexpected(nM);
-  for (int i=0; i < nM; i++) {
-    qLDexpected[i] = qLDlegacy[d->mapM2M[i]];
-  }
+  vector<mjtNum> qLDexpected(nC);
+  mju_gather(qLDexpected.data(), qLDlegacy.data(), d->mapM2C, nC);
 
-  // gather qM into qLD: CSR format
-  vector<mjtNum> qLD(nM);
-  mju_gather(qLD.data(), d->qM, d->mapM2M, nM);
+  // copy qM into qLD: CSR format
+  vector<mjtNum> qLD(nC);
+  mju_gather(qLD.data(), d->qM, d->mapM2C, nC);
 
   vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
   vector<mjtNum> qLDiagInv(nv, 0);
 
   mj_factorI(qLD.data(), qLDiagInv.data(), nv,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 
   // expect outputs to match to floating point precision
   EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
@@ -846,12 +844,12 @@ TEST_F(CoreSmoothTest, FactorIs) {
   vector<mjtNum> LDdense(nv*nv);
 
   mju_sparse2dense(LDdense.data(), qLDexpected.data(), nv, nv,
-                   d->M_rownnz, d->M_rowadr, d->M_colind);
-  PrintMatrix(LDdense.data(), nv, nv, 2, "qLDexpected");
+                   d->C_rownnz, d->C_rowadr, d->C_colind);
+  PrintMatrix(LDdense.data(), nv, nv, 2);
 
-  mju_sparse2dense(LDdense.data(), qLD.data(), nv, nv,
-                   d->M_rownnz, d->M_rowadr, d->M_colind);
-  PrintMatrix(LDdense.data(), nv, nv, 2, "qLD");
+  mju_sparse2dense(LDdense.data(), qLDs.data(), nv, nv,
+                   d->C_rownnz, d->C_rowadr, d->C_colind);
+  PrintMatrix(LDdense.data(), nv, nv, 2);
   */
 
   mj_deleteData(d);
diff --git a/test/engine/engine_derivative_test.cc b/test/engine/engine_derivative_test.cc
index 027578e7..12b9ca88 100644
--- a/test/engine/engine_derivative_test.cc
+++ b/test/engine/engine_derivative_test.cc
@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
       Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
     }
     mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
 
     // A = [dt*Ac; Ac]
     mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
     mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
                      d->moment_rowadr, d->moment_colind);
     mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
     mju_transpose(BcT, Bc, nu, nv);
     mju_scl(B, BcT, dt*dt, nu*nv);
     mju_scl(B+nu*nv, BcT, dt, nu*nv);

From 6bc0bbf7df3058ebfe384022c880ff96239ea1d3 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Tue, 13 May 2025 10:51:49 -0700
Subject: [PATCH 119/191] internal change

PiperOrigin-RevId: 758287280
Change-Id: I8b99a5d44910d5b2e7857b808b1696f244778a26
---
 mjx/mujoco/mjx/_src/collision_driver.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/collision_driver.py b/mjx/mujoco/mjx/_src/collision_driver.py
index e618fe19..04a4a3d6 100644
--- a/mjx/mujoco/mjx/_src/collision_driver.py
+++ b/mjx/mujoco/mjx/_src/collision_driver.py
@@ -429,4 +429,4 @@ def collision(m: Model, d: Data) -> Data:
   contacts = sum([condim_groups[k] for k in sorted(condim_groups)], [])
   contact = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *contacts)
 
-  return d.replace(_impl=d._impl.replace(contact=contact))  # pytype: disable=attribute-error
+  return d.tree_replace({'_impl.contact': contact})

From 1e02d66c3d431aadb3e5fbe3c7bf5ac642ac9e90 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 13 May 2025 11:46:24 -0700
Subject: [PATCH 120/191] Remove `M` matrix structure from `mjData`.

Introduced in March 2025 as a temporary measure, this is not considered a breaking change.

PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
---
 doc/includes/references.h            |  4 ----
 include/mujoco/mjdata.h              |  4 ----
 include/mujoco/mjxmacro.h            |  4 ----
 mjx/mujoco/mjx/_src/io.py            |  4 ----
 mjx/mujoco/mjx/_src/io_test.py       |  2 +-
 mjx/mujoco/mjx/_src/types.py         |  4 ----
 python/mujoco/introspect/structs.py  | 32 ----------------------------
 src/engine/engine_io.c               | 17 +--------------
 src/engine/engine_print.c            | 31 ---------------------------
 unity/Runtime/Bindings/MjBindings.cs |  4 ----
 10 files changed, 2 insertions(+), 104 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index a2b820e5..ede6874f 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -312,10 +312,6 @@ struct mjData_ {
   int*    B_rownnz;          // body-dof: non-zeros in each row                  (nbody x 1)
   int*    B_rowadr;          // body-dof: address of each row in B_colind        (nbody x 1)
   int*    B_colind;          // body-dof: column indices of non-zeros            (nB x 1)
-  int*    M_rownnz;          // inertia: non-zeros in each row                   (nv x 1)
-  int*    M_rowadr;          // inertia: address of each row in M_colind         (nv x 1)
-  int*    M_colind;          // inertia: column indices of non-zeros             (nM x 1)
-  int*    mapM2M;            // index mapping from M (legacy) to M (CSR)         (nM x 1)
   int*    C_rownnz;          // reduced dof-dof: non-zeros in each row           (nv x 1)
   int*    C_rowadr;          // reduced dof-dof: address of each row in C_colind (nv x 1)
   int*    C_colind;          // reduced dof-dof: column indices of non-zeros     (nC x 1)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 9ac187dc..de09cbce 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -340,10 +340,6 @@ struct mjData_ {
   int*    B_rownnz;          // body-dof: non-zeros in each row                  (nbody x 1)
   int*    B_rowadr;          // body-dof: address of each row in B_colind        (nbody x 1)
   int*    B_colind;          // body-dof: column indices of non-zeros            (nB x 1)
-  int*    M_rownnz;          // inertia: non-zeros in each row                   (nv x 1)
-  int*    M_rowadr;          // inertia: address of each row in M_colind         (nv x 1)
-  int*    M_colind;          // inertia: column indices of non-zeros             (nM x 1)
-  int*    mapM2M;            // index mapping from M (legacy) to M (CSR)         (nM x 1)
   int*    C_rownnz;          // reduced dof-dof: non-zeros in each row           (nv x 1)
   int*    C_rowadr;          // reduced dof-dof: address of each row in C_colind (nv x 1)
   int*    C_colind;          // reduced dof-dof: column indices of non-zeros     (nC x 1)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 1f96199e..99cafaa2 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -675,10 +675,6 @@
     X   ( int,       B_rownnz,          nbody,       1           ) \
     X   ( int,       B_rowadr,          nbody,       1           ) \
     X   ( int,       B_colind,          nB,          1           ) \
-    X   ( int,       M_rownnz,          nv,          1           ) \
-    X   ( int,       M_rowadr,          nv,          1           ) \
-    X   ( int,       M_colind,          nM,          1           ) \
-    X   ( int,       mapM2M,            nM,          1           ) \
     X   ( int,       C_rownnz,          nv,          1           ) \
     X   ( int,       C_rowadr,          nv,          1           ) \
     X   ( int,       C_colind,          nC,          1           ) \
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 8fc28d83..664a7b8a 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -627,10 +627,6 @@ def _make_data_c(
       'B_rownnz': (m.nbody, np.int32),
       'B_rowadr': (m.nbody, np.int32),
       'B_colind': (m.nB, np.int32),
-      'M_rownnz': (m.nv, np.int32),
-      'M_rowadr': (m.nv, np.int32),
-      'M_colind': (m.nM, np.int32),
-      'mapM2M': (m.nM, np.int32),
       'C_rownnz': (m.nv, np.int32),
       'C_rowadr': (m.nv, np.int32),
       'C_colind': (m.nC, np.int32),
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 41d812d3..78f81e3f 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -471,7 +471,7 @@ class DataIOTest(parameterized.TestCase):
 
     if backend_impl == 'c':
       # check fields specific to the C implementation
-      np.testing.assert_allclose(d_2.M_rownnz, d.M_rownnz)
+      np.testing.assert_allclose(d_2.bvh_active, d.bvh_active)
 
   def test_get_data_runs(self):
     xml = """
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index c70d71a2..38dbcd71 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -984,10 +984,6 @@ class DataC(PyTreeNode):
   B_rownnz: jax.Array  # pylint:disable=invalid-name
   B_rowadr: jax.Array  # pylint:disable=invalid-name
   B_colind: jax.Array  # pylint:disable=invalid-name
-  M_rownnz: jax.Array  # pylint:disable=invalid-name
-  M_rowadr: jax.Array  # pylint:disable=invalid-name
-  M_colind: jax.Array  # pylint:disable=invalid-name
-  mapM2M: jax.Array  # pylint:disable=invalid-name
   C_rownnz: jax.Array  # pylint:disable=invalid-name
   C_rowadr: jax.Array  # pylint:disable=invalid-name
   C_colind: jax.Array  # pylint:disable=invalid-name
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 500b2d40..bbfc3998 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -5568,38 +5568,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='body-dof: column indices of non-zeros',
                  array_extent=('nB',),
              ),
-             StructFieldDecl(
-                 name='M_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='inertia: non-zeros in each row',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='M_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='inertia: address of each row in M_colind',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='M_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='inertia: column indices of non-zeros',
-                 array_extent=('nM',),
-             ),
-             StructFieldDecl(
-                 name='mapM2M',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='index mapping from M (legacy) to M (CSR)',
-                 array_extent=('nM',),
-             ),
              StructFieldDecl(
                  name='C_rownnz',
                  type=PointerType(
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 31084c46..56e7d43f 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1141,9 +1141,6 @@ static void copyM2Sparse(const mjModel* m, mjData* d, int* dst, const int* src,
   if (reduced && !upper) {
     rownnz = d->C_rownnz;
     rowadr = d->C_rowadr;
-  } else if (!reduced && !upper) {
-    rownnz = d->M_rownnz;
-    rowadr = d->M_rowadr;
   } else if (!reduced && upper) {
     rownnz = d->D_rownnz;
     rowadr = d->D_rowadr;
@@ -1261,17 +1258,6 @@ static void makeDofDofmaps(const mjModel* m, mjData* d) {
     }
   }
 
-  // make mapM2M
-  for (int i=0; i < nM; i++) d->mapM2M[i] = -1;
-  copyM2Sparse(m, d, d->mapM2M, M, /*reduced=*/0, /*upper=*/0);
-
-  // check that all indices are filled in
-  for (int i=0; i < nM; i++) {
-    if (d->mapM2M[i] < 0) {
-      mjERROR("unassigned index in mapM2M");
-    }
-  }
-
   mj_freeStack(d);
 }
 
@@ -1989,8 +1975,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
     makeBSparse(m, d);
     checkDBSparse(m, d);
 
-    // make M, C
-    makeDofDofSparse(m, d, d->M_rownnz, d->M_rowadr, NULL, d->M_colind, /*reduced=*/0, /*upper=*/0);
+    // make C
     makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, NULL, d->C_colind, /*reduced=*/1, /*upper=*/0);
 
     // make index mappings: mapM2D, mapD2M, mapM2C, mapM2M
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index bb9f4a9a..63010c82 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -1160,37 +1160,6 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
   }
   fprintf(fp, "\n\n");
 
-  // M sparse structure
-  mj_printSparsity("M: inertia matrix", m->nv, m->nv, d->M_rowadr, NULL, d->M_rownnz,
-                   NULL, d->M_colind, fp);
-
-  fprintf(fp, NAME_FORMAT, "M_rownnz");
-  for (int i = 0; i < m->nv; i++) {
-    fprintf(fp, " %d", d->M_rownnz[i]);
-  }
-  fprintf(fp, "\n\n");
-
-  // M_rowadr
-  fprintf(fp, NAME_FORMAT, "M_rowadr");
-  for (int i = 0; i < m->nv; i++) {
-    fprintf(fp, " %d", d->M_rowadr[i]);
-  }
-  fprintf(fp, "\n\n");
-
-  // M_colind
-  fprintf(fp, NAME_FORMAT, "M_colind");
-  for (int i = 0; i < m->nM; i++) {
-    fprintf(fp, " %d", d->M_colind[i]);
-  }
-  fprintf(fp, "\n\n");
-
-  // mapM2M
-  fprintf(fp, NAME_FORMAT, "mapM2M");
-  for (int i = 0; i < m->nM; i++) {
-    fprintf(fp, " %d", d->mapM2M[i]);
-  }
-  fprintf(fp, "\n\n");
-
   // C sparse structure
   mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, NULL, d->C_rownnz,
                    NULL, d->C_colind, fp);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index c1042de6..21a96fde 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -4951,10 +4951,6 @@ public unsafe struct mjData_ {
   public int* B_rownnz;
   public int* B_rowadr;
   public int* B_colind;
-  public int* M_rownnz;
-  public int* M_rowadr;
-  public int* M_colind;
-  public int* mapM2M;
   public int* C_rownnz;
   public int* C_rowadr;
   public int* C_colind;

From 79c74d7eae056a3fe04bb302af0bbf7ad62e6748 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 13 May 2025 13:27:01 -0700
Subject: [PATCH 121/191] Add `mjData.M`, not yet used.

PiperOrigin-RevId: 758351796
Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
---
 doc/includes/references.h            | 1 +
 include/mujoco/mjdata.h              | 1 +
 include/mujoco/mjxmacro.h            | 1 +
 mjx/mujoco/mjx/_src/io.py            | 2 ++
 mjx/mujoco/mjx/_src/types.py         | 2 ++
 python/mujoco/introspect/structs.py  | 8 ++++++++
 unity/Runtime/Bindings/MjBindings.cs | 1 +
 7 files changed, 16 insertions(+)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index ede6874f..eada1572 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -270,6 +270,7 @@ struct mjData_ {
   // computed by mj_fwdPosition/mj_crb
   mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
   mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
+  mjtNum* M;                 // total inertia (compressed sparse row)            (nC x 1)
 
   // computed by mj_fwdPosition/mj_factorM
   mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index de09cbce..3d7514a6 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -298,6 +298,7 @@ struct mjData_ {
   // computed by mj_fwdPosition/mj_crb
   mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
   mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
+  mjtNum* M;                 // total inertia (compressed sparse row)            (nC x 1)
 
   // computed by mj_fwdPosition/mj_factorM
   mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 99cafaa2..aa55b3d7 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -653,6 +653,7 @@
     X   ( mjtNum,    actuator_moment,   nJmom,       1           ) \
     X   ( mjtNum,    crb,               nbody,       10          ) \
     X   ( mjtNum,    qM,                nM,          1           ) \
+    X   ( mjtNum,    M,                 nC,          1           ) \
     X   ( mjtNum,    qLD,               nC,          1           ) \
     X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
     XMJV( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 664a7b8a..66919152 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -509,6 +509,7 @@ def _make_data_jax(
       'actuator_moment': (m.nu, m.nv, float_),
       'crb': (m.nbody, 10, float_),
       'qM': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
+      'M': (m.nC, float_),
       'qLD': (m.nC, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
       'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
       'ten_velocity': (m.ntendon, float_),
@@ -618,6 +619,7 @@ def _make_data_c(
       'flexedge_velocity': (nflexedge, float_),
       'crb': (m.nbody, 10, float_),
       'qM': (m.nM, float_),
+      'M': (m.nC, float_),
       'qLD': (m.nC, float_),
       'qH': (m.nC, float_),
       'qHDiagInv': (m.nv, float_),
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 38dbcd71..22211378 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -970,6 +970,7 @@ class DataC(PyTreeNode):
   actuator_moment: jax.Array
   crb: jax.Array
   qM: jax.Array  # pylint:disable=invalid-name
+  M: jax.Array  # pylint:disable=invalid-name
   qLD: jax.Array  # pylint:disable=invalid-name
   qLDiagInv: jax.Array  # pylint:disable=invalid-name
   bvh_aabb_dyn: jax.Array
@@ -1037,6 +1038,7 @@ class DataJAX(PyTreeNode):
   actuator_moment: jax.Array
   crb: jax.Array
   qM: jax.Array  # pylint:disable=invalid-name
+  M: jax.Array  # pylint:disable=invalid-name
   qLD: jax.Array  # pylint:disable=invalid-name
   qLDiagInv: jax.Array  # pylint:disable=invalid-name
   ten_velocity: jax.Array
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index bbfc3998..e9e6f801 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -5392,6 +5392,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='total inertia (sparse)',
                  array_extent=('nM',),
              ),
+             StructFieldDecl(
+                 name='M',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='total inertia (compressed sparse row)',
+                 array_extent=('nC',),
+             ),
              StructFieldDecl(
                  name='qLD',
                  type=PointerType(
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 21a96fde..d26592a9 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -4929,6 +4929,7 @@ public unsafe struct mjData_ {
   public double* actuator_moment;
   public double* crb;
   public double* qM;
+  public double* M;
   public double* qLD;
   public double* qLDiagInv;
   public double* bvh_aabb_dyn;

From 418658973880c883c47cf4b6b153fc7e7b3c4dd3 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 13 May 2025 14:21:41 -0700
Subject: [PATCH 122/191] Use `mjData.M` where appropriate

PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
---
 src/engine/engine_core_smooth.c |  5 ++--
 src/engine/engine_forward.c     |  2 +-
 src/engine/engine_island.c      |  6 +----
 src/engine/engine_print.c       |  4 +--
 src/engine/engine_solver.c      | 48 ++++++++++++---------------------
 5 files changed, 23 insertions(+), 42 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 3b5601a2..6e5b03f7 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1579,6 +1579,7 @@ void mj_makeM(const mjModel* m, mjData* d) {
   TM_START;
   mj_crb(m, d);
   mj_tendonArmature(m, d);
+  mju_gather(d->M, d->qM, d->mapM2C, m->nC);
   TM_END(mjTIMER_POS_INERTIA);
 }
 
@@ -1651,9 +1652,7 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
 // sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
 void mj_factorM(const mjModel* m, mjData* d) {
   TM_START;
-
-  // gather LD <- M (legacy to CSR) and factorize in-place
-  mju_gather(d->qLD, d->qM, d->mapM2C, m->nC);
+  mju_copy(d->qLD, d->M, m->nC);
   mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
   TM_ADD(mjTIMER_POS_INERTIA);
 }
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 0707efee..6b23111f 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -861,7 +861,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
   else {
     if (!skipfactor) {
       // qH = M + h*diag(B)
-      mju_gather(d->qH, d->qM, d->mapM2C, nC);
+      mju_copy(d->qH, d->M, nC);
       for (int i=0; i < nv; i++) {
         d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
       }
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
index 5d04118e..4d162972 100644
--- a/src/engine/engine_island.c
+++ b/src/engine/engine_island.c
@@ -535,17 +535,13 @@ void mj_island(const mjModel* m, mjData* d) {
     d->island_dofadr[i] = d->map_idof2dof[d->island_idofadr[i]];
   }
 
-  // local CSR copy of qM
-  mjtNum* qM = mjSTACKALLOC(d, m->nC, mjtNum);
-  mju_gather(qM, d->qM, d->mapM2C, m->nC);
-
   // inertia: block-diagonalize both iLD <- qLD and iM <- qM
   mju_blockDiagSparse(d->iLD, d->iM_rownnz, d->iM_rowadr, d->iM_colind,
                       d->qLD,  d->C_rownnz, d->C_rowadr, d->C_colind,
                       nidof, nisland,
                       d->map_idof2dof, d->map_dof2idof,
                       d->island_idofadr, d->island_idofadr,
-                      d->iM, qM);
+                      d->iM, d->M);
   mju_gather(d->iLDiagInv, d->qLDiagInv, d->map_idof2dof, nidof);
 
   // compute iM_diagnum (dof_simplenum per island)
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index 63010c82..ef02d1ed 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -1123,9 +1123,9 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
   printSparse("ACTUATOR_MOMENT", d->actuator_moment, m->nu, d->moment_rownnz,
               d->moment_rowadr, d->moment_colind, fp, float_format);
   printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
-
   printInertia("QM", d->qM, m, fp, float_format);
-
+  printSparse("M", d->M, m->nv, d->C_rownnz,
+              d->C_rowadr, d->C_colind, fp, float_format);
   printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
               d->C_rowadr, d->C_colind, fp, float_format);
   printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index c2f15709..b6a3fae3 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -787,9 +787,7 @@ struct _mjCGContext {
   const int* M_rowadr;
   const int* M_diagnum;
   const int* M_colind;
-  const int* dof_Madr;
-  const int* dof_parentid;
-  const mjtNum* qM;
+  const mjtNum* M;
   const mjtNum* qLD;
   const mjtNum* qLDiagInv;
 
@@ -827,7 +825,6 @@ struct _mjCGContext {
 
   // Newton arrays, known-size (CGallocate)
   mjtNum* D;              // constraint inertia                           (nefc x 1)
-  mjtNum* C;              // reduced sparse inertia matrix                (nC x 1)
   int* H_rowadr;          // Hessian row addresses                        (nv x 1)
   int* H_rownnz;          // Hessian row nonzeros                         (nv x 1)
   int* H_lowernnz;        // Hessian lower triangle row nonzeros          (nv x 1)
@@ -885,9 +882,7 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     ctx->M_rowadr         = d->C_rowadr;
     ctx->M_diagnum        = m->dof_simplenum;
     ctx->M_colind         = d->C_colind;
-    ctx->dof_Madr         = m->dof_Madr;
-    ctx->dof_parentid     = m->dof_parentid;
-    ctx->qM               = d->qM;
+    ctx->M                = d->M;
     ctx->qLD              = d->qLD;
     ctx->qLDiagInv        = d->qLDiagInv;
 
@@ -936,7 +931,7 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     ctx->M_rowadr         = d->iM_rowadr         + idofadr;
     ctx->M_diagnum        = d->iM_diagnum        + idofadr;
     ctx->M_colind         = d->iM_colind;
-    ctx->qM               = d->iM;
+    ctx->M                = d->iM;
     ctx->qLD              = d->iLD;
     ctx->qLDiagInv        = d->iLDiagInv         + idofadr;
 
@@ -1001,7 +996,6 @@ static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx, int island
 
     // sparse Newton only
     if (mj_isSparse(m)) {
-      ctx->C          = mjSTACKALLOC(d, m->nC, mjtNum);
       ctx->H_rowadr   = mjSTACKALLOC(d, nv, int);
       ctx->H_rownnz   = mjSTACKALLOC(d, nv, int);
       ctx->H_lowernnz = mjSTACKALLOC(d, nv, int);
@@ -1359,14 +1353,9 @@ static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations)
   mjtNum gtol = tolerance * snorm / ctx->scale;
   mjtNum slopescl = ctx->scale / snorm;
 
-  // compute Mv = M * v  (island or monolithic)
-  if (ctx->island >= 0) {
-    mju_mulSymVecSparse(ctx->Mv, ctx->qM, ctx->search, nv,
-                        ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
-  } else {
-    mj_mulM_impl(ctx->Mv, ctx->search, nv, ctx->qM,
-                 ctx->dof_Madr, ctx->dof_parentid, ctx->M_diagnum);
-  }
+  // compute Mv = M * v
+  mju_mulSymVecSparse(ctx->Mv, ctx->M, ctx->search, nv,
+                      ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
 
   // compute Jv = J * search  (dense or sparse)
   if (!ctx->J_rowadr) {
@@ -1545,9 +1534,6 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
 
   // sparse
   if (mj_isSparse(m)) {
-    // gather C <- qM (legacy to CSR)
-    mju_gather(ctx->C, d->qM, d->mapM2C, m->nC);
-
     // initialize Hessian rowadr, rownnz
     mju_sqrMatTDSparseCount(ctx->H_rownnz, ctx->H_rowadr, nv,
                             d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
@@ -1577,7 +1563,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
 
     // add mass matrix: H = J'*D*J + C
     mj_addMSparse(m, d, ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-                  ctx->C, d->C_rownnz, d->C_rowadr, d->C_colind);
+                  ctx->M, d->C_rownnz, d->C_rowadr, d->C_colind);
 
     // transiently compute H'; mju_cholFactorNNZ is memory-contiguous in upper triangle layout
     mj_markStack(d);
@@ -1637,7 +1623,9 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
 
     // compute H = M + J'*D*J
     mju_sqrMatTD(ctx->L, d->efc_J, ctx->D, nefc, nv);
-    mj_addMDense(m, d, ctx->L);
+    mju_addToSymSparse(ctx->L, ctx->M, ctx->nv,
+                        ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
+                        /*flg_upper=*/ 1);
   }
 }
 
@@ -1671,7 +1659,7 @@ static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
 
       // add mass matrix: H = J'*D*J + C
       mj_addMSparse(m, d, ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-                    ctx->C, d->C_rownnz, d->C_rowadr, d->C_colind);
+                    ctx->M, d->C_rownnz, d->C_rowadr, d->C_colind);
     }
 
     // copy H lower-triangle into L, fill-in already accounted for
@@ -1702,7 +1690,9 @@ static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
     // maybe compute H = M + J'*D*J
     if (flg_recompute) {
       mju_sqrMatTD(ctx->L, d->efc_J, ctx->D, nefc, nv);
-      mj_addMDense(m, d, ctx->L);
+      mju_addToSymSparse(ctx->L, ctx->M, ctx->nv,
+                         ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
+                         /*flg_upper=*/ 1);
     }
 
     // factorize H
@@ -1891,13 +1881,9 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   int* oldstate = mjSTACKALLOC(d, nefc, int);
 
   // compute Ma = M * qacc  (island or monolithic)
-  if (island >= 0) {
-    mju_mulSymVecSparse(ctx.Ma, ctx.qM, ctx.qacc, nv,
-                        ctx.M_rownnz, ctx.M_rowadr, ctx.M_diagnum, ctx.M_colind);
-  } else {
-    mj_mulM_impl(ctx.Ma, ctx.qacc, nv, ctx.qM,
-                 ctx.dof_Madr, ctx.dof_parentid, ctx.M_diagnum);
-  }
+  mju_mulSymVecSparse(ctx.Ma, ctx.M, ctx.qacc, nv,
+                      ctx.M_rownnz, ctx.M_rowadr, ctx.M_diagnum, ctx.M_colind);
+
 
   // compute Jaref = J * qacc - aref  (dense or sparse)
   if (!ctx.J_rownnz) {

From 23865c7491b10691fce94d658bf37905cbdf49c4 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 13 May 2025 16:09:28 -0700
Subject: [PATCH 123/191] Skip cow.xml from xml_native_writer_test.

Including it caused tests to become flaky.

PiperOrigin-RevId: 758414305
Change-Id: I6a5b6b20df7faf736bb3dd8610019b9c9a23d633
---
 test/xml/xml_native_writer_test.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index d3a2b59b..c938b465 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1383,6 +1383,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
         // if file is meant to fail, skip it
         if (absl::StrContains(p.path().string(), "100_humanoids") ||
             absl::StrContains(p.path().string(), "malformed_") ||
+            absl::StrContains(p.path().string(), "cow") ||
             absl::StrContains(p.path().string(), "gmsh_") ||
             absl::StrContains(p.path().string(), "shark_") ||
             absl::StrContains(p.path().string(), "frameless_contact_hfield") ||

From 2386dfd7da41dc4f97e5d3d00bef4f130047c2c3 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 14 May 2025 00:45:05 -0700
Subject: [PATCH 124/191] Add touch sensor for estimating the surface contact
 stresses from the SDF.

PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
---
 model/plugin/sensor/touch_stress.xml     |  64 +++
 plugin/sensor/CMakeLists.txt             |   4 +-
 plugin/sensor/README.md                  |  66 ++-
 plugin/sensor/images/normal.png          | Bin 0 -> 132370 bytes
 plugin/sensor/images/tangential1.png     | Bin 0 -> 91230 bytes
 plugin/sensor/images/tangential2.png     | Bin 0 -> 94863 bytes
 plugin/sensor/{sensor.cc => register.cc} |   6 +-
 plugin/sensor/touch_stress.cc            | 557 +++++++++++++++++++++++
 plugin/sensor/touch_stress.h             |  80 ++++
 src/engine/engine_collision_sdf.c        |   8 +-
 test/engine/engine_plugin_test.cc        |   2 +-
 11 files changed, 779 insertions(+), 8 deletions(-)
 create mode 100644 model/plugin/sensor/touch_stress.xml
 create mode 100644 plugin/sensor/images/normal.png
 create mode 100644 plugin/sensor/images/tangential1.png
 create mode 100644 plugin/sensor/images/tangential2.png
 rename plugin/sensor/{sensor.cc => register.cc} (86%)
 create mode 100644 plugin/sensor/touch_stress.cc
 create mode 100644 plugin/sensor/touch_stress.h

diff --git a/model/plugin/sensor/touch_stress.xml b/model/plugin/sensor/touch_stress.xml
new file mode 100644
index 00000000..025777a4
--- /dev/null
+++ b/model/plugin/sensor/touch_stress.xml
@@ -0,0 +1,64 @@
+<mujoco model="touchtest">
+  <compiler autolimits="true"/>
+
+  <extension>
+    <plugin plugin="mujoco.sdf.gear">
+      <instance name="gear">
+        <config key="alpha" value="0"/>
+      </instance>
+    </plugin>
+    <plugin plugin="mujoco.sensor.touch_stress">
+      <instance name="touch_stress">
+        <config key="size" value="37 37"/>
+        <config key="fov" value="45 45"/>
+        <config key="gamma" value="0"/>
+        <config key="nchannel" value="3"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4"
+             width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
+    <mesh name="gear">
+      <plugin instance="gear"/>
+    </mesh>
+  </asset>
+
+  <visual>
+      <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
+      <map znear="0.01"/>
+      <scale contactwidth=".02" contactheight=".5"/>
+  </visual>
+
+  <default>
+    <geom friction="0.4" solimp="0 0.95 0.02"/>
+  </default>
+
+  <statistic center="0 0 1" extent="1" meansize=".1"/>
+
+  <worldbody>
+    <light pos="1 0 .3" dir="-1 0 -.3"/>
+    <light pos="-1 0 .3" dir="1 0 -.3"/>
+    <geom name="floor" pos="0 0 -0.01" type="plane" size="3 3 .01"/>
+
+    <geom type="sdf" name="gear" mesh="gear" rgba="0.4 0.4 0.4 1" pos="-1.3 0 0">
+      <plugin instance="gear"/>
+    </geom>
+
+    <body name="ball" pos="0 0 1">
+      <joint name="x" type="slide" axis="1 0 0" damping="1"/>
+      <joint name="y" type="slide" axis="0 1 0" damping="1"/>
+      <joint name="z" type="slide" axis="0 0 1"/>
+      <joint name="rx" axis="1 0 0" springdamper="0.2 1"/>
+      <joint name="ry" axis="0 1 0" springdamper="0.2 1"/>
+      <geom type="sphere" size=".3" mass="0.1" rgba=".5 .5 .5 .3"/>
+      <site name="touch"/>
+    </body>
+  </worldbody>
+
+  <sensor>
+    <plugin instance="touch_stress" objtype="site" objname="touch"/>
+  </sensor>
+</mujoco>
diff --git a/plugin/sensor/CMakeLists.txt b/plugin/sensor/CMakeLists.txt
index 4dac6d0a..d5fde827 100644
--- a/plugin/sensor/CMakeLists.txt
+++ b/plugin/sensor/CMakeLists.txt
@@ -18,9 +18,11 @@ set(MUJOCO_SENSOR_INCLUDE
 )
 
 set(MUJOCO_SENSOR_SRCS
-    sensor.cc
+    register.cc
     touch_grid.h
     touch_grid.cc
+    touch_stress.h
+    touch_stress.cc
 )
 
 add_library(sensor SHARED)
diff --git a/plugin/sensor/README.md b/plugin/sensor/README.md
index e6b4e9d3..1b72db7d 100644
--- a/plugin/sensor/README.md
+++ b/plugin/sensor/README.md
@@ -9,6 +9,9 @@ plugins](https://mujoco.readthedocs.io/en/latest/programming/extension.html#engi
   - [Illustration of foveal deformation](#illustration-of-foveal-deformation)
   - [Illustration combining resolution, fields-of-view and foveal deformation](#illustration-combining-resolution-fields-of-view-and-foveal-deformation)
 
+- [Touch Stress](#touch-stress)
+  - [Example model with analytical SDF](#example-model-with-analytical-sdf)
+
 ## [Touch Grid](touch_grid.h)
 
 This sensor aggregates contact forces into "taxels": a rectangular array of pixel-like elements.
@@ -23,7 +26,7 @@ The output of the sensor is a stack of 1 to 6 "touch images" corresponding to fo
 and torques in the frame of the sensor. Forces and torques are in the in [z, x,
 y] order, corresponding to the ordering in contact frames: [normal, tangent,
 tangent] and [torsional, rolling, rolling]. Each "taxel" corresponds to an angular bin
-in spherical coordinates, and aggregates all the forces occuring inside this bin, which occur
+in spherical coordinates, and aggregates all the forces occurring inside this bin, which occur
 between the body in which the sensor's site is defined and any other body.
 
 The sensor is parametrized by 6 numbers:
@@ -84,3 +87,64 @@ See [touch_grid.xml](../../model/plugin/sensor/touch_grid.xml) to play with the
 ### Illustration combining resolution, fields-of-view and foveal deformation
 
 [![touch grid illustration](https://img.youtube.com/vi/YScjmR8LwQI/0.jpg)](https://www.youtube.com/watch?v=YScjmR8LwQI)
+
+## [Touch Stress](touch_stress.h)
+
+This sensor is based on similar concepts and parametrization as the `touch_grid`,
+while overcoming some of its limitations. In particular, the `touch_grid` can
+only provide sparse information, depending on the number of contact points
+generated. The `touch_stress` sensor can instead generate a high-resolution
+touch image. In order to do this, it requires a signed distance function (SDF)
+of the object that is in contact with the sensor. This is handled internally for
+primitives or it must be declared explicitly in the model using SDF plugins.
+
+There is one important difference with respect to the `touch_grid`: in this case,
+the force is computed in the local taxel frame and not in the frame of the sensor.
+This allows for a more intuitive interpretation of normal and tangential stresses,
+as shown in the images below.
+
+Note that in this case, the absolute values of the stresses reported by the
+sensor are unrelated to the contact forces. They are purely based on geometric
+and kinematic considerations, i.e. the SDF for the normal stress and the sliding
+velocity for the tangential contributions.
+
+### Example model with analytical SDF
+
+```xml
+<extension>
+  <plugin plugin="mujoco.sdf.gear">
+    <instance name="gear">
+      <config key="alpha" value="0"/>
+    </instance>
+  </plugin>
+  <plugin plugin="mujoco.sensor.touch_stress">
+    <instance name="touch_stress">
+      <config key="size" value="37 37"/>
+      <config key="fov" value="45 45"/>
+      <config key="gamma" value="0"/>
+      <config key="nchannel" value="3"/>
+    </instance>
+  </plugin>
+  ...
+  <asset>
+    <mesh name="gear">
+      <plugin instance="gear"/>
+    </mesh>
+  </asset>
+  ...
+  <worldbody>
+    <geom type="sdf" name="gear" mesh="gear">
+      <plugin instance="gear"/>
+    </geom>
+  ...
+  <sensor>
+    <plugin instance="touch_stress" objtype="site" objname="touch_site"/>
+  </sensor>
+</extension>
+```
+The images below show a static sphere over a gear described by an analytic SDF
+and the same sphere dragged along the x and y axes.
+
+<img src="images/normal.png" style="width: 300px;"/>
+<img src="images/tangential1.png" style="width: 300px;"/>
+<img src="images/tangential2.png" style="width: 300px;"/>
diff --git a/plugin/sensor/images/normal.png b/plugin/sensor/images/normal.png
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diff --git a/plugin/sensor/sensor.cc b/plugin/sensor/register.cc
similarity index 86%
rename from plugin/sensor/sensor.cc
rename to plugin/sensor/register.cc
index f120665e..a1561ec4 100644
--- a/plugin/sensor/sensor.cc
+++ b/plugin/sensor/register.cc
@@ -14,9 +14,13 @@
 
 #include <mujoco/mjplugin.h>
 #include "touch_grid.h"
+#include "touch_stress.h"
 
 namespace mujoco::plugin::sensor {
 
-mjPLUGIN_LIB_INIT { TouchGrid::RegisterPlugin(); }
+mjPLUGIN_LIB_INIT {
+  TouchGrid::RegisterPlugin();
+  TouchStress::RegisterPlugin();
+}
 
 }  // namespace mujoco::plugin::sensor
diff --git a/plugin/sensor/touch_stress.cc b/plugin/sensor/touch_stress.cc
new file mode 100644
index 00000000..ba7b1d4c
--- /dev/null
+++ b/plugin/sensor/touch_stress.cc
@@ -0,0 +1,557 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "touch_stress.h"
+
+#include <algorithm>
+#include <cctype>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <sstream>
+#include <string>
+#include <unordered_set>
+#include <vector>
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjplugin.h>
+#include <mujoco/mjtnum.h>
+#include <mujoco/mjvisualize.h>
+#include <mujoco/mujoco.h>
+
+namespace mujoco::plugin::sensor {
+
+namespace {
+
+// Checks that a plugin config attribute exists.
+bool CheckAttr(const std::string& input) {
+  char* end;
+  std::string value = input;
+  value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
+  strtod(value.c_str(), &end);
+  return end == value.data() + value.size();
+}
+
+// Converts a string into a numeric vector
+template <typename T>
+void ReadVector(std::vector<T>& output, const std::string& input) {
+  std::stringstream ss(input);
+  std::string item;
+  char delim = ' ';
+  while (getline(ss, item, delim)) {
+    CheckAttr(item);
+    output.push_back(strtod(item.c_str(), nullptr));
+  }
+}
+
+// Evenly spaced numbers over a specified interval.
+void LinSpace(mjtNum lower, mjtNum upper, int n, mjtNum array[]) {
+  mjtNum increment = n > 1 ? (upper - lower) / (n - 1) : 0;
+  for (int i = 0; i < n; ++i) {
+    *array = lower;
+    ++array;
+    lower += increment;
+  }
+}
+
+// Parametrized linear/quintic interpolated nonlinearity.
+mjtNum Fovea(mjtNum x, mjtNum gamma) {
+  // Quick return.
+  if (!gamma) return x;
+
+  // Foveal deformation.
+  mjtNum g = mjMAX(0, mjMIN(1, gamma));
+  return g*mju_pow(x, 5) + (1 - g)*x;
+}
+
+// Make bin edges.
+void BinEdges(mjtNum* x_edges, mjtNum* y_edges, int size[2], mjtNum fov[2],
+              mjtNum gamma) {
+  // Make unit bin edges.
+  LinSpace(-1, 1, size[0] + 1, x_edges);
+  LinSpace(-1, 1, size[1] + 1, y_edges);
+
+  // Apply foveal deformation.
+  for (int i = 0; i < size[0] + 1; i++) {
+    x_edges[i] = Fovea(x_edges[i], gamma);
+  }
+  for (int i = 0; i < size[1] + 1; i++) {
+    y_edges[i] = Fovea(y_edges[i], gamma);
+  }
+
+  // Scale by field-of-view.
+  mju_scl(x_edges, x_edges, fov[0]*mjPI / 180, size[0] + 1);
+  mju_scl(y_edges, y_edges, fov[1]*mjPI / 180, size[1] + 1);
+}
+
+// Permute 3-vector from 0,1,2 to 2,0,1.
+static void xyz2zxy(mjtNum* x) {
+  mjtNum z = x[2];
+  x[2] = x[1];
+  x[1] = x[0];
+  x[0] = z;
+}
+
+// Transform spherical (azimuth, elevation, radius) to Cartesian (x,y,z).
+void SphericalToCartesian(const mjtNum aer[3], mjtNum xyz[3]) {
+  mjtNum a = aer[0], e = aer[1], r = aer[2];
+  xyz[0] = r * mju_cos(e) * mju_sin(a);
+  xyz[1] = r * mju_sin(e);
+  xyz[2] = -r * mju_cos(e) * mju_cos(a);
+}
+
+// Tangent frame in Cartesian coordinates.
+void TangentFrame(const mjtNum aer[3], mjtNum mat[9]) {
+  mjtNum a = aer[0], e = aer[1], r = aer[2];
+  mjtNum ta[3] = {r * mju_cos(e) * mju_cos(a), 0,
+                  r * mju_cos(e) * mju_sin(a)};
+  mjtNum te[3] = {-r * mju_sin(e) * mju_sin(a), r * mju_cos(e),
+                   r * mju_sin(e) * mju_cos(a)};
+  mju_normalize3(ta);
+  mju_normalize3(te);
+  mju_copy3(mat, ta);
+  mju_copy3(mat+3, te);
+  mju_cross(mat+6, te, ta);
+}
+
+}  // namespace
+
+// Creates a TouchStress instance if all config attributes are defined and
+// within their allowed bounds.
+TouchStress* TouchStress::Create(const mjModel* m, mjData* d,
+                                                 int instance) {
+  if (CheckAttr(std::string(mj_getPluginConfig(m, instance, "gamma"))) &&
+      CheckAttr(std::string(mj_getPluginConfig(m, instance, "nchannel")))) {
+    // nchannel
+    int nchannel = strtod(mj_getPluginConfig(m, instance, "nchannel"), nullptr);
+    if (!nchannel) nchannel = 1;
+    if (nchannel < 1 || nchannel > 3) {
+      mju_error("nchannel must be between 1 and 3");
+      return nullptr;
+    }
+
+    // size
+    std::vector<int> size;
+    std::string size_str = std::string(mj_getPluginConfig(m, instance, "size"));
+    ReadVector(size, size_str.c_str());
+    if (size.size()!= 2) {
+      mju_error("Both horizontal and vertical resolutions must be specified");
+      return nullptr;
+    }
+    if (size[0] <= 0 || size[1] <= 0) {
+      mju_error("Horizontal and vertical resolutions must be positive");
+      return nullptr;
+    }
+
+    // field of view
+    std::vector<mjtNum> fov;
+    std::string fov_str = std::string(mj_getPluginConfig(m, instance, "fov"));
+    ReadVector(fov, fov_str.c_str());
+    if (fov.size()!= 2) {
+      mju_error(
+          "Both horizontal and vertical fields of view must be specified");
+      return nullptr;
+    }
+    if (fov[0] <= 0 || fov[0] > 180) {
+      mju_error("`fov[0]` must be a float between (0, 180] degrees");
+      return nullptr;
+    }
+    if (fov[1] <= 0 || fov[1] > 90) {
+      mju_error("`fov[1]` must be a float between (0, 90] degrees");
+      return nullptr;
+    }
+
+    // gamma
+    mjtNum gamma = strtod(mj_getPluginConfig(m, instance, "gamma"), nullptr);
+    if (gamma < 0 || gamma > 1) {
+      mju_error("`gamma` must be a nonnegative float between [0, 1]");
+      return nullptr;
+    }
+
+    return new TouchStress(m, d, instance, nchannel, size.data(), fov.data(),
+                         gamma);
+  } else {
+    mju_error("Invalid or missing parameters in touch_grid sensor plugin");
+    return nullptr;
+  }
+}
+
+TouchStress::TouchStress(const mjModel* m, mjData* d, int instance,
+                         int nchannel, int size[2], mjtNum fov[2], mjtNum gamma)
+    : nchannel_(nchannel),
+      size_{size[0], size[1]},
+      fov_{fov[0], fov[1]},
+      gamma_(gamma) {
+  // Make sure sensor is attached to a site.
+  for (int i = 0; i < m->nsensor; ++i) {
+    if (m->sensor_type[i] == mjSENS_PLUGIN && m->sensor_plugin[i] == instance) {
+      if (m->sensor_objtype[i] != mjOBJ_SITE) {
+        mju_error("Touch Grid sensor must be attached to a site");
+      }
+    }
+  }
+
+  // Get sensor id.
+  for (id_ = 0; id_ < m->nsensor; ++id_) {
+    if (m->sensor_type[id_] == mjSENS_PLUGIN &&
+        m->sensor_plugin[id_] == instance) {
+      break;
+    }
+  }
+
+  // Get parent weld id.
+  int site_id = m->sensor_objid[id_];
+  int parent_body = m->body_weldid[m->site_bodyid[site_id]];
+  parent_weld_ = m->body_weldid[parent_body];
+
+  // Get geom id.
+  if (m->body_geomnum[parent_body] != 1) {
+    mju_error("Touch sensor must be attached to a body with exactly one geom");
+  }
+  geom_id_ = m->body_geomadr[parent_body];
+
+  // Create bin edges.
+  x_edges_.assign(size[0] + 1, 0);
+  y_edges_.assign(size[1] + 1, 0);
+  BinEdges(x_edges_.data(), y_edges_.data(), size_, fov_, gamma_);
+  dist_.resize(size[0]*size[1], 0);
+  pos_.resize(3*size[0]*size[1], 0);
+  mat_.resize(9*size[0]*size[1], 0);
+
+  // Precompute spherical coordinates.
+  for (int i = 0; i < size[0]; i++) {
+    for (int j = 0; j < size[1]; j++) {
+      mjtNum aer[3];
+      aer[0] = 0.5*(x_edges_[i+1]+x_edges_[i]);
+      aer[1] = 0.5*(y_edges_[j+1]+y_edges_[j]);
+      aer[2] = m->geom_size[3*geom_id_];
+      SphericalToCartesian(aer, pos_.data() + 3 * (i * size[1] + j));
+      dist_[i*size[1]+j] = mju_abs(aer[2]);
+      TangentFrame(aer, mat_.data() + 9 * (i * size[1] + j));
+    }
+  }
+}
+
+void TouchStress::Reset(const mjModel* m, int instance) {}
+
+void TouchStress::Compute(const mjModel* m, mjData* d, int instance) {
+  mj_markStack(d);
+
+  // Clear sensordata and distance matrix.
+  mjtNum* sensordata = d->sensordata + m->sensor_adr[id_];
+  mju_zero(sensordata, m->sensor_dim[id_]);
+
+  // Get site id.
+  int site_id = m->sensor_objid[id_];
+
+  // Count contacts and get contact geom ids.
+  std::unordered_set<int> contact_geom_ids;
+  for (int i = 0; i < d->ncon; i++) {
+    int body1 = m->body_weldid[m->geom_bodyid[d->contact[i].geom1]];
+    int body2 = m->body_weldid[m->geom_bodyid[d->contact[i].geom2]];
+    if (body1 == parent_weld_) {
+      contact_geom_ids.insert(d->contact[i].geom2);
+    }
+    if (body2 == parent_weld_) {
+      contact_geom_ids.insert(d->contact[i].geom1);
+    }
+  }
+
+  // No contacts, return.
+  if (contact_geom_ids.empty()) {
+    mj_freeStack(d);
+    return;
+  }
+
+  // All of the quadrature points are contact points.
+  int ncon = size_[0]*size_[1];
+
+  // Get site frame.
+  mjtNum* site_pos = d->site_xpos + 3*site_id;
+  mjtNum* site_mat = d->site_xmat + 9*site_id;
+
+  // Allocate contact forces and positions.
+  mjtNum* forces = mj_stackAllocNum(d, ncon*3);
+  mjtNum* forcesT = mj_stackAllocNum(d, ncon*3);
+
+  // Iterate over colliding geoms.
+  for (auto geom : contact_geom_ids) {
+    int body = m->geom_bodyid[geom];
+
+    // Get sdf plugin of the geoms.
+    int sdf_instance[2] = {-1, geom_id_};
+    mjtGeom geomtype[2] = {mjGEOM_SDF, mjGEOM_SPHERE};
+    const mjpPlugin* sdf_ptr[2] = {NULL, NULL};
+    if (m->geom_type[geom] == mjGEOM_SDF) {
+      sdf_instance[0] = m->geom_plugin[geom];
+      sdf_ptr[0] = mjc_getSDF(m, geom);
+    } else {
+      sdf_instance[0] = geom;
+      geomtype[0] = (mjtGeom)m->geom_type[geom];
+    }
+
+    // Set SDF parameters.
+    mjSDF geom_sdf;
+    geom_sdf.id = &sdf_instance[0];
+    geom_sdf.type = mjSDFTYPE_SINGLE;
+    geom_sdf.plugin = &sdf_ptr[0];
+    geom_sdf.geomtype = &geomtype[0];
+
+    mjSDF sensor_sdf;
+    sensor_sdf.id = &sdf_instance[1];
+    sensor_sdf.type = mjSDFTYPE_SINGLE;
+    sensor_sdf.plugin = &sdf_ptr[1];
+    sensor_sdf.geomtype = &geomtype[1];
+
+    // Get forces and positions in spherical coordinates.
+    int node = 0;
+    for (int j = 0; j < size_[1]; j++) {
+      for (int i = 0; i < size_[0]; i++) {
+        // Position in site frame.
+        mjtNum* pos = pos_.data() + 3*(i*size_[1] + j);
+        mjtNum* mat = mat_.data() + 9*(i*size_[1] + j);
+
+        // Position in global frame.
+        mjtNum xpos[3];
+        mju_mulMatVec3(xpos, site_mat, pos);
+        mju_addTo3(xpos, site_pos);
+
+        // Position in other geom frame.
+        mjtNum lpos[3], tmp[3];
+        mju_sub3(tmp, xpos, d->geom_xpos + 3*geom);
+        mju_mulMatTVec3(lpos, d->geom_xmat + 9*geom, tmp);
+
+        // Add mesh position if needed.
+        if (m->geom_type[geom] == mjGEOM_MESH ||
+            m->geom_type[geom] == mjGEOM_SDF) {
+          mjtNum mesh_mat[9];
+          mju_quat2Mat(mesh_mat, m->mesh_quat + 4 * m->geom_dataid[geom]);
+          mju_mulMatVec3(lpos, mesh_mat, lpos);
+          mju_addTo3(lpos, m->mesh_pos + 3 * m->geom_dataid[geom]);
+        }
+
+        // Compute distance.
+        mjtNum depth = mju_min(mjc_distance(m, d, &geom_sdf, lpos), 0);
+        if (depth == 0) {
+          mju_zero3(forces + 3*node);
+          node++;
+          continue;
+        }
+
+        // Get velocity in global frame.
+        mjtNum vel_sensor[6], vel_other[6], vel_rel[3];
+        mju_transformSpatial(
+            vel_sensor, d->cvel + 6 * parent_weld_, 0, xpos,
+            d->subtree_com + 3 * m->body_rootid[parent_weld_], NULL);
+        mju_transformSpatial(
+            vel_other, d->cvel + 6 * body, 0, d->geom_xpos + 3 * geom,
+            d->subtree_com + 3 * m->body_rootid[body], NULL);
+        mju_sub3(vel_rel, vel_sensor+3, vel_other+3);
+
+        // Get contact force/torque, rotate into node frame.
+        mjtNum tmp_force[3], normal[3];
+        mjtNum kMaxDepth = 0.05;
+        mjtNum pressure = 1 / (kMaxDepth - depth) - 1 / kMaxDepth;
+        mjc_gradient(m, d, &sensor_sdf, normal, pos);
+        mju_scl3(tmp_force, normal, pressure);
+        mju_mulMatTVec3(forces + 3*node, mat, tmp_force);
+        forces[3*node+0] = mju_abs(mju_dot3(vel_rel, mat + 0));
+        forces[3*node+1] = mju_abs(mju_dot3(vel_rel, mat + 3));
+
+        // Permute forces from x,y,z to z,x,y (normal, tangent, tangent)
+        xyz2zxy(forces + 3*node);
+        node++;
+      }
+    }
+
+    // Transpose forces.
+    mju_transpose(forcesT, forces, ncon, 3);
+
+    // Compute sensor output.
+    for (int c = 0; c < nchannel_; c++) {
+      if (!mju_isZero(forcesT + c*ncon, ncon)) {
+        mju_addTo(sensordata + c*ncon, forcesT + c*ncon, size_[0]*size_[1]);
+      }
+    }
+  }
+
+  mj_freeStack(d);
+}
+
+// Thickness of taxel-visualization boxes relative to contact distance.
+static const mjtNum kRelativeThickness = 0.02;
+
+void TouchStress::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
+                             mjvScene* scn, int instance) {
+  mj_markStack(d);
+
+  // Get sensor data.
+  mjtNum* sensordata = d->sensordata + m->sensor_adr[id_];
+
+  // Get maximum absolute normal force.
+  mjtNum maxval = 0;
+  int frame = size_[0]*size_[1];
+  for (int j=0; j < frame; j++) {
+    maxval = mju_max(maxval, mju_abs(sensordata[j]));
+  }
+
+  // If no normal force readings, quick return.
+  if (!maxval) {
+    mj_freeStack(d);
+    return;
+  }
+
+  // Get site id and frame.
+  int site_id = m->sensor_objid[id_];
+  mjtNum* site_pos = d->site_xpos + 3*site_id;
+  mjtNum* site_mat = d->site_xmat + 9*site_id;
+  mjtNum site_quat[4];
+  mju_mat2Quat(site_quat, site_mat);
+
+  // Draw geoms.
+  for (int i=0; i < size_[0]; i++) {
+    for (int j=0; j < size_[1]; j++) {
+      mjtNum dist = dist_[i*size_[1]+j];
+      if (!dist) {
+        continue;
+      }
+      if (scn->ngeom >= scn->maxgeom) {
+        mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
+        mj_freeStack(d);
+        return;
+      } else {
+        // size
+        mjtNum size[3];
+        size[0] = dist*0.5*(x_edges_[i+1]-x_edges_[i]);
+        size[1] = dist*0.5*(y_edges_[j+1]-y_edges_[j]);
+        size[2] = dist*kRelativeThickness;
+
+        // position
+        mjtNum pos[3];
+        mjtNum aer[3];
+        aer[0] = 0.5*(x_edges_[i+1]+x_edges_[i]);
+        aer[1] = 0.5*(y_edges_[j+1]+y_edges_[j]);
+        aer[2] = dist*(1-kRelativeThickness);
+        SphericalToCartesian(aer, pos);
+        mju_mulMatVec3(pos, site_mat, pos);
+        mju_addTo3(pos, site_pos);
+
+        // orientation
+        mjtNum a_quat[4];
+        mjtNum site_y[3] = {-site_mat[1], -site_mat[4], -site_mat[7]};
+        mju_axisAngle2Quat(a_quat, site_y, aer[0]);
+        mjtNum e_quat[4];
+        mjtNum site_x[3] = {site_mat[0], site_mat[3], site_mat[6]};
+        mju_axisAngle2Quat(e_quat, site_x, aer[1]);
+        mjtNum quat[4];
+        mju_mulQuat(quat, e_quat, site_quat);
+        mju_mulQuat(quat, a_quat, quat);
+        mjtNum mat[9];
+        mju_quat2Mat(mat, quat);
+
+        // color
+        float rgba[4] = {1, 1, 1, 1.0};
+        for (int k=0; k < mjMIN(nchannel_, 3); k++) {
+          rgba[k] = mju_abs(sensordata[k*frame + j*size_[0] + i]) / maxval;
+        }
+
+        // draw box geom
+        mjvGeom* thisgeom = scn->geoms + scn->ngeom;
+        mjv_initGeom(thisgeom, mjGEOM_BOX, size, pos, mat, rgba);
+        thisgeom->objtype = mjOBJ_UNKNOWN;
+        thisgeom->objid = id_;
+        thisgeom->category = mjCAT_DECOR;
+        thisgeom->segid = scn->ngeom;
+        scn->ngeom++;
+      }
+    }
+  }
+
+  mj_freeStack(d);
+}
+
+
+void TouchStress::RegisterPlugin() {
+  mjpPlugin plugin;
+  mjp_defaultPlugin(&plugin);
+
+  plugin.name = "mujoco.sensor.touch_stress";
+  plugin.capabilityflags |= mjPLUGIN_SENSOR;
+
+  // Parameterized by 4 attributes.
+  const char* attributes[] = {"nchannel", "size", "fov", "gamma"};
+  plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
+  plugin.attributes = attributes;
+
+  // Stateless.
+  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
+
+  // Sensor dimension = nchannel * size[0] * size[1]
+  plugin.nsensordata = +[](const mjModel* m, int instance, int sensor_id) {
+    int nchannel = strtod(mj_getPluginConfig(m, instance, "nchannel"), nullptr);
+    if (!nchannel) nchannel = 1;
+    std::vector<int> size;
+    std::string size_str = std::string(mj_getPluginConfig(m, instance, "size"));
+    ReadVector(size, size_str.c_str());
+    return nchannel * size[0] * size[1];
+  };
+
+  // Can only run after forces have been computed.
+  plugin.needstage = mjSTAGE_ACC;
+
+  // Initialization callback.
+  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
+    auto* TouchStress = TouchStress::Create(m, d, instance);
+    if (!TouchStress) {
+      return -1;
+    }
+    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(TouchStress);
+    return 0;
+  };
+
+  // Destruction callback.
+  plugin.destroy = +[](mjData* d, int instance) {
+    delete reinterpret_cast<TouchStress*>(d->plugin_data[instance]);
+    d->plugin_data[instance] = 0;
+  };
+
+  // Reset callback.
+  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
+                     int instance) {
+    auto* TouchStress = reinterpret_cast<class TouchStress*>(plugin_data);
+    TouchStress->Reset(m, instance);
+  };
+
+  // Compute callback.
+  plugin.compute =
+      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
+        auto* TouchStress =
+            reinterpret_cast<class TouchStress*>(d->plugin_data[instance]);
+        TouchStress->Compute(m, d, instance);
+      };
+
+  // Visualization callback.
+  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt,
+                         mjvScene* scn, int instance) {
+    auto* TouchStress =
+        reinterpret_cast<class TouchStress*>(d->plugin_data[instance]);
+    TouchStress->Visualize(m, d, opt, scn, instance);
+  };
+
+  // Register the plugin.
+  mjp_registerPlugin(&plugin);
+}
+
+}  // namespace mujoco::plugin::sensor
diff --git a/plugin/sensor/touch_stress.h b/plugin/sensor/touch_stress.h
new file mode 100644
index 00000000..7453d87a
--- /dev/null
+++ b/plugin/sensor/touch_stress.h
@@ -0,0 +1,80 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_PLUGIN_SENSOR_TOUCH_STRESS_H_
+#define MUJOCO_PLUGIN_SENSOR_TOUCH_STRESS_H_
+
+#include <vector>
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
+#include <mujoco/mjvisualize.h>
+
+namespace mujoco::plugin::sensor {
+
+// A touch grid sensor is associated with a site and senses contact stresses
+// between the site's parent body and all other bodies. The site's
+// frame determines the orientation of the sensor with the same convention used
+// for cameras and lights: the sensor points in the frame's negative-Z
+// direction, so the X and Y axes correspond to horizontal and vertical
+// directions respectively.
+//
+// The output of the sensor is a stack of 3 "touch images" corresponding to
+// forces in the local frame of the taxels. Forces are in the [z, x, y] order,
+// corresponding to the ordering in contact frames: [normal, tangent, tangent].
+//
+// The sensor has 6 parameters:
+//  1. (int) Number of channels [1-3]. Defaults to 1.
+//  2. (int) Horizontal resolution.
+//  3. (int) Vertical resolution.
+//  4. (float) Horizontal field-of-view (fov_x), in degrees.
+//  5. (float) Vertical field-of-view (fov_y), in degrees.
+//  6. (float) Foveal deformation. Defaults to 0.
+class TouchStress {
+ public:
+  static TouchStress* Create(const mjModel* m, mjData* d, int instance);
+  TouchStress(TouchStress&&) = default;
+  ~TouchStress() = default;
+
+  void Reset(const mjModel* m, int instance);
+  void Compute(const mjModel* m, mjData* d, int instance);
+  void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
+                 mjvScene* scn, int instance);
+
+  static void RegisterPlugin();
+
+  int nchannel_;           // number of channels (1-3)
+  int size_[2];            // horizontal and vertical resolution
+  mjtNum fov_[2];          // horizontal and vertical field of view, in degrees
+  mjtNum gamma_;           // foveal deformation
+
+ private:
+  TouchStress(const mjModel* m, mjData* d, int instance, int nchannel,
+               int* size, mjtNum* fov_x, mjtNum gamma);
+
+  std::vector<mjtNum> x_edges_;
+  std::vector<mjtNum> y_edges_;
+  std::vector<mjtNum> dist_;
+  std::vector<mjtNum> pos_;
+  std::vector<mjtNum> mat_;
+
+  int id_;
+  int parent_weld_;
+  int geom_id_;
+};
+
+}  // namespace mujoco::plugin::sensor
+
+#endif  // MUJOCO_PLUGIN_SENSOR_TOUCH_STRESS_H_
diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index f58f414a..591c96b8 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -265,7 +265,7 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
 }
 
 // get sdf from geom id
-static const mjpPlugin* getSDF(const mjModel* m, int id) {
+const mjpPlugin* mjc_getSDF(const mjModel* m, int id) {
   int instance = m->geom_plugin[id];
   const int nslot = mjp_pluginCount();
   const int slot = m->plugin[instance];
@@ -585,7 +585,7 @@ int mjc_MeshSDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g
 
   // get sdf plugin
   int instance = m->geom_plugin[g2];
-  const mjpPlugin* sdf_ptr = getSDF(m, g2);
+  const mjpPlugin* sdf_ptr = mjc_getSDF(m, g2);
   mjtGeom geomtype = mjGEOM_SDF;
 
   // copy into data
@@ -727,12 +727,12 @@ int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, m
   mjtGeom geomtypes[2] = {m->geom_type[g2], m->geom_type[g1]};
 
   instance[0] = m->geom_plugin[g2];
-  sdf_ptr[0] = getSDF(m, g2);
+  sdf_ptr[0] = mjc_getSDF(m, g2);
 
   // get sdf plugins
   if (m->geom_type[g1] == mjGEOM_SDF) {
     instance[1] = m->geom_plugin[g1];
-    sdf_ptr[1] = getSDF(m, g1);
+    sdf_ptr[1] = mjc_getSDF(m, g1);
   } else {
     instance[1] = g1;
     sdf_ptr[1] = NULL;
diff --git a/test/engine/engine_plugin_test.cc b/test/engine/engine_plugin_test.cc
index 5463f1e2..a1b5f959 100644
--- a/test/engine/engine_plugin_test.cc
+++ b/test/engine/engine_plugin_test.cc
@@ -37,7 +37,7 @@ using ::testing::DoubleNear;
 using ::testing::HasSubstr;
 using ::testing::NotNull;
 
-constexpr int kNumTruePlugins = 10;
+constexpr int kNumTruePlugins = 11;
 constexpr int kNumFakePlugins = 30;
 constexpr int kNumTestPlugins = 4;
 

From 34e8ff1aad4a6311be6455d703a3f497d4cfa077 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 14 May 2025 02:49:46 -0700
Subject: [PATCH 125/191] Add flex edge flap connectivity to mjModel.

PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
---
 doc/includes/references.h                 |   1 +
 include/mujoco/mjmodel.h                  |   1 +
 include/mujoco/mjxmacro.h                 |   1 +
 plugin/elasticity/shell.cc                | 105 ++++++----------------
 plugin/elasticity/shell.h                 |  13 +--
 python/mujoco/introspect/structs.py       |   8 ++
 src/user/user_mesh.cc                     |  68 ++++++++++++--
 src/user/user_model.cc                    |   7 ++
 src/user/user_objects.h                   |   6 ++
 test/plugin/elasticity/elasticity_test.cc |   6 +-
 unity/Runtime/Bindings/MjBindings.cs      |   1 +
 11 files changed, 122 insertions(+), 95 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index eada1572..ffada3b8 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1229,6 +1229,7 @@ struct mjModel_ {
   int*      flex_nodebodyid;      // node body ids                            (nflexnode x 1)
   int*      flex_vertbodyid;      // vertex body ids                          (nflexvert x 1)
   int*      flex_edge;            // edge vertex ids (2 per edge)             (nflexedge x 2)
+  int*      flex_edgeflap;        // adjacent vertex ids (dim=2 only)         (nflexedge x 2)
   int*      flex_elem;            // element vertex ids (dim+1 per elem)      (nflexelemdata x 1)
   int*      flex_elemtexcoord;    // element texture coordinates (dim+1)      (nflexelemdata x 1)
   int*      flex_elemedge;        // element edge ids                         (nflexelemedge x 1)
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index ceaa76d1..fd63b272 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -896,6 +896,7 @@ struct mjModel_ {
   int*      flex_nodebodyid;      // node body ids                            (nflexnode x 1)
   int*      flex_vertbodyid;      // vertex body ids                          (nflexvert x 1)
   int*      flex_edge;            // edge vertex ids (2 per edge)             (nflexedge x 2)
+  int*      flex_edgeflap;        // adjacent vertex ids (dim=2 only)         (nflexedge x 2)
   int*      flex_elem;            // element vertex ids (dim+1 per elem)      (nflexelemdata x 1)
   int*      flex_elemtexcoord;    // element texture coordinates (dim+1)      (nflexelemdata x 1)
   int*      flex_elemedge;        // element edge ids                         (nflexelemedge x 1)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index aa55b3d7..f46b4ff5 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -349,6 +349,7 @@
     XMJV( int,     flex_nodebodyid,       nflexnode,     1                    ) \
     X   ( int,     flex_vertbodyid,       nflexvert,     1                    ) \
     X   ( int,     flex_edge,             nflexedge,     2                    ) \
+    X   ( int,     flex_edgeflap,         nflexedge,     2                    ) \
     XMJV( int,     flex_elem,             nflexelemdata, 1                    ) \
     XMJV( int,     flex_elemtexcoord,     nflexelemdata, 1                    ) \
     X   ( int,     flex_elemedge,         nflexelemedge, 1                    ) \
diff --git a/plugin/elasticity/shell.cc b/plugin/elasticity/shell.cc
index 30b02051..772b06eb 100644
--- a/plugin/elasticity/shell.cc
+++ b/plugin/elasticity/shell.cc
@@ -12,14 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <algorithm>
 #include <cassert>
 #include <cmath>
 #include <cstdint>
 #include <cstdlib>
 #include <optional>
-#include <string>
-#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -34,9 +31,7 @@ namespace mujoco::plugin::elasticity {
 namespace {
 
 // local tetrahedron numbering
-constexpr int kNumEdges = Stencil2D::kNumEdges;
 constexpr int kNumVerts = Stencil2D::kNumVerts;
-constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
 
 // cotangent between two edges
 mjtNum cot(mjtNum* x, int v0, int v1, int v2) {
@@ -68,81 +63,26 @@ mjtNum ComputeVolume(const mjtNum* x, const int v[kNumVerts]) {
 
 // factory function
 std::optional<Shell> Shell::Create(const mjModel* m, mjData* d, int instance) {
-    if (CheckAttr("face", m, instance) &&
-        CheckAttr("edge", m, instance) &&
-        CheckAttr("poisson", m, instance) &&
+    if (CheckAttr("poisson", m, instance) &&
         CheckAttr("young", m, instance) &&
         CheckAttr("thickness", m, instance)) {
       mjtNum nu = strtod(mj_getPluginConfig(m, instance, "poisson"), nullptr);
       mjtNum E = strtod(mj_getPluginConfig(m, instance, "young"), nullptr);
       mjtNum thick =
           strtod(mj_getPluginConfig(m, instance, "thickness"), nullptr);
-      std::vector<int> face, edge;
-      String2Vector(mj_getPluginConfig(m, instance, "face"), face);
-      String2Vector(mj_getPluginConfig(m, instance, "edge"), edge);
-      return Shell(m, d, instance, nu, E, thick, face, edge);
+      return Shell(m, d, instance, nu, E, thick);
     } else {
       mju_warning("Invalid parameter specification in shell plugin");
       return std::nullopt;
     }
 }
 
-// create map from triangles to vertices and edges and from edges to vertices
-void Shell::CreateStencils(const std::vector<int>& simplex,
-                           const std::vector<int>& edgeidx) {
-  // populate stencil
-  nt = simplex.size() / kNumVerts;
-  elements.resize(nt);
-  for (int t = 0; t < nt; t++) {
-    for (int v = 0; v < kNumVerts; v++) {
-      elements[t].vertices[v] = simplex[kNumVerts*t+v];
-    }
-  }
-
-  // map from edge vertices to their index in `edges` vector
-  std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
-
-  // loop over all triangles
-  for (int t = 0; t < nt; t++) {
-    int* v = elements[t].vertices;
-
-    // compute edges to vertices map for fast computations
-    for (int e = 0; e < kNumEdges; e++) {
-      auto pair = std::pair(
-        std::min(v[edge[e][0]], v[edge[e][1]]),
-        std::max(v[edge[e][0]], v[edge[e][1]])
-      );
-
-      // if edge is already present in the vector only store its index
-      auto [it, inserted] = edge_indices.insert({pair, ne});
-
-      if (inserted) {
-        StencilFlap flap;
-        flap.vertices[0] = v[edge[e][0]];
-        flap.vertices[1] = v[edge[e][1]];
-        flap.vertices[2] = v[(edge[e][1]+1) % 3];
-        flap.vertices[3] = -1;
-        flaps.push_back(flap);
-        elements[t].edges[e] = ne++;
-      } else {
-        elements[t].edges[e] = it->second;
-        flaps[it->second].vertices[3] = v[(edge[e][1]+1) % 3];
-      }
-
-      if (!edgeidx.empty()) {
-        assert(elements[t].edges[e] == edgeidx[kNumEdges*t+e]);
-      }
-    }
-  }
-}
-
 // plugin constructor
 Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
-             mjtNum thick, const std::vector<int>& face,
-             const std::vector<int>& edgeidx)
-    : thickness(thick) {
+             mjtNum thick)
+    : f0(-1), thickness(thick) {
   // count plugin bodies
-  nv = ne = 0;
+  nv = 0;
   for (int i = 1; i < m->nbody; i++) {
     if (m->body_plugin[i] == instance) {
       if (!nv++) {
@@ -151,15 +91,25 @@ Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
     }
   }
 
-  // generate triangles from the vertices
-  CreateStencils(face, edgeidx);
+  // count flexes
+  for (int i = 0; i < m->nflex; i++) {
+    for (int j = 0; j < m->flex_vertnum[i]; j++) {
+      if (m->flex_vertbodyid[m->flex_vertadr[i]+j] == i0) {
+        f0 = i;
+        nv = m->flex_vertnum[f0];
+        if (m->flex_dim[i] != 2) {  // SHOULD NOT OCCUR
+          mju_error("mujoco.elasticity.shell requires a 2D mesh");
+        }
+      }
+    }
+  }
 
   // material parameters
   mjtNum mu = E / (2*(1+nu));
 
   // loop over all triangles
-  for (int t = 0; t < nt; t++) {
-    int* v = elements[t].vertices;
+  for (int t = 0; t < m->flex_elemnum[f0]; t++) {
+    int* v = m->flex_elem + 3*(t+m->flex_elemadr[f0]);
     for (int i = 0; i < kNumVerts; i++) {
       if (m->body_plugin[i0+v[i]] != instance) {
         mju_error("This body does not have the requested plugin instance");
@@ -169,14 +119,16 @@ Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
 
   // allocate array
   position.assign(nv*3, 0);
-  bending.assign(ne*16, 0);
+  bending.assign(m->flex_edgenum[f0]*16, 0);
 
   // store previous positions
   mju_copy(position.data(), m->body_pos+3*i0, 3*nv);
 
   // assemble bending Hessian
-  for (int e = 0; e < ne; e++)  {
-    int* v = flaps[e].vertices;
+  for (int e = 0; e < m->flex_edgenum[f0]; e++)  {
+    int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f0]);
+    int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f0]);
+    int v[4] = {edge[0], edge[1], flap[0], flap[1]};
     int vadj[3] = {v[1], v[0], v[3]};
 
     if (v[3]== -1) {
@@ -205,8 +157,10 @@ Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
 }
 
 void Shell::Compute(const mjModel* m, mjData* d, int instance) {
-  for (int e = 0; e < ne; e++) {
-    int* v = flaps[e].vertices;
+  for (int e = 0; e < m->flex_edgenum[f0]; e++) {
+    int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f0]);
+    int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f0]);
+    int v[4] = {edge[0], edge[1], flap[0], flap[1]};
     mjtNum force[12] = {0};
     if (v[3] == -1) {
       // skip boundary edges
@@ -241,8 +195,7 @@ void Shell::RegisterPlugin() {
   plugin.name = "mujoco.elasticity.shell";
   plugin.capabilityflags |= mjPLUGIN_PASSIVE;
 
-  const char* attributes[] = {"face",    "edge",    "young",
-                              "poisson", "thickness", "damping"};
+  const char* attributes[] = {"young", "poisson", "thickness", "damping"};
   plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
   plugin.attributes = attributes;
   plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
diff --git a/plugin/elasticity/shell.h b/plugin/elasticity/shell.h
index f92fffbb..e8496e70 100644
--- a/plugin/elasticity/shell.h
+++ b/plugin/elasticity/shell.h
@@ -45,14 +45,9 @@ class Shell {
   static void RegisterPlugin();
 
   int i0;  // index of first body
+  int f0;  // index of corresponding flex
   int nc;  // number of quads in the grid
   int nv;  // number of vertices (bodies) in the Shell
-  int nt;  // number of area elements (triangles)
-  int ne;  // number of edges in the Shell
-
-  // connectivity info for mapping tetrahedra to edges and vertices
-  std::vector<Stencil2D> elements;          // triangles              (nt x 6)
-  std::vector<StencilFlap> flaps;           // adjacent triangles     (ne x 4)
 
   // precomputed quantities
   std::vector<mjtNum> position;             // previous-step positions (nv x 3)
@@ -62,11 +57,7 @@ class Shell {
 
  private:
   Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
-        mjtNum thick, const std::vector<int>& face,
-        const std::vector<int>& edgeidx);
-
-  void CreateStencils(const std::vector<int>& simplex,
-                      const std::vector<int>& edgeidx);
+        mjtNum thick);
 };
 
 }  // namespace mujoco::plugin::elasticity
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index e9e6f801..4efca1ee 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -2619,6 +2619,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='edge vertex ids (2 per edge)',
                  array_extent=('nflexedge', 2),
              ),
+             StructFieldDecl(
+                 name='flex_edgeflap',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='adjacent vertex ids (dim=2 only)',
+                 array_extent=('nflexedge', 2),
+             ),
              StructFieldDecl(
                  name='flex_elem',
                  type=PointerType(
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index 93c10004..b44ecff5 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -3018,6 +3018,63 @@ void inline ComputeStiffness(std::vector<double>& stiffness,
   MetricTensor<T>(stiffness.data(), t, mu, la, basis);
 }
 
+// local tetrahedron numbering
+constexpr int kNumEdges = Stencil2D::kNumEdges;
+constexpr int kNumVerts = Stencil2D::kNumVerts;
+constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
+
+// create map from triangles to vertices and edges and from edges to vertices
+static void CreateFlapStencil(std::vector<StencilFlap>& flaps,
+                              const std::vector<int>& simplex,
+                              const std::vector<int>& edgeidx) {
+  // populate stencil
+  int ne = 0;
+  int nt = simplex.size() / kNumVerts;
+  std::vector<Stencil2D> elements(nt);
+  for (int t = 0; t < nt; t++) {
+    for (int v = 0; v < kNumVerts; v++) {
+      elements[t].vertices[v] = simplex[kNumVerts * t + v];
+    }
+  }
+
+  // map from edge vertices to their index in `edges` vector
+  std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
+
+  // loop over all triangles
+  for (int t = 0; t < nt; t++) {
+    int* v = elements[t].vertices;
+
+    // compute edges to vertices map for fast computations
+    for (int e = 0; e < kNumEdges; e++) {
+      auto pair = std::pair(std::min(v[edge[e][0]], v[edge[e][1]]),
+                            std::max(v[edge[e][0]], v[edge[e][1]]));
+
+      // if edge is already present in the vector only store its index
+      auto [it, inserted] = edge_indices.insert({pair, ne});
+
+      if (inserted) {
+        StencilFlap flap;
+        flap.vertices[0] = v[edge[e][0]];
+        flap.vertices[1] = v[edge[e][1]];
+        flap.vertices[2] = v[(edge[e][1] + 1) % 3];
+        flap.vertices[3] = -1;
+        flaps.push_back(flap);
+        elements[t].edges[e] = ne++;
+      } else {
+        elements[t].edges[e] = it->second;
+        flaps[it->second].vertices[3] = v[(edge[e][1] + 1) % 3];
+      }
+
+      // double check that the edge indices are consistent
+      if (!edgeidx.empty()) {
+        if (elements[t].edges[e] != edgeidx[kNumEdges * t + e]) {
+          mju_error("edge indices do not match in CreateFlapStencil");
+        }
+      }
+    }
+  }
+}
+
 //----------------------------- linear elasticity --------------------------------------------------
 
 // Gauss Legendre quadrature points in 1 dimension on the interval [a, b]
@@ -3543,10 +3600,6 @@ void mjCFlex::Compile(const mjVFS* vfs) {
   }
 
   // add plugins
-  std::string userface, useredge;
-  userface = VectorToString(elem_);
-  useredge = VectorToString(edgeidx_);
-
   for (const auto& vbodyid : vertbodyid) {
     if (vbodyid < 0) {
       continue;
@@ -3557,11 +3610,14 @@ void mjCFlex::Compile(const mjVFS* vfs) {
       if (damping > 0) {
         plugin_instance->config_attribs["damping"] = std::to_string(damping);
       }
-      plugin_instance->config_attribs["face"] = userface;
-      plugin_instance->config_attribs["edge"] = useredge;
     }
   }
 
+  // create flap stencil
+  if (dim == 2) {
+    CreateFlapStencil(flaps, elem_, edgeidx_);
+  }
+
   // create shell fragments and element-vertex collision pairs
   CreateShellPair();
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index ff78e190..93449339 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3158,6 +3158,13 @@ void mjCModel::CopyObjects(mjModel* m) {
     for (int k=0; k < pfl->nedge; k++) {
       m->flex_edge[2*(edge_adr+k)] = pfl->edge[k].first;
       m->flex_edge[2*(edge_adr+k)+1] = pfl->edge[k].second;
+      if (pfl->dim == 2) {
+        m->flex_edgeflap[2*(edge_adr+k)+0] = pfl->flaps[k].vertices[2];
+        m->flex_edgeflap[2*(edge_adr+k)+1] = pfl->flaps[k].vertices[3];
+      } else {
+        m->flex_edgeflap[2*(edge_adr+k)+0] = -1;
+        m->flex_edgeflap[2*(edge_adr+k)+1] = -1;
+      }
 
       if (pfl->rigid) {
         m->flexedge_rigid[edge_adr+k] = 1;
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 9cdae417..585d6abb 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -830,6 +830,11 @@ class mjCLight : public mjCLight_, private mjsLight {
 //------------------------- class mjCFlex ----------------------------------------------------------
 // Describes a flex
 
+struct StencilFlap {
+  static constexpr int kNumVerts = 4;
+  int vertices[kNumVerts];
+};
+
 class mjCFlex_ : public mjCBase {
  protected:
   int nvert;                              // number of vertices
@@ -846,6 +851,7 @@ class mjCFlex_ : public mjCBase {
   std::vector<int> shell;                 // shell fragment vertex ids (dim per fragment)
   std::vector<int> elemlayer;             // element layer (distance from border)
   std::vector<int> evpair;                // element-vertex pairs
+  std::vector<StencilFlap> flaps;         // adjacent triangles
   std::vector<double> vertxpos;           // global vertex positions
   mjCBoundingVolumeHierarchy tree;        // bounding volume hierarchy
   std::vector<double> elemaabb_;          // element bounding volume
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index f38559b5..16273900 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -83,8 +83,10 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
 
   // check that a plane is in the kernel of the energy
   for (mjtNum scale = 1; scale < 4; scale++) {
-    for (int e = 0; e < shell->ne; e++) {
-      int* v = shell->flaps[e].vertices;
+    for (int e = 0; e < m->flex_edgenum[0]; e++) {
+      int* edge = m->flex_edge + 2*(m->flex_edgeadr[0] + e);
+      int* flap = m->flex_edgeflap + 2*(m->flex_edgeadr[0] + e);
+      int v[4] = {edge[0], edge[1], flap[0], flap[1]};
       if (v[3]== -1) {
         continue;
       }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index d26592a9..d743436c 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5480,6 +5480,7 @@ public unsafe struct mjModel_ {
   public int* flex_nodebodyid;
   public int* flex_vertbodyid;
   public int* flex_edge;
+  public int* flex_edgeflap;
   public int* flex_elem;
   public int* flex_elemtexcoord;
   public int* flex_elemedge;

From a6c3a287d6f62ec240c13fdb9988309ee240bfeb Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 14 May 2025 03:16:41 -0700
Subject: [PATCH 126/191] Prepare Newton solver for island support

PiperOrigin-RevId: 758600631
Change-Id: Iac354588ad91f404a30fa035893560db60db733f
---
 src/engine/engine_solver.c | 178 +++++++++++++++++++------------------
 1 file changed, 92 insertions(+), 86 deletions(-)

diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index b6a3fae3..adb1e23d 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -764,7 +764,8 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
 
 // CG context
 struct _mjCGContext {
-  int flg_Newton;         // 1: Newton, 0: CG
+  int is_sparse;          // 1: sparse, 0: dense
+  int is_elliptic;        // 1: elliptic, 0: pyramidal
   int island;             // current island index, -1 if monolithic
 
   // sizes
@@ -830,6 +831,8 @@ struct _mjCGContext {
   int* H_lowernnz;        // Hessian lower triangle row nonzeros          (nv x 1)
   int* L_rownnz;          // Hessian factor row nonzeros                  (nv x 1)
   int* L_rowadr;          // Hessian factor row addresses                 (nv x 1)
+  int* buf_ind;           // index buffer for sparse addition             (nv x 1)
+  mjtNum* buf_val;        // value buffer for sparse addition             (nv x 1)
 
   // Newton arrays, computed-size (MakeHessian)
   int nH;                 // number of nonzeros in Hessian H
@@ -859,7 +862,12 @@ typedef struct _mjCGContext mjCGContext;
 
 // set sizes and pointers to mjData arrays in mjCGContext
 static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int island) {
-  int is_sparse = mj_isSparse(m);
+  // clear everything
+  memset(ctx, 0, sizeof(mjCGContext));
+
+  // globals
+  ctx->is_sparse = mj_isSparse(m);
+  ctx->is_elliptic = (m->opt.cone == mjCONE_ELLIPTIC);
   ctx->contact = d->contact;
   ctx->island = island;
 
@@ -898,7 +906,7 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
 
     // Jacobians
     ctx->J                = d->efc_J;
-    if (is_sparse) {
+    if (ctx->is_sparse) {
       ctx->J_rownnz       = d->efc_J_rownnz;
       ctx->J_rowadr       = d->efc_J_rowadr;
       ctx->J_rowsuper     = d->efc_J_rowsuper;
@@ -947,7 +955,7 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     ctx->efc_state        = d->iefc_state        + iefcadr;
 
     // Jacobians
-    if (!is_sparse) {
+    if (!ctx->is_sparse) {
       ctx->J              = d->iefc_J + d->nidof * iefcadr;
     } else {
       ctx->J_rownnz       = d->iefc_J_rownnz     + iefcadr;
@@ -968,13 +976,7 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
 
 // allocate fixed-size arrays in mjCGContext
 //  mj_{mark/free}Stack in calling function!
-static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx, int island, int flg_Newton) {
-  // clear everything
-  memset(ctx, 0, sizeof(mjCGContext));
-
-  // set sizes and pointers
-  CGpointers(m, d, ctx, island);
-
+static void CGallocate(mjData* d, mjCGContext* ctx, int flg_Newton) {
   // local sizes
   int nv = ctx->nv;
   int nefc = ctx->nefc;
@@ -990,17 +992,18 @@ static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx, int island
   ctx->quad   = mjSTACKALLOC(d, nefc*3, mjtNum);
 
   // Newton only, known-size arrays
-  ctx->flg_Newton = flg_Newton;
   if (flg_Newton) {
     ctx->D = mjSTACKALLOC(d, nefc, mjtNum);
 
     // sparse Newton only
-    if (mj_isSparse(m)) {
+    if (ctx->is_sparse) {
       ctx->H_rowadr   = mjSTACKALLOC(d, nv, int);
       ctx->H_rownnz   = mjSTACKALLOC(d, nv, int);
       ctx->H_lowernnz = mjSTACKALLOC(d, nv, int);
       ctx->L_rownnz   = mjSTACKALLOC(d, nv, int);
       ctx->L_rowadr   = mjSTACKALLOC(d, nv, int);
+      ctx->buf_val    = mjSTACKALLOC(d, nv, mjtNum);
+      ctx->buf_ind    = mjSTACKALLOC(d, nv, int);
     }
   }
 }
@@ -1008,17 +1011,17 @@ static void CGallocate(const mjModel* m, mjData* d, mjCGContext* ctx, int island
 
 
 // update efc_force, qfrc_constraint, cost-related
-static void CGupdateConstraint(mjCGContext* ctx) {
+static void CGupdateConstraint(mjCGContext* ctx, int flg_HessianCone) {
   int nefc = ctx->nefc, nv = ctx->nv;
 
   // update constraints
   mj_constraintUpdate_impl(ctx->ne, ctx->nf, ctx->nefc, ctx->efc_D, ctx->efc_R,
                            ctx->efc_frictionloss, ctx->Jaref, ctx->efc_type, ctx->efc_id,
                            ctx->contact, ctx->efc_state, ctx->efc_force,
-                           &(ctx->cost), ctx->flg_Newton);
+                           &(ctx->cost), flg_HessianCone);
 
   // compute qfrc_constraint (dense or sparse)
-  if (!ctx->JT) {
+  if (!ctx->is_sparse) {
     mju_mulMatTVec(ctx->qfrc_constraint, ctx->J, ctx->efc_force, nefc, nv);
   } else {
     mju_mulMatVecSparse(ctx->qfrc_constraint, ctx->JT, ctx->efc_force, nv,
@@ -1046,7 +1049,7 @@ static void CGupdateConstraint(mjCGContext* ctx) {
 
 
 // update grad, Mgrad
-static void CGupdateGradient(mjCGContext* ctx) {
+static void CGupdateGradient(mjCGContext* ctx, int flg_Newton) {
   int nv = ctx->nv;
 
   // grad = M*qacc - qfrc_smooth - qfrc_constraint
@@ -1056,8 +1059,8 @@ static void CGupdateGradient(mjCGContext* ctx) {
 
   // Newton: Mgrad = H \ grad
   // TODO: b/295296178 - add island support to Newton solver
-  if (ctx->flg_Newton) {
-    if (ctx->L_rowadr) {
+  if (flg_Newton) {
+    if (ctx->is_sparse) {
       mju_cholSolveSparse(ctx->Mgrad, (ctx->ncone ? ctx->Lcone : ctx->L),
                           ctx->grad, nv, ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind);
     } else {
@@ -1358,7 +1361,7 @@ static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations)
                       ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
 
   // compute Jv = J * search  (dense or sparse)
-  if (!ctx->J_rowadr) {
+  if (!ctx->is_sparse) {
     mju_mulMatVec(ctx->Jv, ctx->J, ctx->search, nefc, nv);
   } else {
     mju_mulMatVecSparse(ctx->Jv, ctx->J, ctx->search, nefc,
@@ -1524,29 +1527,30 @@ static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations)
 
 // allocate and compute Hessian given efc_state
 //  mj_{mark/free}Stack in caller function!
-static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
-  int nv = m->nv, nefc = d->nefc;
+static void MakeHessian(mjData* d, mjCGContext* ctx) {
+  int nv = ctx->nv, nefc = ctx->nefc;
 
   // compute constraint inertia
   for (int i=0; i < nefc; i++) {
-    ctx->D[i] = d->efc_state[i] == mjCNSTRSTATE_QUADRATIC ? d->efc_D[i] : 0;
+    ctx->D[i] = ctx->efc_state[i] == mjCNSTRSTATE_QUADRATIC ? ctx->efc_D[i] : 0;
   }
 
   // sparse
-  if (mj_isSparse(m)) {
+  if (ctx->is_sparse) {
     // initialize Hessian rowadr, rownnz
     mju_sqrMatTDSparseCount(ctx->H_rownnz, ctx->H_rowadr, nv,
-                            d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                            d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,
-                            d->efc_JT_rowsuper, d, /*flg_upper=*/0);
+                            ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
+                            ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind,
+                            ctx->JT_rowsuper, d, /*flg_upper=*/0);
 
     // add nC to Hessian total nonzeros (unavoidable overcounting since H_colind is still unknown)
-    ctx->nH = m->nC + ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
+    ctx->nH = ctx->M_rowadr[nv - 1] + ctx->M_rownnz[nv - 1] +
+              ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
 
     // shift H row addresses to make room for C
     int shift = 0;
     for (int r = 0; r < nv - 1; r++) {
-      shift += d->C_rownnz[r];
+      shift += ctx->M_rownnz[r];
       ctx->H_rowadr[r + 1] += shift;
     }
 
@@ -1555,15 +1559,16 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     ctx->H = mjSTACKALLOC(d, ctx->nH, mjtNum);
 
     // compute H = J'*D*J
-    mju_sqrMatTDSparse(ctx->H, d->efc_J, d->efc_JT, ctx->D, nefc, nv,
+    mju_sqrMatTDSparse(ctx->H, ctx->J, ctx->JT, ctx->D, nefc, nv,
                        ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-                       d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
-                       d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
+                       ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind, NULL,
+                       ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper,
                        d, /*diagind=*/NULL);
 
     // add mass matrix: H = J'*D*J + C
-    mj_addMSparse(m, d, ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-                  ctx->M, d->C_rownnz, d->C_rowadr, d->C_colind);
+    mju_addToMatSparse(ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, nv,
+                       ctx->M, ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
+                       ctx->buf_val, ctx->buf_ind);
 
     // transiently compute H'; mju_cholFactorNNZ is memory-contiguous in upper triangle layout
     mj_markStack(d);
@@ -1587,7 +1592,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     // allocate L_colind, L, Lcone
     ctx->L_colind = mjSTACKALLOC(d, ctx->nL, int);
     ctx->L = mjSTACKALLOC(d, ctx->nL, mjtNum);
-    if (m->opt.cone == mjCONE_ELLIPTIC) {
+    if (ctx->is_elliptic) {
       ctx->Lcone = mjSTACKALLOC(d, ctx->nL, mjtNum);
     }
 
@@ -1617,49 +1622,49 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
     // allocate L, Lcone
     ctx->nL = nv*nv;
     ctx->L = mjSTACKALLOC(d, ctx->nL, mjtNum);
-    if (m->opt.cone == mjCONE_ELLIPTIC) {
+    if (ctx->is_elliptic) {
       ctx->Lcone = mjSTACKALLOC(d, ctx->nL, mjtNum);
     }
 
     // compute H = M + J'*D*J
-    mju_sqrMatTD(ctx->L, d->efc_J, ctx->D, nefc, nv);
+    mju_sqrMatTD_impl(ctx->L, ctx->J, ctx->D, nefc, nv, /*flg_upper=*/ 0);
     mju_addToSymSparse(ctx->L, ctx->M, ctx->nv,
-                        ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
-                        /*flg_upper=*/ 1);
+                       ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
+                       /*flg_upper=*/ 0);
   }
 }
 
 
 
 // forward declaration of HessianCone (readability)
-static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx);
+static void HessianCone(mjData* d, mjCGContext* ctx);
 
 // factorize Hessian: L = chol(H), maybe (re)compute H given efc_state
-static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
-                             int flg_recompute) {
-  int nv = m->nv, nefc = d->nefc;
+static void FactorizeHessian(mjData* d, mjCGContext* ctx, int flg_recompute) {
+  int nv = ctx->nv, nefc = ctx->nefc;
 
   // maybe compute constraint inertia
   if (flg_recompute) {
     for (int i=0; i < nefc; i++) {
-      ctx->D[i] = d->efc_state[i] == mjCNSTRSTATE_QUADRATIC ? d->efc_D[i] : 0;
+      ctx->D[i] = ctx->efc_state[i] == mjCNSTRSTATE_QUADRATIC ? ctx->efc_D[i] : 0;
     }
   }
 
   // sparse
-  if (mj_isSparse(m)) {
+  if (ctx->is_sparse) {
     // maybe compute H = M + J'*D*J
     if (flg_recompute) {
       // compute H = J'*D*J
-      mju_sqrMatTDSparse(ctx->H, d->efc_J, d->efc_JT, ctx->D, nefc, nv,
+      mju_sqrMatTDSparse(ctx->H, ctx->J, ctx->JT, ctx->D, nefc, nv,
                         ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-                        d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
-                        d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
+                        ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind, NULL,
+                        ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper,
                         d, /*diagind=*/NULL);
 
       // add mass matrix: H = J'*D*J + C
-      mj_addMSparse(m, d, ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-                    ctx->M, d->C_rownnz, d->C_rowadr, d->C_colind);
+      mju_addToMatSparse(ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, nv,
+                         ctx->M, ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
+                         ctx->buf_val, ctx->buf_ind);
     }
 
     // copy H lower-triangle into L, fill-in already accounted for
@@ -1689,10 +1694,10 @@ static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
   else {
     // maybe compute H = M + J'*D*J
     if (flg_recompute) {
-      mju_sqrMatTD(ctx->L, d->efc_J, ctx->D, nefc, nv);
+      mju_sqrMatTD_impl(ctx->L, ctx->J, ctx->D, nefc, nv, /*flg_upper=*/ 0);
       mju_addToSymSparse(ctx->L, ctx->M, ctx->nv,
                          ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
-                         /*flg_upper=*/ 1);
+                         /*flg_upper=*/ 0);
     }
 
     // factorize H
@@ -1701,7 +1706,7 @@ static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
 
   // add cones to factor if present
   if (ctx->ncone) {
-    HessianCone(m, d, ctx);
+    HessianCone(d, ctx);
   }
 
   // mark full update
@@ -1711,8 +1716,8 @@ static void FactorizeHessian(const mjModel* m, mjData* d, mjCGContext* ctx,
 
 
 // elliptic case: Hcone = H + cone_contributions
-static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
-  int nv = m->nv, nefc = d->nefc;
+static void HessianCone(mjData* d, mjCGContext* ctx) {
+  int nv = ctx->nv, nefc = ctx->nefc;
   mjtNum local[36];
 
   // start with Hcone = H
@@ -1727,8 +1732,8 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
 
   // add contributions
   for (int i=0; i < nefc; i++) {
-    if (d->efc_state[i] == mjCNSTRSTATE_CONE) {
-      mjContact* con = d->contact + d->efc_id[i];
+    if (ctx->efc_state[i] == mjCNSTRSTATE_CONE) {
+      mjContact* con = ctx->contact + ctx->efc_id[i];
       int dim = con->dim;
 
       // Cholesky of local Hessian
@@ -1736,15 +1741,15 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
       mju_cholFactor(local, dim, mjMINVAL);
 
       // sparse
-      if (mj_isSparse(m)) {
+      if (ctx->is_sparse) {
         // get nnz for row i (same for all rows in contact)
-        const int nnz = d->efc_J_rownnz[i];
+        const int nnz = ctx->J_rownnz[i];
 
         // compute LTJ = L'*J for this contact
         mju_zero(LTJ, dim*nnz);
         for (int r=0; r < dim; r++) {
           for (int c=0; c <= r; c++) {
-            mju_addToScl(LTJ+c*nnz, d->efc_J+d->efc_J_rowadr[i+r], local[r*dim+c], nnz);
+            mju_addToScl(LTJ+c*nnz, ctx->J+ctx->J_rowadr[i+r], local[r*dim+c], nnz);
           }
         }
 
@@ -1752,7 +1757,7 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
         for (int r=0; r < dim; r++) {
           // copy data for this row
           mju_copy(LTJ_row, LTJ+r*nnz, nnz);
-          mju_copyInt(LTJ_ind, d->efc_J_colind+d->efc_J_rowadr[i+r], nnz);
+          mju_copyInt(LTJ_ind, ctx->J_colind+ctx->J_rowadr[i+r], nnz);
 
           // update
           mju_cholUpdateSparse(ctx->Lcone, LTJ_row, nv, 1,
@@ -1766,7 +1771,7 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
         mju_zero(LTJ, dim*nv);
         for (int r=0; r < dim; r++) {
           for (int c=0; c <= r; c++) {
-            mju_addToScl(LTJ+c*nv, d->efc_J+(i+r)*nv, local[r*dim+c], nv);
+            mju_addToScl(LTJ+c*nv, ctx->J+(i+r)*nv, local[r*dim+c], nv);
           }
         }
 
@@ -1790,8 +1795,8 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
 
 
 // incremental update to Hessian factor due to changes in efc_state
-static void HessianIncremental(const mjModel* m, mjData* d, mjCGContext* ctx, const int* oldstate) {
-  int rank, nv = m->nv, nefc = d->nefc;
+static void HessianIncremental(mjData* d, mjCGContext* ctx, const int* oldstate) {
+  int rank, nv = ctx->nv, nefc = ctx->nefc;
   mj_markStack(d);
 
   // local space
@@ -1806,32 +1811,32 @@ static void HessianIncremental(const mjModel* m, mjData* d, mjCGContext* ctx, co
     int flag_update = -1;
 
     // add quad
-    if (oldstate[i] != mjCNSTRSTATE_QUADRATIC && d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
+    if (oldstate[i] != mjCNSTRSTATE_QUADRATIC && ctx->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
       flag_update = 1;
     }
 
     // subtract quad
-    else if (oldstate[i] == mjCNSTRSTATE_QUADRATIC && d->efc_state[i] != mjCNSTRSTATE_QUADRATIC) {
+    else if (oldstate[i] == mjCNSTRSTATE_QUADRATIC && ctx->efc_state[i] != mjCNSTRSTATE_QUADRATIC) {
       flag_update = 0;
     }
 
     // perform update if flagged
     if (flag_update != -1) {
       // update with vec = J(i,:)*sqrt(D[i]))
-      if (mj_isSparse(m)) {
+      if (ctx->is_sparse) {
         // get nnz and adr of row i
-        const int nnz = d->efc_J_rownnz[i], adr = d->efc_J_rowadr[i];
+        const int nnz = ctx->J_rownnz[i], adr = ctx->J_rowadr[i];
 
         // scale vec, copy colind
-        mju_scl(vec, d->efc_J+adr, mju_sqrt(d->efc_D[i]), nnz);
-        mju_copyInt(vec_ind, d->efc_J_colind+adr, nnz);
+        mju_scl(vec, ctx->J+adr, mju_sqrt(ctx->efc_D[i]), nnz);
+        mju_copyInt(vec_ind, ctx->J_colind+adr, nnz);
 
         // sparse update or downdate
         rank = mju_cholUpdateSparse(ctx->L, vec, nv, flag_update,
                                     ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind, nnz, vec_ind,
                                     d);
       } else {
-        mju_scl(vec, d->efc_J+i*nv, mju_sqrt(d->efc_D[i]), nv);
+        mju_scl(vec, ctx->J+i*nv, mju_sqrt(ctx->efc_D[i]), nv);
         rank = mju_cholUpdate(ctx->L, vec, nv, flag_update);
       }
       ctx->nupdate++;
@@ -1839,7 +1844,7 @@ static void HessianIncremental(const mjModel* m, mjData* d, mjCGContext* ctx, co
       // recompute H directly if accuracy lost
       if (rank < nv) {
         mj_freeStack(d);
-        FactorizeHessian(m, d, ctx, /*flg_recompute=*/1);
+        FactorizeHessian(d, ctx, /*flg_recompute=*/1);
 
         // nothing else to do
         return;
@@ -1849,7 +1854,7 @@ static void HessianIncremental(const mjModel* m, mjData* d, mjCGContext* ctx, co
 
   // add cones if present
   if (ctx->ncone) {
-    HessianCone(m, d, ctx);
+    HessianCone(d, ctx);
   }
 
   mj_freeStack(d);
@@ -1865,8 +1870,9 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   mjCGContext ctx;
   mj_markStack(d);
 
-  // allocate context
-  CGallocate(m, d, &ctx, island, flg_Newton);
+  // make context
+  CGpointers(m, d, &ctx, island);
+  CGallocate(d, &ctx, flg_Newton);
 
   // local copies
   int nv   = ctx.nv;
@@ -1880,13 +1886,13 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   }
   int* oldstate = mjSTACKALLOC(d, nefc, int);
 
-  // compute Ma = M * qacc  (island or monolithic)
+  // compute Ma = M * qacc
   mju_mulSymVecSparse(ctx.Ma, ctx.M, ctx.qacc, nv,
                       ctx.M_rownnz, ctx.M_rowadr, ctx.M_diagnum, ctx.M_colind);
 
 
   // compute Jaref = J * qacc - aref  (dense or sparse)
-  if (!ctx.J_rownnz) {
+  if (!ctx.is_sparse) {
     mju_mulMatVec(ctx.Jaref, ctx.J, ctx.qacc, nefc, nv);
   } else {
     mju_mulMatVecSparse(ctx.Jaref, ctx.J, ctx.qacc, nefc,
@@ -1895,13 +1901,13 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   mju_subFrom(ctx.Jaref, ctx.efc_aref, nefc);
 
   // first update
-  CGupdateConstraint(&ctx);
+  CGupdateConstraint(&ctx, flg_Newton & (m->opt.cone == mjCONE_ELLIPTIC));
   if (flg_Newton) {
     // compute and factorize Hessian
-    MakeHessian(m, d, &ctx);
-    FactorizeHessian(m, d, &ctx, /*flg_recompute=*/0);
+    MakeHessian(d, &ctx);
+    FactorizeHessian(d, &ctx, /*flg_recompute=*/0);
   }
-  CGupdateGradient(&ctx);
+  CGupdateGradient(&ctx, flg_Newton);
 
   // start both with preconditioned gradient
   mju_scl(ctx.search, ctx.Mgrad, -1, nv);
@@ -1913,8 +1919,8 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
   } else {
     mjtNum island_inertia = 0;
     for (int i=0; i < nv; i++) {
-      int* map2dof = d->map_idof2dof + d->island_idofadr[island];
-      island_inertia += d->qM[m->dof_Madr[map2dof[i]]];
+      int diag_i = ctx.M_rowadr[i] + ctx.M_rownnz[i] - 1;
+      island_inertia += ctx.M[diag_i];
     }
     scale = 1 / island_inertia;
   }
@@ -1944,11 +1950,11 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
     mjtNum oldcost = ctx.cost;
 
     // update
-    CGupdateConstraint(&ctx);
+    CGupdateConstraint(&ctx, flg_Newton & (m->opt.cone == mjCONE_ELLIPTIC));
     if (flg_Newton) {
-      HessianIncremental(m, d, &ctx, oldstate);
+      HessianIncremental(d, &ctx, oldstate);
     }
-    CGupdateGradient(&ctx);
+    CGupdateGradient(&ctx, flg_Newton);
 
     // count state changes
     int nchange = 0;

From fa95fe0c59bd9200c78697eb9c0d528cae70b032 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 14 May 2025 03:27:06 -0700
Subject: [PATCH 127/191] Add `intensity` and `range` parameters to lights.

PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
---
 doc/XMLreference.rst                 | 94 +++++++++++++++++-----------
 doc/XMLschema.rst                    | 14 +++--
 doc/includes/references.h            | 10 ++-
 include/mujoco/mjmodel.h             |  2 +
 include/mujoco/mjspec.h              |  4 +-
 include/mujoco/mjvisualize.h         |  4 ++
 include/mujoco/mjxmacro.h            |  2 +
 python/mujoco/introspect/structs.py  | 52 ++++++++++++++-
 python/mujoco/structs.cc             |  2 +
 src/engine/engine_vis_visualize.c    |  2 +
 src/user/user_init.c                 |  3 +-
 src/user/user_model.cc               |  2 +
 src/xml/xml_native_reader.cc         | 13 ++--
 src/xml/xml_native_writer.cc         |  2 +
 unity/Runtime/Bindings/MjBindings.cs |  6 ++
 15 files changed, 160 insertions(+), 52 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index efbecc2f..ef01da9d 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -2866,11 +2866,15 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the
-world body. The lights created here are in addition to the default headlight which is always defined and is adjusted via
-the :ref:`visual <visual>` element. MuJoCo relies on the standard lighting model in OpenGL (fixed functionality)
-augmented with shadow mapping. The effects of lights are additive, thus adding a light always makes the scene brighter.
-The maximum number of lights that can be active simultaneously is 8, counting the headlight. The light is shining along
-the direction specified by the dir attribute. It does not have a full spatial frame with three orthogonal axes.
+world body. The lights created here are in addition to the headlight which is always defined and is configured via the
+:ref:`visual <visual>` element. Lights shine along the direction specified by the dir attribute. They do not have
+a full spatial frame with three orthogonal axes.
+
+By default, MuJoCo uses the standard OpenGL (fixed functional) Phong lighting model for its rendering, with augmented
+with shadow mapping. (See the OpenGL documentation for more information, including details about various attributes.)
+
+MJCF also supports alternative lighting models (e.g. physically-based rendering) by providing additional attributes.
+Attributes may be applied or ignored depending on the lighting model being used.
 
 
 .. _body-light-name:
@@ -2919,12 +2923,6 @@ the direction specified by the dir attribute. It does not have a full spatial fr
    these clipping planes bound the cone or box shadow volume in the light direction. As a result, some shadows
    (especially those very close to the light) may be clipped.
 
-.. _body-light-bulbradius:
-
-:at:`radius`: :at-val:`real, "0.02"`
-   Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
-   useful when rendering scenes with an external renderer.
-
 .. _body-light-active:
 
 :at:`active`: :at-val:`[false, true], "true"`
@@ -2941,11 +2939,45 @@ the direction specified by the dir attribute. It does not have a full spatial fr
 :at:`dir`: :at-val:`real(3), "0 0 -1"`
    Direction of the light.
 
+.. _body-light-diffuse:
+
+:at:`diffuse`: :at-val:`real(3), "0.7 0.7 0.7"`
+   The color of the light. For the Phong (default) lighting model, this defines the diffuse color of
+   the light.
+
+.. _body-light-intensity:
+
+:at:`intensity`: :at-val:`real, "1000.0"`
+   The intensity of the light source, measured in candela, used for physically-based lighting models.
+   This is unused by the default Phong lighting model.
+
+.. _body-light-ambient:
+
+:at:`ambient`: :at-val:`real(3), "0 0 0"`
+   The ambient color of the light, used by the default Phong lighting model.
+
+.. _body-light-specular:
+
+:at:`specular`: :at-val:`real(3), "0.3 0.3 0.3"`
+   The specular color of the light, used by the default Phong lighting model.
+
+.. _body-light-range:
+
+:at:`range`: :at-val:`real, "10.0"`
+   The effective range of the light. Objects further than this distance from the light position
+   will not be illuminated by this light. This only applies to spotlights.
+
+.. _body-light-bulbradius:
+
+:at:`bulbradius`: :at-val:`real, "0.02"`
+   The radius of the light source which can affect shadow softness depending on the
+   renderer. This only applies to spotlights.
+
 .. _body-light-attenuation:
 
 :at:`attenuation`: :at-val:`real(3), "1 0 0"`
-   These are the constant, linear and quadratic attenuation coefficients in OpenGL. The default corresponds to no
-   attenuation. See the OpenGL documentation for more information on this and all other OpenGL-related properties.
+   These are the constant, linear and quadratic attenuation coefficients for Phong lighting.
+   The default corresponds to no attenuation.
 
 .. _body-light-cutoff:
 
@@ -2957,22 +2989,6 @@ the direction specified by the dir attribute. It does not have a full spatial fr
 :at:`exponent`: :at-val:`real, "10"`
    Exponent for spotlights. This setting controls the softness of the spotlight cutoff.
 
-.. _body-light-ambient:
-
-:at:`ambient`: :at-val:`real(3), "0 0 0"`
-   The ambient color of the light.
-
-.. _body-light-diffuse:
-
-:at:`diffuse`: :at-val:`real(3), "0.7 0.7 0.7"`
-   The diffuse color of the light.
-
-.. _body-light-specular:
-
-:at:`specular`: :at-val:`real(3), "0.3 0.3 0.3"`
-   The specular color of the light.
-
-
 .. _body-composite:
 
 :el-prefix:`body/` |-| **composite** (*)
@@ -8257,26 +8273,30 @@ if omitted.
 
 .. _default-light-dir:
 
-.. _default-light-bulbradius:
-
 .. _default-light-directional:
 
 .. _default-light-castshadow:
 
 .. _default-light-active:
 
+.. _default-light-diffuse:
+
+.. _default-light-intensity:
+
+.. _default-light-ambient:
+
+.. _default-light-specular:
+
+.. _default-light-bulbradius:
+
+.. _default-light-range:
+
 .. _default-light-attenuation:
 
 .. _default-light-cutoff:
 
 .. _default-light-exponent:
 
-.. _default-light-ambient:
-
-.. _default-light-diffuse:
-
-.. _default-light-specular:
-
 .. _default-light-mode:
 
 :el-prefix:`default/` |-| **light** (?)
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 5b32d4bb..4935a883 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -317,9 +317,11 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`active<body-light-active>`                                | :ref:`pos<body-light-pos>`                                      | :ref:`dir<body-light-dir>`                                      | :ref:`bulbradius<body-light-bulbradius>`                        | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`attenuation<body-light-attenuation>`                      | :ref:`cutoff<body-light-cutoff>`                                | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | |
+|                                    |    |    | :ref:`intensity<body-light-intensity>`                          | :ref:`range<body-light-range>`                                  | :ref:`attenuation<body-light-attenuation>`                      | :ref:`cutoff<body-light-cutoff>`                                | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`diffuse<body-light-diffuse>`                              | :ref:`specular<body-light-specular>`                            | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                | |
+|                                    |    |    | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | :ref:`diffuse<body-light-diffuse>`                              | :ref:`specular<body-light-specular>`                            | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -1457,13 +1459,13 @@
 | :ref:`light                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <default-light>`                   |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`pos<default-light-pos>`                                   | :ref:`dir<default-light-dir>`                                   | :ref:`bulbradius<default-light-bulbradius>`                     | :ref:`directional<default-light-directional>`                   | |
+|                                    |    |    | :ref:`pos<default-light-pos>`                                   | :ref:`dir<default-light-dir>`                                   | :ref:`bulbradius<default-light-bulbradius>`                     | :ref:`intensity<default-light-intensity>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`castshadow<default-light-castshadow>`                     | :ref:`active<default-light-active>`                             | :ref:`attenuation<default-light-attenuation>`                   | :ref:`cutoff<default-light-cutoff>`                             | |
+|                                    |    |    | :ref:`range<default-light-range>`                               | :ref:`directional<default-light-directional>`                   | :ref:`castshadow<default-light-castshadow>`                     | :ref:`active<default-light-active>`                             | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`exponent<default-light-exponent>`                         | :ref:`ambient<default-light-ambient>`                           | :ref:`diffuse<default-light-diffuse>`                           | :ref:`specular<default-light-specular>`                         | |
+|                                    |    |    | :ref:`attenuation<default-light-attenuation>`                   | :ref:`cutoff<default-light-cutoff>`                             | :ref:`exponent<default-light-exponent>`                         | :ref:`ambient<default-light-ambient>`                           | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mode<default-light-mode>`                                 |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`diffuse<default-light-diffuse>`                           | :ref:`specular<default-light-specular>`                         | :ref:`mode<default-light-mode>`                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/includes/references.h b/doc/includes/references.h
index ffada3b8..c8349418 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1178,6 +1178,8 @@ struct mjModel_ {
   mjtByte*  light_directional;    // directional light                        (nlight x 1)
   mjtByte*  light_castshadow;     // does light cast shadows                  (nlight x 1)
   float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
+  float*    light_intensity;      // intensity, in candela                    (nlight x 1)
+  float*    light_range;          // range of effectiveness                   (nlight x 1)
   mjtByte*  light_active;         // is light on                              (nlight x 1)
   mjtNum*   light_pos;            // position rel. to body frame              (nlight x 3)
   mjtNum*   light_dir;            // direction rel. to body frame             (nlight x 3)
@@ -2030,7 +2032,9 @@ typedef struct mjsLight_ {         // light specification
   mjtByte active;                  // is light active
   mjtByte directional;             // is light directional or spot
   mjtByte castshadow;              // does light cast shadows
-  double bulbradius;               // bulb radius, for soft shadows
+  float bulbradius;                // bulb radius, for soft shadows
+  float intensity;                 // intensity, in candelas
+  float range;                     // range of effectiveness
   float attenuation[3];            // OpenGL attenuation (quadratic model)
   float cutoff;                    // OpenGL cutoff
   float exponent;                  // OpenGL exponent
@@ -2838,6 +2842,8 @@ struct mjvLight_ {                // OpenGL light
   mjtByte  directional;           // directional light
   mjtByte  castshadow;            // does light cast shadows
   float    bulbradius;            // bulb radius for soft shadows
+  float    intensity;             // intensity, in candelas
+  float    range;                 // range of effectiveness
 };
 typedef struct mjvLight_ mjvLight;
 struct mjvOption_ {                  // abstract visualization options
@@ -3055,6 +3061,8 @@ struct mjvSceneState_ {
     mjtByte* light_directional;
     mjtByte* light_castshadow;
     float* light_bulbradius;
+    float* light_intensity;
+    float* light_range;
     mjtByte* light_active;
     float* light_attenuation;
     float* light_cutoff;
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index fd63b272..8c00e062 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -845,6 +845,8 @@ struct mjModel_ {
   mjtByte*  light_directional;    // directional light                        (nlight x 1)
   mjtByte*  light_castshadow;     // does light cast shadows                  (nlight x 1)
   float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
+  float*    light_intensity;      // intensity, in candela                    (nlight x 1)
+  float*    light_range;          // range of effectiveness                   (nlight x 1)
   mjtByte*  light_active;         // is light on                              (nlight x 1)
   mjtNum*   light_pos;            // position rel. to body frame              (nlight x 3)
   mjtNum*   light_dir;            // direction rel. to body frame             (nlight x 3)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index fb95afad..512e7c29 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -396,7 +396,9 @@ typedef struct mjsLight_ {         // light specification
   mjtByte active;                  // is light active
   mjtByte directional;             // is light directional or spot
   mjtByte castshadow;              // does light cast shadows
-  double bulbradius;               // bulb radius, for soft shadows
+  float bulbradius;                // bulb radius, for soft shadows
+  float intensity;                 // intensity, in candelas
+  float range;                     // range of effectiveness
   float attenuation[3];            // OpenGL attenuation (quadratic model)
   float cutoff;                    // OpenGL cutoff
   float exponent;                  // OpenGL exponent
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index fa0aec4f..0093216b 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -271,6 +271,8 @@ struct mjvLight_ {                // OpenGL light
   mjtByte  directional;           // directional light
   mjtByte  castshadow;            // does light cast shadows
   float    bulbradius;            // bulb radius for soft shadows
+  float    intensity;             // intensity, in candelas
+  float    range;                 // range of effectiveness
 };
 typedef struct mjvLight_ mjvLight;
 
@@ -504,6 +506,8 @@ struct mjvSceneState_ {
     mjtByte* light_directional;
     mjtByte* light_castshadow;
     float* light_bulbradius;
+    float* light_intensity;
+    float* light_range;
     mjtByte* light_active;
     float* light_attenuation;
     float* light_cutoff;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index f46b4ff5..bbd79ad1 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -302,6 +302,8 @@
     XMJV( mjtByte, light_directional,     nlight,        1                    ) \
     XMJV( mjtByte, light_castshadow,      nlight,        1                    ) \
     XMJV( float,   light_bulbradius,      nlight,        1                    ) \
+    XMJV( float,   light_intensity,       nlight,        1                    ) \
+    XMJV( float,   light_range,           nlight,        1                    ) \
     XMJV( mjtByte, light_active,          nlight,        1                    ) \
     X   ( mjtNum,  light_pos,             nlight,        3                    ) \
     X   ( mjtNum,  light_dir,             nlight,        3                    ) \
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 4efca1ee..e8044c71 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -2243,6 +2243,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='light radius for soft shadows',
                  array_extent=('nlight',),
              ),
+             StructFieldDecl(
+                 name='light_intensity',
+                 type=PointerType(
+                     inner_type=ValueType(name='float'),
+                 ),
+                 doc='intensity, in candela',
+                 array_extent=('nlight',),
+             ),
+             StructFieldDecl(
+                 name='light_range',
+                 type=PointerType(
+                     inner_type=ValueType(name='float'),
+                 ),
+                 doc='range of effectiveness',
+                 array_extent=('nlight',),
+             ),
              StructFieldDecl(
                  name='light_active',
                  type=PointerType(
@@ -6735,6 +6751,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='float'),
                  doc='bulb radius for soft shadows',
              ),
+             StructFieldDecl(
+                 name='intensity',
+                 type=ValueType(name='float'),
+                 doc='intensity, in candelas',
+             ),
+             StructFieldDecl(
+                 name='range',
+                 type=ValueType(name='float'),
+                 doc='range of effectiveness',
+             ),
          ),
      )),
     ('mjvOption',
@@ -7851,6 +7877,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='light_intensity',
+                             type=PointerType(
+                                 inner_type=ValueType(name='float'),
+                             ),
+                             doc='',
+                         ),
+                         StructFieldDecl(
+                             name='light_range',
+                             type=PointerType(
+                                 inner_type=ValueType(name='float'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='light_active',
                              type=PointerType(
@@ -10600,9 +10640,19 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
              StructFieldDecl(
                  name='bulbradius',
-                 type=ValueType(name='double'),
+                 type=ValueType(name='float'),
                  doc='bulb radius, for soft shadows',
              ),
+             StructFieldDecl(
+                 name='intensity',
+                 type=ValueType(name='float'),
+                 doc='intensity, in candelas',
+             ),
+             StructFieldDecl(
+                 name='range',
+                 type=ValueType(name='float'),
+                 doc='range of effectiveness',
+             ),
              StructFieldDecl(
                  name='attenuation',
                  type=ArrayType(
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 3cf6eb82..735e0a0b 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -1076,6 +1076,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(directional);
   X(castshadow);
   X(bulbradius);
+  X(intensity);
+  X(range);
 #undef X
 
 #define X(var) DefinePyArray(mjvLight, #var, &MjvLightWrapper::var)
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 012cb966..0425b85c 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -2172,6 +2172,8 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
       thislight->directional = m->light_directional[i];
       thislight->castshadow = m->light_castshadow[i];
       thislight->bulbradius = m->light_bulbradius[i];
+      thislight->intensity = m->light_intensity[i];
+      thislight->range = m->light_range[i];
       if (!thislight->directional) {
         f2f(thislight->attenuation, m->light_attenuation+3*i, 3);
         thislight->exponent = m->light_exponent[i];
diff --git a/src/user/user_init.c b/src/user/user_init.c
index 183034ce..01f4a8b9 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -203,6 +203,8 @@ void mjs_defaultLight(mjsLight* light) {
   // intrinsics
   light->castshadow = 1;
   light->bulbradius = 0.02;
+  light->intensity = 1000.0;
+  light->range = 10.0;
   light->active = 1;
   light->attenuation[0] = 1;
   light->cutoff = 45;
@@ -404,4 +406,3 @@ void mjs_defaultKey(mjsKey* key) {
 void mjs_defaultPlugin(mjsPlugin* plugin) {
   memset(plugin, 0, sizeof(mjsPlugin));
 }
-
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 93449339..f705551c 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2675,6 +2675,8 @@ void mjCModel::CopyTree(mjModel* m) {
       mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);
       mjuu_copyvec(m->light_dir+3*lid, pl->dir, 3);
       m->light_bulbradius[lid] = pl->bulbradius;
+      m->light_intensity[lid] = pl->intensity;
+      m->light_range[lid] = pl->range;
       mjuu_copyvec(m->light_attenuation+3*lid, pl->attenuation, 3);
       m->light_cutoff[lid] = pl->cutoff;
       m->light_exponent[lid] = pl->exponent;
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 8404364a..85723a6e 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -167,8 +167,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "?", "17", "orthographic", "fovy", "ipd", "resolution", "pos", "quat",
             "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
             "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "?", "13", "pos", "dir", "bulbradius", "directional", "castshadow", "active",
-            "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular", "mode"},
+        {"light", "?", "15", "pos", "dir", "bulbradius", "intensity", "range",
+            "directional", "castshadow", "active", "attenuation", "cutoff", "exponent",
+            "ambient", "diffuse", "specular", "mode"},
         {"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
          "gap", "margin"},
         {"equality", "?", "3", "active", "solref", "solimp"},
@@ -280,9 +281,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "*", "20", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
             "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
             "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "*", "16", "name", "class", "directional", "castshadow", "active",
-            "pos", "dir", "bulbradius", "attenuation", "cutoff", "exponent", "ambient", "diffuse",
-            "specular", "mode", "target"},
+        {"light", "*", "18", "name", "class", "directional", "castshadow", "active",
+            "pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
+            "exponent", "ambient", "diffuse", "specular", "mode", "target"},
         {"plugin", "*", "2", "plugin", "instance"},
         {"<"},
           {"config", "*", "2", "key", "value"},
@@ -1856,6 +1857,8 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   ReadAttr(elem, "pos", 3, light->pos, text);
   ReadAttr(elem, "dir", 3, light->dir, text);
   ReadAttr(elem, "bulbradius", 1, &light->bulbradius, text);
+  ReadAttr(elem, "intensity", 1, &light->intensity, text);
+  ReadAttr(elem, "range", 1, &light->range, text);
   ReadAttr(elem, "attenuation", 3, light->attenuation, text);
   ReadAttr(elem, "cutoff", 1, &light->cutoff, text);
   ReadAttr(elem, "exponent", 1, &light->exponent, text);
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index bf5093c5..a7f27871 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -604,6 +604,8 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
 
   // defaults and regular
   WriteAttr(elem, "bulbradius", 1, &light->bulbradius, &def->Light().bulbradius);
+  WriteAttr(elem, "intensity", 1, &light->intensity, &def->Light().intensity);
+  WriteAttr(elem, "range", 1, &light->range, &def->Light().range);
   WriteAttrKey(elem, "directional", bool_map, 2, light->directional, def->Light().directional);
   WriteAttrKey(elem, "castshadow", bool_map, 2, light->castshadow, def->Light().castshadow);
   WriteAttrKey(elem, "active", bool_map, 2, light->active, def->Light().active);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index d743436c..a77daf2e 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5433,6 +5433,8 @@ public unsafe struct mjModel_ {
   public byte* light_directional;
   public byte* light_castshadow;
   public float* light_bulbradius;
+  public float* light_intensity;
+  public float* light_range;
   public byte* light_active;
   public double* light_pos;
   public double* light_dir;
@@ -6077,6 +6079,8 @@ public unsafe struct mjvLight_ {
   public byte directional;
   public byte castshadow;
   public float bulbradius;
+  public float intensity;
+  public float range;
 }
 
 [StructLayout(LayoutKind.Sequential)]
@@ -6357,6 +6361,8 @@ public unsafe struct model {
   public byte* light_directional;
   public byte* light_castshadow;
   public float* light_bulbradius;
+  public float* light_intensity;
+  public float* light_range;
   public byte* light_active;
   public float* light_attenuation;
   public float* light_cutoff;

From 1165018f7131edabe3caf5ef2bc68df9a6c87abb Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 14 May 2025 04:19:46 -0700
Subject: [PATCH 128/191] Add island support to Newton solver

PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
---
 src/engine/engine_forward.c | 28 +++++++++++++++++-----------
 src/engine/engine_solver.c  |  8 +++++++-
 src/engine/engine_solver.h  |  4 ++++
 3 files changed, 28 insertions(+), 12 deletions(-)

diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 6b23111f..65dad884 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -723,16 +723,16 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
   mju_zeroInt(d->solver_niter, mjNISLAND);
 
   // check if islands are supported
-  int islands_supported = mjENABLED(mjENBL_ISLAND)  &&
-                          nisland > 0               &&
-                          m->opt.solver == mjSOL_CG &&
-                          m->opt.noslip_iterations == 0;
+  int islands_supported = mjENABLED(mjENBL_ISLAND)      &&
+                          nisland > 0                   &&
+                          m->opt.noslip_iterations == 0 &&
+                          (m->opt.solver == mjSOL_CG || m->opt.solver == mjSOL_NEWTON);
 
   // run solver over constraint islands
   if (islands_supported) {
     int nidof = d->nidof;
 
-    // copy CG inputs to islands (vel+acc deps, pos-dependent already copied in mj_island)
+    // copy inputs to islands (vel+acc deps, pos-dependent already copied in mj_island)
     mju_gather(d->ifrc_smooth,     d->qfrc_smooth,     d->map_idof2dof, nidof);
     mju_gather(d->ifrc_constraint, d->qfrc_constraint, d->map_idof2dof, nidof);
     mju_gather(d->iacc_smooth,     d->qacc_smooth,     d->map_idof2dof, nidof);
@@ -741,14 +741,20 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
     mju_gather(d->iefc_aref,       d->efc_aref,        d->map_iefc2efc, nefc);
 
     // solve per island
-    if (!d->threadpool) {
-      // no threadpool, loop over islands
-      for (int island=0; island < nisland; island++) {
-        mj_solCG_island(m, d, island, m->opt.iterations);
+    if (m->opt.solver == mjSOL_CG) {
+      if (!d->threadpool) {
+        // no threadpool, loop over islands
+        for (int island=0; island < nisland; island++) {
+          mj_solCG_island(m, d, island, m->opt.iterations);
+        }
+      } else {
+        // have threadpool, solve using threads
+        mj_solCG_island_multithreaded(m, d);
       }
     } else {
-      // have threadpool, solve using threads
-      mj_solCG_island_multithreaded(m, d);
+      for (int island=0; island < nisland; island++) {
+        mj_solNewton_island(m, d, island, m->opt.iterations);
+      }
     }
 
     // copy back solver outputs (scatter dofs since ni <= nv)
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index adb1e23d..be4c5c3b 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1058,7 +1058,6 @@ static void CGupdateGradient(mjCGContext* ctx, int flg_Newton) {
   }
 
   // Newton: Mgrad = H \ grad
-  // TODO: b/295296178 - add island support to Newton solver
   if (flg_Newton) {
     if (ctx->is_sparse) {
       mju_cholSolveSparse(ctx->Mgrad, (ctx->ncone ? ctx->Lcone : ctx->L),
@@ -2042,3 +2041,10 @@ void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter) {
 void mj_solNewton(const mjModel* m, mjData* d, int maxiter) {
   mj_solCGNewton(m, d, /*island=*/-1, maxiter, /*flg_Newton=*/1);
 }
+
+
+
+// Newton entry point (one island)
+void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter) {
+  mj_solCGNewton(m, d, island, maxiter, /*flg_Newton=*/1);
+}
diff --git a/src/engine/engine_solver.h b/src/engine/engine_solver.h
index 6947489a..7ee007de 100644
--- a/src/engine/engine_solver.h
+++ b/src/engine/engine_solver.h
@@ -32,9 +32,13 @@ void mj_solCG(const mjModel* m, mjData* d, int maxiter);
 // Newton solver
 void mj_solNewton(const mjModel* m, mjData* d, int maxiter);
 
+
 //------------------------------ per-island solvers ------------------------------------------------
 
 // CG solver
 void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter);
 
+// Newton entry point
+void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter);
+
 #endif  // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_

From 4ba04586ae78fe811fac14e3ba48c14469aeda85 Mon Sep 17 00:00:00 2001
From: Silvia Cruciani <silviacruciani@google.com>
Date: Wed, 14 May 2025 04:35:56 -0700
Subject: [PATCH 129/191] Fix setting slices of multidimensional arrays for
 multiple targets

PiperOrigin-RevId: 758623598
Change-Id: Ie05b36c25be74ddf7451a95377caf1ed1d692141
---
 mjx/mujoco/mjx/_src/support.py      |  3 ++-
 mjx/mujoco/mjx/_src/support_test.py | 10 ++++++++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index d68c0407..aea5bced 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -499,12 +499,13 @@ class BindData(object):
         adr = [adr]
         num = [num]
     elif isinstance(self.id, list):
-      adr = self.id * dim
+      adr = (np.array(self.id) * dim).tolist()
       num = [dim for _ in range(len(self.id))]
     else:
       adr = [self.id * dim]
       num = [dim]
     i = 0
+    value = jax.numpy.array(value).flatten()
     for a, n in zip(adr, num):
       shape = array.shape
       array = array.flatten().at[a : a + n].set(value[i : i + n]).reshape(shape)
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 5f060bc2..38392d38 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -308,6 +308,16 @@ class SupportTest(parameterized.TestCase):
       np.testing.assert_array_equal(
           dx7.bind(mx, body).xfrc_applied, [0, 0, 0, 0, 0, 0]
       )
+    dx10 = dx.bind(mx, s.bodies[0:2]).set(
+        'xfrc_applied',
+        np.array([np.array([1, 1, 1, 1, 1, 1]), np.array([2, 2, 2, 2, 2, 2])]),
+    )
+    np.testing.assert_array_equal(
+        dx10.bind(mx, s.bodies[0]).xfrc_applied, [1, 1, 1, 1, 1, 1]
+    )
+    np.testing.assert_array_equal(
+        dx10.bind(mx, s.bodies[1]).xfrc_applied, [2, 2, 2, 2, 2, 2]
+    )
 
     # test attribute and type mismatches
     with self.assertRaisesRegex(

From dd28b887d4b94c68de9f998cada3a643b5666d2b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 14 May 2025 05:25:11 -0700
Subject: [PATCH 130/191] Rename `C` sparse structure to `M` in `mjdata`,
 improve docstrings.

PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
---
 doc/includes/references.h                | 24 ++++++++---------
 include/mujoco/mjdata.h                  | 24 ++++++++---------
 include/mujoco/mjxmacro.h                |  8 +++---
 mjx/mujoco/mjx/_src/io.py                |  8 +++---
 mjx/mujoco/mjx/_src/smooth_test.py       |  2 +-
 mjx/mujoco/mjx/_src/types.py             |  8 +++---
 python/mujoco/introspect/structs.py      | 32 +++++++++++-----------
 src/engine/engine_core_constraint.c      | 12 ++++-----
 src/engine/engine_core_smooth.c          | 12 ++++-----
 src/engine/engine_forward.c              | 12 ++++-----
 src/engine/engine_io.c                   | 12 ++++-----
 src/engine/engine_island.c               |  2 +-
 src/engine/engine_print.c                | 34 ++++++++++++------------
 src/engine/engine_solver.c               |  6 ++---
 src/engine/engine_support.c              | 10 +++----
 test/benchmark/factorI_benchmark_test.cc |  4 +--
 test/benchmark/inertia_benchmark_test.cc |  6 ++---
 test/benchmark/solveLD_benchmark_test.cc |  4 +--
 test/engine/engine_core_smooth_test.cc   | 24 ++++++++---------
 test/engine/engine_derivative_test.cc    |  4 +--
 unity/Runtime/Bindings/MjBindings.cs     |  8 +++---
 21 files changed, 128 insertions(+), 128 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index c8349418..0622ff60 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -269,8 +269,8 @@ struct mjData_ {
 
   // computed by mj_fwdPosition/mj_crb
   mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
-  mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
-  mjtNum* M;                 // total inertia (compressed sparse row)            (nC x 1)
+  mjtNum* qM;                // inertia (sparse)                                 (nM x 1)
+  mjtNum* M;                 // reduced inertia (compressed sparse row)          (nC x 1)
 
   // computed by mj_fwdPosition/mj_factorM
   mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
@@ -313,16 +313,16 @@ struct mjData_ {
   int*    B_rownnz;          // body-dof: non-zeros in each row                  (nbody x 1)
   int*    B_rowadr;          // body-dof: address of each row in B_colind        (nbody x 1)
   int*    B_colind;          // body-dof: column indices of non-zeros            (nB x 1)
-  int*    C_rownnz;          // reduced dof-dof: non-zeros in each row           (nv x 1)
-  int*    C_rowadr;          // reduced dof-dof: address of each row in C_colind (nv x 1)
-  int*    C_colind;          // reduced dof-dof: column indices of non-zeros     (nC x 1)
-  int*    mapM2C;            // index mapping from M to C                        (nC x 1)
-  int*    D_rownnz;          // dof-dof: non-zeros in each row                   (nv x 1)
-  int*    D_rowadr;          // dof-dof: address of each row in D_colind         (nv x 1)
-  int*    D_diag;            // dof-dof: index of diagonal element               (nv x 1)
-  int*    D_colind;          // dof-dof: column indices of non-zeros             (nD x 1)
-  int*    mapM2D;            // index mapping from M to D                        (nD x 1)
-  int*    mapD2M;            // index mapping from D to M                        (nM x 1)
+  int*    M_rownnz;          // reduced inertia: non-zeros in each row           (nv x 1)
+  int*    M_rowadr;          // reduced inertia: address of each row in M_colind (nv x 1)
+  int*    M_colind;          // reduced inertia: column indices of non-zeros     (nC x 1)
+  int*    mapM2M;            // index mapping from qM to M                       (nC x 1)
+  int*    D_rownnz;          // full inertia: non-zeros in each row              (nv x 1)
+  int*    D_rowadr;          // full inertia: address of each row in D_colind    (nv x 1)
+  int*    D_diag;            // full inertia: index of diagonal element          (nv x 1)
+  int*    D_colind;          // full inertia: column indices of non-zeros        (nD x 1)
+  int*    mapM2D;            // index mapping from qM to D                       (nD x 1)
+  int*    mapD2M;            // index mapping from D to qM                       (nM x 1)
 
   // computed by mj_implicit/mj_derivative
   mjtNum* qDeriv;            // d (passive + actuator - bias) / d qvel           (nD x 1)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 3d7514a6..ac780c82 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -297,8 +297,8 @@ struct mjData_ {
 
   // computed by mj_fwdPosition/mj_crb
   mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
-  mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
-  mjtNum* M;                 // total inertia (compressed sparse row)            (nC x 1)
+  mjtNum* qM;                // inertia (sparse)                                 (nM x 1)
+  mjtNum* M;                 // reduced inertia (compressed sparse row)          (nC x 1)
 
   // computed by mj_fwdPosition/mj_factorM
   mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
@@ -341,16 +341,16 @@ struct mjData_ {
   int*    B_rownnz;          // body-dof: non-zeros in each row                  (nbody x 1)
   int*    B_rowadr;          // body-dof: address of each row in B_colind        (nbody x 1)
   int*    B_colind;          // body-dof: column indices of non-zeros            (nB x 1)
-  int*    C_rownnz;          // reduced dof-dof: non-zeros in each row           (nv x 1)
-  int*    C_rowadr;          // reduced dof-dof: address of each row in C_colind (nv x 1)
-  int*    C_colind;          // reduced dof-dof: column indices of non-zeros     (nC x 1)
-  int*    mapM2C;            // index mapping from M to C                        (nC x 1)
-  int*    D_rownnz;          // dof-dof: non-zeros in each row                   (nv x 1)
-  int*    D_rowadr;          // dof-dof: address of each row in D_colind         (nv x 1)
-  int*    D_diag;            // dof-dof: index of diagonal element               (nv x 1)
-  int*    D_colind;          // dof-dof: column indices of non-zeros             (nD x 1)
-  int*    mapM2D;            // index mapping from M to D                        (nD x 1)
-  int*    mapD2M;            // index mapping from D to M                        (nM x 1)
+  int*    M_rownnz;          // reduced inertia: non-zeros in each row           (nv x 1)
+  int*    M_rowadr;          // reduced inertia: address of each row in M_colind (nv x 1)
+  int*    M_colind;          // reduced inertia: column indices of non-zeros     (nC x 1)
+  int*    mapM2M;            // index mapping from qM to M                       (nC x 1)
+  int*    D_rownnz;          // full inertia: non-zeros in each row              (nv x 1)
+  int*    D_rowadr;          // full inertia: address of each row in D_colind    (nv x 1)
+  int*    D_diag;            // full inertia: index of diagonal element          (nv x 1)
+  int*    D_colind;          // full inertia: column indices of non-zeros        (nD x 1)
+  int*    mapM2D;            // index mapping from qM to D                       (nD x 1)
+  int*    mapD2M;            // index mapping from D to qM                       (nM x 1)
 
   // computed by mj_implicit/mj_derivative
   mjtNum* qDeriv;            // d (passive + actuator - bias) / d qvel           (nD x 1)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index bbd79ad1..c7ce4861 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -679,10 +679,10 @@
     X   ( int,       B_rownnz,          nbody,       1           ) \
     X   ( int,       B_rowadr,          nbody,       1           ) \
     X   ( int,       B_colind,          nB,          1           ) \
-    X   ( int,       C_rownnz,          nv,          1           ) \
-    X   ( int,       C_rowadr,          nv,          1           ) \
-    X   ( int,       C_colind,          nC,          1           ) \
-    X   ( int,       mapM2C,            nC,          1           ) \
+    X   ( int,       M_rownnz,          nv,          1           ) \
+    X   ( int,       M_rowadr,          nv,          1           ) \
+    X   ( int,       M_colind,          nC,          1           ) \
+    X   ( int,       mapM2M,            nC,          1           ) \
     X   ( int,       D_rownnz,          nv,          1           ) \
     X   ( int,       D_rowadr,          nv,          1           ) \
     X   ( int,       D_diag,            nv,          1           ) \
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 66919152..c919f7f4 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -629,10 +629,10 @@ def _make_data_c(
       'B_rownnz': (m.nbody, np.int32),
       'B_rowadr': (m.nbody, np.int32),
       'B_colind': (m.nB, np.int32),
-      'C_rownnz': (m.nv, np.int32),
-      'C_rowadr': (m.nv, np.int32),
-      'C_colind': (m.nC, np.int32),
-      'mapM2C': (m.nC, np.int32),
+      'M_rownnz': (m.nv, np.int32),
+      'M_rowadr': (m.nv, np.int32),
+      'M_colind': (m.nC, np.int32),
+      'mapM2M': (m.nC, np.int32),
       'D_rownnz': (m.nv, np.int32),
       'D_rowadr': (m.nv, np.int32),
       'D_diag': (m.nv, np.int32),
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 9e23fb68..96470a21 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -92,7 +92,7 @@ class SmoothTest(absltest.TestCase):
     dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
     qLDLegacy = np.zeros(mx.nM)  # pylint:disable=invalid-name
     for i in range(m.nC):
-      qLDLegacy[d.mapM2C[i]] = d.qLD[i]
+      qLDLegacy[d.mapM2M[i]] = d.qLD[i]
     _assert_eq(qLDLegacy, dx._impl.qLD, 'qLD')
     _assert_attr_eq(d, dx._impl, 'qLDiagInv')
     # com_vel
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 22211378..2950fb4a 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -985,10 +985,10 @@ class DataC(PyTreeNode):
   B_rownnz: jax.Array  # pylint:disable=invalid-name
   B_rowadr: jax.Array  # pylint:disable=invalid-name
   B_colind: jax.Array  # pylint:disable=invalid-name
-  C_rownnz: jax.Array  # pylint:disable=invalid-name
-  C_rowadr: jax.Array  # pylint:disable=invalid-name
-  C_colind: jax.Array  # pylint:disable=invalid-name
-  mapM2C: jax.Array  # pylint:disable=invalid-name
+  M_rownnz: jax.Array  # pylint:disable=invalid-name
+  M_rowadr: jax.Array  # pylint:disable=invalid-name
+  M_colind: jax.Array  # pylint:disable=invalid-name
+  mapM2M: jax.Array  # pylint:disable=invalid-name
   D_rownnz: jax.Array  # pylint:disable=invalid-name
   D_rowadr: jax.Array  # pylint:disable=invalid-name
   D_diag: jax.Array  # pylint:disable=invalid-name
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index e8044c71..4d45dc9e 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -5413,7 +5413,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='total inertia (sparse)',
+                 doc='inertia (sparse)',
                  array_extent=('nM',),
              ),
              StructFieldDecl(
@@ -5421,7 +5421,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='total inertia (compressed sparse row)',
+                 doc='reduced inertia (compressed sparse row)',
                  array_extent=('nC',),
              ),
              StructFieldDecl(
@@ -5601,35 +5601,35 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('nB',),
              ),
              StructFieldDecl(
-                 name='C_rownnz',
+                 name='M_rownnz',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='reduced dof-dof: non-zeros in each row',
+                 doc='reduced inertia: non-zeros in each row',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
-                 name='C_rowadr',
+                 name='M_rowadr',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='reduced dof-dof: address of each row in C_colind',
+                 doc='reduced inertia: address of each row in M_colind',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
-                 name='C_colind',
+                 name='M_colind',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='reduced dof-dof: column indices of non-zeros',
+                 doc='reduced inertia: column indices of non-zeros',
                  array_extent=('nC',),
              ),
              StructFieldDecl(
-                 name='mapM2C',
+                 name='mapM2M',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='index mapping from M to C',
+                 doc='index mapping from qM to M',
                  array_extent=('nC',),
              ),
              StructFieldDecl(
@@ -5637,7 +5637,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='dof-dof: non-zeros in each row',
+                 doc='full inertia: non-zeros in each row',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
@@ -5645,7 +5645,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='dof-dof: address of each row in D_colind',
+                 doc='full inertia: address of each row in D_colind',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
@@ -5653,7 +5653,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='dof-dof: index of diagonal element',
+                 doc='full inertia: index of diagonal element',
                  array_extent=('nv',),
              ),
              StructFieldDecl(
@@ -5661,7 +5661,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='dof-dof: column indices of non-zeros',
+                 doc='full inertia: column indices of non-zeros',
                  array_extent=('nD',),
              ),
              StructFieldDecl(
@@ -5669,7 +5669,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='index mapping from M to D',
+                 doc='index mapping from qM to D',
                  array_extent=('nD',),
              ),
              StructFieldDecl(
@@ -5677,7 +5677,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='index mapping from D to M',
+                 doc='index mapping from D to qM',
                  array_extent=('nM',),
              ),
              StructFieldDecl(
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index aa7267ed..1a60b6e6 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -2039,7 +2039,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
   // inverse square root of D from inertia LDL decomposition
   mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
   for (int i=0; i < nv; i++) {
-    int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
+    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
     sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
   }
 
@@ -2076,10 +2076,10 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
         }
 
         // traverse row j of C, marking new unique nonzeros
-        int nnzC = d->C_rownnz[j];
-        int adrC = d->C_rowadr[j];
+        int nnzC = d->M_rownnz[j];
+        int adrC = d->M_rowadr[j];
         for (int k=0; k < nnzC; k++) {
-          int c = d->C_colind[adrC + k];
+          int c = d->M_colind[adrC + k];
           if (marker[c] != r) {
             marker[c] = r;
             nnz++;
@@ -2159,10 +2159,10 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
           continue;
         }
         int j = B_colind[i];
-        int adrC = d->C_rowadr[j];
+        int adrC = d->M_rowadr[j];
         mju_addToSclSparseInc(B + adrB, d->qLD + adrC,
                               nnzB, B_colind + adrB,
-                              d->C_rownnz[j]-1, d->C_colind + adrC, -b);
+                              d->M_rownnz[j]-1, d->M_colind + adrC, -b);
       }
 
       // B(r,:) <- sqrt(inv(D)) * B(r,:)
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 6e5b03f7..0f104122 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1579,7 +1579,7 @@ void mj_makeM(const mjModel* m, mjData* d) {
   TM_START;
   mj_crb(m, d);
   mj_tendonArmature(m, d);
-  mju_gather(d->M, d->qM, d->mapM2C, m->nC);
+  mju_gather(d->M, d->qM, d->mapM2M, m->nC);
   TM_END(mjTIMER_POS_INERTIA);
 }
 
@@ -1653,7 +1653,7 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
 void mj_factorM(const mjModel* m, mjData* d) {
   TM_START;
   mju_copy(d->qLD, d->M, m->nC);
-  mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+  mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
   TM_ADD(mjTIMER_POS_INERTIA);
 }
 
@@ -1895,7 +1895,7 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
     mju_copy(x, y, n*m->nv);
   }
   mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n,
-             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 }
 
 
@@ -1906,9 +1906,9 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
   int nv = m->nv;
 
   // local copies of key variables
-  const int* rownnz = d->C_rownnz;
-  const int* rowadr = d->C_rowadr;
-  const int* colind = d->C_colind;
+  const int* rownnz = d->M_rownnz;
+  const int* rowadr = d->M_rowadr;
+  const int* colind = d->M_colind;
   const int* diagnum = m->dof_simplenum;
   const mjtNum* qLD = d->qLD;
 
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 65dad884..df22386f 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -869,18 +869,18 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
       // qH = M + h*diag(B)
       mju_copy(d->qH, d->M, nC);
       for (int i=0; i < nv; i++) {
-        d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
+        d->qH[d->M_rowadr[i] + d->M_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
       }
 
       // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
     }
 
     // solve
     mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
     mju_copy(qacc, qfrc, m->nv);
     mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
   }
 
   // advance state and time
@@ -1053,16 +1053,16 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
       mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM);
 
       // gather qH <- MhB (legacy to CSR)
-      mju_gather(d->qH, MhB, d->mapM2C, nC);
+      mju_gather(d->qH, MhB, d->mapM2M, nC);
 
       // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
     }
 
     // solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
     mju_copy(qacc, qfrc, nv);
     mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 
   } else {
     mjERROR("integrator must be implicit or implicitfast");
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 56e7d43f..d090f229 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1139,8 +1139,8 @@ static void copyM2Sparse(const mjModel* m, mjData* d, int* dst, const int* src,
   const int* rownnz;
   const int* rowadr;
   if (reduced && !upper) {
-    rownnz = d->C_rownnz;
-    rowadr = d->C_rowadr;
+    rownnz = d->M_rownnz;
+    rowadr = d->M_rowadr;
   } else if (!reduced && upper) {
     rownnz = d->D_rownnz;
     rowadr = d->D_rowadr;
@@ -1248,12 +1248,12 @@ static void makeDofDofmaps(const mjModel* m, mjData* d) {
   }
 
   // make mapM2C
-  for (int i=0; i < nC; i++) d->mapM2C[i] = -1;
-  copyM2Sparse(m, d, d->mapM2C, M, /*reduced=*/1, /*upper=*/0);
+  for (int i=0; i < nC; i++) d->mapM2M[i] = -1;
+  copyM2Sparse(m, d, d->mapM2M, M, /*reduced=*/1, /*upper=*/0);
 
   // check that all indices are filled in
   for (int i=0; i < nC; i++) {
-    if (d->mapM2C[i] < 0) {
+    if (d->mapM2M[i] < 0) {
       mjERROR("unassigned index in mapM2C");
     }
   }
@@ -1976,7 +1976,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
     checkDBSparse(m, d);
 
     // make C
-    makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, NULL, d->C_colind, /*reduced=*/1, /*upper=*/0);
+    makeDofDofSparse(m, d, d->M_rownnz, d->M_rowadr, NULL, d->M_colind, /*reduced=*/1, /*upper=*/0);
 
     // make index mappings: mapM2D, mapD2M, mapM2C, mapM2M
     makeDofDofmaps(m, d);
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
index 4d162972..d38943d4 100644
--- a/src/engine/engine_island.c
+++ b/src/engine/engine_island.c
@@ -537,7 +537,7 @@ void mj_island(const mjModel* m, mjData* d) {
 
   // inertia: block-diagonalize both iLD <- qLD and iM <- qM
   mju_blockDiagSparse(d->iLD, d->iM_rownnz, d->iM_rowadr, d->iM_colind,
-                      d->qLD,  d->C_rownnz, d->C_rowadr, d->C_colind,
+                      d->qLD,  d->M_rownnz, d->M_rowadr, d->M_colind,
                       nidof, nisland,
                       d->map_idof2dof, d->map_dof2idof,
                       d->island_idofadr, d->island_idofadr,
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index ef02d1ed..d6e5204e 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -1124,14 +1124,14 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
               d->moment_rowadr, d->moment_colind, fp, float_format);
   printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
   printInertia("QM", d->qM, m, fp, float_format);
-  printSparse("M", d->M, m->nv, d->C_rownnz,
-              d->C_rowadr, d->C_colind, fp, float_format);
-  printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
-              d->C_rowadr, d->C_colind, fp, float_format);
+  printSparse("M", d->M, m->nv, d->M_rownnz,
+              d->M_rowadr, d->M_colind, fp, float_format);
+  printSparse("QLD", d->qLD, m->nv, d->M_rownnz,
+              d->M_rowadr, d->M_colind, fp, float_format);
   printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
 
   if (!mju_isZero(d->qHDiagInv, m->nv)) {
-    printSparse("QH", d->qH, m->nv, d->C_rownnz, d->C_rowadr, d->C_colind, fp, float_format);
+    printSparse("QH", d->qH, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind, fp, float_format);
     printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
   }
 
@@ -1160,34 +1160,34 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
   }
   fprintf(fp, "\n\n");
 
-  // C sparse structure
-  mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, NULL, d->C_rownnz,
-                   NULL, d->C_colind, fp);
+  // M sparse structure
+  mj_printSparsity("M: reduced inertia matrix", m->nv, m->nv, d->M_rowadr, NULL, d->M_rownnz,
+                   NULL, d->M_colind, fp);
 
-  fprintf(fp, NAME_FORMAT, "C_rownnz");
+  fprintf(fp, NAME_FORMAT, "M_rownnz");
   for (int i = 0; i < m->nv; i++) {
-    fprintf(fp, " %d", d->C_rownnz[i]);
+    fprintf(fp, " %d", d->M_rownnz[i]);
   }
   fprintf(fp, "\n\n");
 
   // C_rowadr
-  fprintf(fp, NAME_FORMAT, "C_rowadr");
+  fprintf(fp, NAME_FORMAT, "M_rowadr");
   for (int i = 0; i < m->nv; i++) {
-    fprintf(fp, " %d", d->C_rowadr[i]);
+    fprintf(fp, " %d", d->M_rowadr[i]);
   }
   fprintf(fp, "\n\n");
 
   // C_colind
-  fprintf(fp, NAME_FORMAT, "C_colind");
+  fprintf(fp, NAME_FORMAT, "M_colind");
   for (int i = 0; i < m->nC; i++) {
-    fprintf(fp, " %d", d->C_colind[i]);
+    fprintf(fp, " %d", d->M_colind[i]);
   }
   fprintf(fp, "\n\n");
 
-  // mapM2C
-  fprintf(fp, NAME_FORMAT, "mapM2C");
+  // mapM2M
+  fprintf(fp, NAME_FORMAT, "mapM2M");
   for (int i = 0; i < m->nC; i++) {
-    fprintf(fp, " %d", d->mapM2C[i]);
+    fprintf(fp, " %d", d->mapM2M[i]);
   }
   fprintf(fp, "\n\n");
 
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index be4c5c3b..2b111e9e 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -886,10 +886,10 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     ctx->qacc             = d->qacc;
 
     // inertia
-    ctx->M_rownnz         = d->C_rownnz;
-    ctx->M_rowadr         = d->C_rowadr;
+    ctx->M_rownnz         = d->M_rownnz;
+    ctx->M_rowadr         = d->M_rowadr;
     ctx->M_diagnum        = m->dof_simplenum;
-    ctx->M_colind         = d->C_colind;
+    ctx->M_colind         = d->M_colind;
     ctx->M                = d->M;
     ctx->qLD              = d->qLD;
     ctx->qLDiagInv        = d->qLDiagInv;
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 362292da..9836ced9 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1047,14 +1047,14 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
 
     // non-simple: add off-diagonals
     if (!m->dof_simplenum[i]) {
-      int adr = d->C_rowadr[i];
-      res[i] += mju_dotSparse(qLD+adr, vec, d->C_rownnz[i] - 1, d->C_colind+adr);
+      int adr = d->M_rowadr[i];
+      res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
     }
   }
 
   // res *= sqrt(D)
   for (int i=0; i < nv; i++) {
-    int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
+    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
     res[i] *= mju_sqrt(qLD[diag]);
   }
 }
@@ -1072,10 +1072,10 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
 
     // gather C <- qM (legacy to CSR)
     mjtNum* C = mjSTACKALLOC(d, nC, mjtNum);
-    mju_gather(C, d->qM, d->mapM2C, nC);
+    mju_gather(C, d->qM, d->mapM2M, nC);
 
     // add to dst
-    mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C, d->C_rownnz, d->C_rowadr, d->C_colind);
+    mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C, d->M_rownnz, d->M_rowadr, d->M_colind);
     mj_freeStack(d);
   }
 
diff --git a/test/benchmark/factorI_benchmark_test.cc b/test/benchmark/factorI_benchmark_test.cc
index 998af271..1508edd7 100644
--- a/test/benchmark/factorI_benchmark_test.cc
+++ b/test/benchmark/factorI_benchmark_test.cc
@@ -46,7 +46,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
 
   // M: mass matrix in CSR format
   mjtNum* M = mj_stackAllocNum(d, m->nC);
-  mju_gather(M, d->qM, d->mapM2C, m->nC);
+  mju_gather(M, d->qM, d->mapM2M, m->nC);
 
   // LDlegacy: legacy LD matrix (size nM)
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
@@ -59,7 +59,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
       } else {
         mju_copy(d->qLD, M, m->nC);
         mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                   d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
       }
     }
   }
diff --git a/test/benchmark/inertia_benchmark_test.cc b/test/benchmark/inertia_benchmark_test.cc
index c8460cda..ba30190c 100644
--- a/test/benchmark/inertia_benchmark_test.cc
+++ b/test/benchmark/inertia_benchmark_test.cc
@@ -48,7 +48,7 @@ static void BM_solve(benchmark::State& state, SolveType type) {
 
   // M: mass matrix in CSR format
   mjtNum* M = mj_stackAllocNum(d, m->nC);
-  mju_gather(M, d->qM, d->mapM2C, m->nC);
+  mju_gather(M, d->qM, d->mapM2M, m->nC);
 
   // LDlegacy: legacy LD matrix (size nM)
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
@@ -73,9 +73,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
         case SolveType::kCsr:
           mju_copy(d->qLD, M, m->nC);
           mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                     d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+                     d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
           mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                     d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+                     d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
       }
     }
   }
diff --git a/test/benchmark/solveLD_benchmark_test.cc b/test/benchmark/solveLD_benchmark_test.cc
index 1ff28a4b..29fd7901 100644
--- a/test/benchmark/solveLD_benchmark_test.cc
+++ b/test/benchmark/solveLD_benchmark_test.cc
@@ -54,7 +54,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
   // scatter into legacy matrix
   mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
   mju_zero(LDlegacy, m->nM);
-  mju_scatter(LDlegacy, d->qLD, d->mapM2C, m->nC);
+  mju_scatter(LDlegacy, d->qLD, d->mapM2M, m->nC);
 
   // benchmark
   while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
@@ -64,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
         mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
       } else {
         mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                   d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
       }
     }
   }
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 6adb8764..25843744 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -649,7 +649,7 @@ TEST_F(CoreSmoothTest, FactorI) {
   int nv = model->nv;
   vector<mjtNum> Ldense(nv*nv, 0);
   mju_sparse2dense(Ldense.data(), data->qLD, nv, nv,
-                   data->C_rownnz, data->C_rowadr, data->C_colind);
+                   data->M_rownnz, data->M_rowadr, data->M_colind);
   for (int i=0; i < nv; i++) {
     // set diagonal to 1
     Ldense[i*nv+i] = 1;
@@ -658,7 +658,7 @@ TEST_F(CoreSmoothTest, FactorI) {
   // dense D matrix
   vector<mjtNum> Ddense(nv*nv);
   mju_sparse2dense(Ddense.data(), data->qLD, nv, nv,
-                   data->C_rownnz, data->C_rowadr, data->C_colind);
+                   data->M_rownnz, data->M_rowadr, data->M_colind);
   for (int i=0; i < nv; i++) {
     for (int j=0; j < nv; j++) {
       // zero everything except the diagonal
@@ -698,12 +698,12 @@ TEST_F(CoreSmoothTest, SolveLDs) {
 
   // copy M into LD: Legacy format
   vector<mjtNum> LDlegacy(nM, 0);
-  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2C, nC);
+  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nC);
 
   // compare LD and LDs densified matrices
   vector<mjtNum> LDdense(nv*nv);
   mju_sparse2dense(LDdense.data(), d->qLD, nv, nv,
-                   d->C_rownnz, d->C_rowadr, d->C_colind);
+                   d->M_rownnz, d->M_rowadr, d->M_colind);
   vector<mjtNum> LDdense2(nv*nv);
   mj_fullM(m, LDdense2.data(), LDlegacy.data());
 
@@ -722,7 +722,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
 
   mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
-             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 
   // expect vectors to match up to floating point precision
   for (int i=0; i < nv; i++) {
@@ -746,7 +746,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
 
   // copy LD into LDlegacy: Legacy format
   vector<mjtNum> LDlegacy(m->nM, 0);
-  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2C, m->nC);
+  mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, m->nC);
 
   // compare n LD and LDs vector solve
   int n = 3;
@@ -757,7 +757,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
 
   mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
-             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 
   // expect vectors to match up to floating point precision
   for (int i=0; i < nv*n; i++) {
@@ -781,7 +781,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
   int nv = m->nv;
   vector<mjtNum> sqrtInvD(nv);
   for (int i=0; i < nv; i++) {
-    int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
+    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
     sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
   }
 
@@ -795,7 +795,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
 
   mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
-             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 
   // expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
   for (int i=0; i < n; i++) {
@@ -824,17 +824,17 @@ TEST_F(CoreSmoothTest, FactorIs) {
 
   // copy qLDlegacy into qLDexpected: CSR format
   vector<mjtNum> qLDexpected(nC);
-  mju_gather(qLDexpected.data(), qLDlegacy.data(), d->mapM2C, nC);
+  mju_gather(qLDexpected.data(), qLDlegacy.data(), d->mapM2M, nC);
 
   // copy qM into qLD: CSR format
   vector<mjtNum> qLD(nC);
-  mju_gather(qLD.data(), d->qM, d->mapM2C, nC);
+  mju_gather(qLD.data(), d->qM, d->mapM2M, nC);
 
   vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
   vector<mjtNum> qLDiagInv(nv, 0);
 
   mj_factorI(qLD.data(), qLDiagInv.data(), nv,
-             d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 
   // expect outputs to match to floating point precision
   EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
diff --git a/test/engine/engine_derivative_test.cc b/test/engine/engine_derivative_test.cc
index 12b9ca88..027578e7 100644
--- a/test/engine/engine_derivative_test.cc
+++ b/test/engine/engine_derivative_test.cc
@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
       Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
     }
     mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
-               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
 
     // A = [dt*Ac; Ac]
     mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
     mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
                      d->moment_rowadr, d->moment_colind);
     mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
-               d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
+               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
     mju_transpose(BcT, Bc, nu, nv);
     mju_scl(B, BcT, dt*dt, nu*nv);
     mju_scl(B+nu*nv, BcT, dt, nu*nv);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index a77daf2e..34355b04 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -4952,10 +4952,10 @@ public unsafe struct mjData_ {
   public int* B_rownnz;
   public int* B_rowadr;
   public int* B_colind;
-  public int* C_rownnz;
-  public int* C_rowadr;
-  public int* C_colind;
-  public int* mapM2C;
+  public int* M_rownnz;
+  public int* M_rowadr;
+  public int* M_colind;
+  public int* mapM2M;
   public int* D_rownnz;
   public int* D_rowadr;
   public int* D_diag;

From b0c36c6b331713e4cd5759fd14439698e6e395be Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 14 May 2025 06:54:36 -0700
Subject: [PATCH 131/191] Remove dead functions.

PiperOrigin-RevId: 758663369
Change-Id: I2de0d9802eb73c3541ef17e46182608b08a3793e
---
 src/engine/engine_support.c | 61 +++++--------------------------------
 src/engine/engine_support.h |  8 -----
 2 files changed, 7 insertions(+), 62 deletions(-)

diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 9836ced9..2173879a 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -1065,70 +1065,23 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
 //  destination can be sparse or dense when all int* are NULL
 void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
              int* rownnz, int* rowadr, int* colind) {
+  int nv = m->nv;
   // sparse
   if (rownnz && rowadr && colind) {
-    int nC = m->nC;
     mj_markStack(d);
+    mjtNum* buf_val = mjSTACKALLOC(d, nv, mjtNum);
+    int* buf_ind = mjSTACKALLOC(d, nv, int);
 
-    // gather C <- qM (legacy to CSR)
-    mjtNum* C = mjSTACKALLOC(d, nC, mjtNum);
-    mju_gather(C, d->qM, d->mapM2M, nC);
+    mju_addToMatSparse(dst, rownnz, rowadr, colind, nv,
+      d->M, d->M_rownnz, d->M_rowadr, d->M_colind,
+      buf_val, buf_ind);
 
-    // add to dst
-    mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C, d->M_rownnz, d->M_rowadr, d->M_colind);
     mj_freeStack(d);
   }
 
   // dense
   else {
-    mj_addMDense(m, d, dst);
-  }
-}
-
-
-
-// add inertia matrix to sparse destination matrix
-void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
-                   int* rownnz, int* rowadr, int* colind, const mjtNum* M,
-                   const int* M_rownnz, const int* M_rowadr, const int* M_colind) {
-  int nv = m->nv;
-
-  mj_markStack(d);
-  mjtNum* buf_val = mjSTACKALLOC(d, nv, mjtNum);
-  int* buf_ind = mjSTACKALLOC(d, nv, int);
-
-  mju_addToMatSparse(dst, rownnz, rowadr, colind, nv,
-                     M, M_rownnz, M_rowadr, M_colind,
-                     buf_val, buf_ind);
-
-  mj_freeStack(d);
-}
-
-
-
-// add inertia matrix to dense destination matrix
-void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst) {
-  int nv = m->nv;
-
-  for (int i = 0; i < nv; i++) {
-    int adr = m->dof_Madr[i];
-    int j = i;
-    while (j >= 0) {
-      // add
-      dst[i*nv+j] += d->qM[adr];
-      if (j < i) {
-        dst[j*nv+i] += d->qM[adr];
-      }
-
-      // only diagonal if simplenum
-      if (m->dof_simplenum[i]) {
-        break;
-      }
-
-      // advance
-      j = m->dof_parentid[j];
-      adr++;
-    }
+    mju_addToSymSparse(dst, d->M, nv, d->M_rownnz, d->M_rowadr, d->M_colind, /*flg_upper=*/ 1);
   }
 }
 
diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h
index 5933f6a7..3d5f14c3 100644
--- a/src/engine/engine_support.h
+++ b/src/engine/engine_support.h
@@ -135,14 +135,6 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
 MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
                    int* rownnz, int* rowadr, int* colind);
 
-// add inertia matrix to sparse destination matrix
-MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
-                         int* rownnz, int* rowadr, int* colind, const mjtNum* M,
-                         const int* M_rownnz, const int* M_rowadr, const int* M_colind);
-
-// add inertia matrix to dense destination matrix
-MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);
-
 
 //-------------------------- perturbations ---------------------------------------------------------
 

From d8bebdc675020cbf962543b2fa61779d6b91aa75 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 14 May 2025 07:12:19 -0700
Subject: [PATCH 132/191] Remove unnecessary diagnum argument in `mj_solveLD`
 and `mj_factorI`

PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
---
 src/engine/engine_core_smooth.c          | 37 ++++++++++--------------
 src/engine/engine_core_smooth.h          |  4 +--
 src/engine/engine_forward.c              |  8 ++---
 src/engine/engine_solver.c               |  2 +-
 test/benchmark/factorI_benchmark_test.cc |  2 +-
 test/benchmark/inertia_benchmark_test.cc |  4 +--
 test/benchmark/solveLD_benchmark_test.cc |  2 +-
 test/engine/engine_core_smooth_test.cc   |  8 ++---
 test/engine/engine_derivative_test.cc    |  4 +--
 9 files changed, 33 insertions(+), 38 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 0f104122..7f30294a 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1653,7 +1653,7 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
 void mj_factorM(const mjModel* m, mjData* d) {
   TM_START;
   mju_copy(d->qLD, d->M, m->nC);
-  mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+  mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind);
   TM_ADD(mjTIMER_POS_INERTIA);
 }
 
@@ -1661,32 +1661,28 @@ void mj_factorM(const mjModel* m, mjData* d) {
 
 // sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd
 void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
-                const int* rownnz, const int* rowadr, const int* diagnum, const int* colind) {
+                const int* rownnz, const int* rowadr, const int* colind) {
   // backward loop over rows
   for (int k=nv-1; k >= 0; k--) {
     // get row k's address, diagonal index, inverse diagonal value
-    int rowadr_k = rowadr[k];
-    int diag_k = rowadr_k + rownnz[k] - 1;
-    mjtNum invD = 1 / mat[diag_k];
+    int start = rowadr[k];
+    int diag = rownnz[k] - 1;
+    int end = start + diag;
+    mjtNum invD = 1 / mat[end];
     if (diaginv) diaginv[k] = invD;
 
-    // skip if simple
-    if (diagnum[k]) {
-      continue;
-    }
-
-    // update triangle above row k, inclusive
-    for (int adr=diag_k - 1; adr >= rowadr_k; adr--) {
+    // update triangle above row k
+    for (int adr=end - 1; adr >= start; adr--) {
       // tmp = L(k, i) / L(k, k)
       mjtNum tmp = mat[adr] * invD;
 
       // update row i < k:  L(i, 0..i) -= L(i, 0..i) * L(k, i) / L(k, k)
       int i = colind[adr];
-      mju_addToScl(mat + rowadr[i], mat + rowadr_k, -tmp, rownnz[i]);
-
-      // update ith element of row k:  L(k, i) /= L(k, k)
-      mat[adr] = tmp;
+      mju_addToScl(mat + rowadr[i], mat + start, -tmp, rownnz[i]);
     }
+
+    // update row k:  L(k, :) /= L(k, k)
+    mju_scl(mat + start, mat + start, invD, diag);
   }
 }
 
@@ -1807,11 +1803,11 @@ void mj_solveLD_legacy(const mjModel* m, mjtNum* restrict x, int n,
 
 // in-place sparse backsubstitution:  x = inv(L'*D*L)*x
 void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
-                const int* rownnz, const int* rowadr, const int* diagnum, const int* colind) {
+                const int* rownnz, const int* rowadr, const int* colind) {
   // x <- L^-T x
   for (int i=nv-1; i > 0; i--) {
     // skip diagonal rows
-    if (diagnum[i]) {
+    if (rownnz[i] == 1) {
       continue;
     }
 
@@ -1862,8 +1858,7 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv,
   // x <- L^-1 x
   for (int i=1; i < nv; i++) {
     // skip diagonal rows
-    if (diagnum[i]) {
-      i += diagnum[i] - 1;  // iterating forward: skip ahead, adjust i
+    if (rownnz[i] == 1) {
       continue;
     }
 
@@ -1895,7 +1890,7 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
     mju_copy(x, y, n*m->nv);
   }
   mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->M_rownnz, d->M_rowadr, d->M_colind);
 }
 
 
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index a2db11cf..a8cd1a2b 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -63,7 +63,7 @@ MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
 
 // sparse L'*D*L factorizaton of inertia-like matrix
 MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
-                      const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
+                      const int* rownnz, const int* rowadr, const int* colind);
 
 // sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
 MJAPI void mj_factorM(const mjModel* m, mjData* d);
@@ -75,7 +75,7 @@ MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
 // in-place sparse backsubstitution:  x = inv(L'*D*L)*x
 //  handle n vectors at once
 MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
-                      const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
+                      const int* rownnz, const int* rowadr, const int* colind);
 
 // sparse backsubstitution:  x = inv(L'*D*L)*y, use factorization in d
 MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index df22386f..6115e77f 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -873,14 +873,14 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
       }
 
       // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, d->M_colind);
     }
 
     // solve
     mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
     mju_copy(qacc, qfrc, m->nv);
     mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->M_rownnz, d->M_rowadr, d->M_colind);
   }
 
   // advance state and time
@@ -1056,13 +1056,13 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
       mju_gather(d->qH, MhB, d->mapM2M, nC);
 
       // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+      mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, d->M_colind);
     }
 
     // solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
     mju_copy(qacc, qfrc, nv);
     mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->M_rownnz, d->M_rowadr, d->M_colind);
 
   } else {
     mjERROR("integrator must be implicit or implicitfast");
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 2b111e9e..899d935c 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1071,7 +1071,7 @@ static void CGupdateGradient(mjCGContext* ctx, int flg_Newton) {
   else {
     mju_copy(ctx->Mgrad, ctx->grad, nv);
     mj_solveLD(ctx->Mgrad, ctx->qLD, ctx->qLDiagInv, nv, 1,
-               ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
+               ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind);
   }
 }
 
diff --git a/test/benchmark/factorI_benchmark_test.cc b/test/benchmark/factorI_benchmark_test.cc
index 1508edd7..62a42c6c 100644
--- a/test/benchmark/factorI_benchmark_test.cc
+++ b/test/benchmark/factorI_benchmark_test.cc
@@ -59,7 +59,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
       } else {
         mju_copy(d->qLD, M, m->nC);
         mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                   d->M_rownnz, d->M_rowadr, d->M_colind);
       }
     }
   }
diff --git a/test/benchmark/inertia_benchmark_test.cc b/test/benchmark/inertia_benchmark_test.cc
index ba30190c..457aa32a 100644
--- a/test/benchmark/inertia_benchmark_test.cc
+++ b/test/benchmark/inertia_benchmark_test.cc
@@ -73,9 +73,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
         case SolveType::kCsr:
           mju_copy(d->qLD, M, m->nC);
           mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                     d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                     d->M_rownnz, d->M_rowadr, d->M_colind);
           mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                     d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                     d->M_rownnz, d->M_rowadr, d->M_colind);
       }
     }
   }
diff --git a/test/benchmark/solveLD_benchmark_test.cc b/test/benchmark/solveLD_benchmark_test.cc
index 29fd7901..65cf700c 100644
--- a/test/benchmark/solveLD_benchmark_test.cc
+++ b/test/benchmark/solveLD_benchmark_test.cc
@@ -64,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
         mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
       } else {
         mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                   d->M_rownnz, d->M_rowadr, d->M_colind);
       }
     }
   }
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 25843744..880f3e7e 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -722,7 +722,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
 
   mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->M_rownnz, d->M_rowadr, d->M_colind);
 
   // expect vectors to match up to floating point precision
   for (int i=0; i < nv; i++) {
@@ -757,7 +757,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
 
   mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->M_rownnz, d->M_rowadr, d->M_colind);
 
   // expect vectors to match up to floating point precision
   for (int i=0; i < nv*n; i++) {
@@ -795,7 +795,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
 
   mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
   mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->M_rownnz, d->M_rowadr, d->M_colind);
 
   // expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
   for (int i=0; i < n; i++) {
@@ -834,7 +834,7 @@ TEST_F(CoreSmoothTest, FactorIs) {
   vector<mjtNum> qLDiagInv(nv, 0);
 
   mj_factorI(qLD.data(), qLDiagInv.data(), nv,
-             d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+             d->M_rownnz, d->M_rowadr, d->M_colind);
 
   // expect outputs to match to floating point precision
   EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
diff --git a/test/engine/engine_derivative_test.cc b/test/engine/engine_derivative_test.cc
index 027578e7..3b0a8d92 100644
--- a/test/engine/engine_derivative_test.cc
+++ b/test/engine/engine_derivative_test.cc
@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
       Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
     }
     mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->M_rownnz, d->M_rowadr, d->M_colind);
 
     // A = [dt*Ac; Ac]
     mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
     mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
                      d->moment_rowadr, d->moment_colind);
     mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
-               d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+               d->M_rownnz, d->M_rowadr, d->M_colind);
     mju_transpose(BcT, Bc, nu, nv);
     mju_scl(B, BcT, dt*dt, nu*nv);
     mju_scl(B+nu*nv, BcT, dt, nu*nv);

From 71bdd915f7d3d3b55cda38120817ac7e98bdc9d4 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 14 May 2025 07:38:25 -0700
Subject: [PATCH 133/191] Move bending stiffness from plugin to the compiler.

PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
---
 doc/XMLreference.rst                          |  8 +-
 doc/XMLschema.rst                             |  4 +
 doc/includes/references.h                     |  2 +
 include/mujoco/mjmodel.h                      |  1 +
 include/mujoco/mjspec.h                       |  1 +
 include/mujoco/mjxmacro.h                     |  1 +
 model/flex/trampoline.xml                     |  2 +-
 model/plugin/elasticity/flag_flex.xml         |  8 +-
 model/plugin/elasticity/pancake_flex.xml      |  7 +-
 model/plugin/elasticity/plate_flex.xml        |  8 +-
 model/plugin/elasticity/poncho_flex.xml       |  8 +-
 .../plugin/elasticity/poncho_vertcollide.xml  |  8 +-
 plugin/elasticity/shell.cc                    | 82 ++-----------------
 plugin/elasticity/shell.h                     |  6 +-
 python/mujoco/introspect/structs.py           | 13 +++
 src/user/user_init.c                          |  1 +
 src/user/user_mesh.cc                         | 76 +++++++++++++++--
 src/user/user_model.cc                        |  5 ++
 src/user/user_objects.h                       |  1 +
 src/xml/xml_native_reader.cc                  |  8 +-
 src/xml/xml_native_writer.cc                  |  1 +
 test/plugin/elasticity/elasticity_test.cc     | 36 +-------
 unity/Runtime/Bindings/MjBindings.cs          |  1 +
 23 files changed, 134 insertions(+), 154 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index ef01da9d..1f479369 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -3627,9 +3627,10 @@ element is used to adjust the properties of all edges in the flex.
 .. _flexcomp-elasticity-poisson:
 .. _flexcomp-elasticity-damping:
 .. _flexcomp-elasticity-thickness:
+.. _flexcomp-elasticity-elastic2d:
 
 .. |body/flexcomp/elasticity attrib list| replace::
-   :at:`young`, :at:`poisson`, :at:`damping`, :at:`thickness`
+   :at:`young`, :at:`poisson`, :at:`damping`, :at:`thickness`, :at:`elastic2d`
 
 |body/flexcomp/elasticity attrib list|
    Same as in :ref:`flex/elasticity<flex-elasticity>`.
@@ -4070,6 +4071,11 @@ stress-strain relationship.. See also :ref:`deformable <CDeformable>` objects.
    This thickness can be set equal to 2 times the :ref:`radius <deformable-flex-radius>` in order to match the geometry,
    but is exposed separately since the radius might be constrained by considerations related to collision detection.
 
+.. _flex-elasticity-elastic2d:
+
+:at:`elastic2d`: :at-val:`int, "1"`
+   Elastic contribution to passive forces of 2D flexes. 0: none, 1: bending only, 2: stretching only, 3: bending and
+   stretching
 
 .. _flex-contact:
 
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 4935a883..1306115e 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -443,6 +443,8 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`young<flexcomp-elasticity-young>`                         | :ref:`poisson<flexcomp-elasticity-poisson>`                     | :ref:`damping<flexcomp-elasticity-damping>`                     | :ref:`thickness<flexcomp-elasticity-thickness>`                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`elastic2d<flexcomp-elasticity-elastic2d>`                 |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| flexcomp |br| |_2| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`contact                      | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
@@ -520,6 +522,8 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`young<flex-elasticity-young>`                             | :ref:`poisson<flex-elasticity-poisson>`                         | :ref:`damping<flex-elasticity-damping>`                         | :ref:`thickness<flex-elasticity-thickness>`                     | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`elastic2d<flex-elasticity-elastic2d>`                     |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| deformable |br| |_| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`skin                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 0622ff60..9726123d 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1246,6 +1246,7 @@ struct mjModel_ {
   mjtNum*   flexedge_invweight0;  // edge inv. weight in qpos0                (nflexedge x 1)
   mjtNum*   flex_radius;          // radius around primitive element          (nflex x 1)
   mjtNum*   flex_stiffness;       // finite element stiffness matrix          (nflexelem x 21)
+  mjtNum*   flex_bending;         // bending stiffness                        (nflexedge x 16)
   mjtNum*   flex_damping;         // Rayleigh's damping coefficient           (nflex x 1)
   mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
   mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
@@ -2078,6 +2079,7 @@ typedef struct mjsFlex_ {          // flex specification
   double poisson;                  // Poisson's ratio
   double damping;                  // Rayleigh's damping
   double thickness;                // thickness (2D only)
+  int elastic2d;                   // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
 
   // mesh properties
   mjStringVec* nodebody;           // node body names
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 8c00e062..0c531664 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -913,6 +913,7 @@ struct mjModel_ {
   mjtNum*   flexedge_invweight0;  // edge inv. weight in qpos0                (nflexedge x 1)
   mjtNum*   flex_radius;          // radius around primitive element          (nflex x 1)
   mjtNum*   flex_stiffness;       // finite element stiffness matrix          (nflexelem x 21)
+  mjtNum*   flex_bending;         // bending stiffness                        (nflexedge x 16)
   mjtNum*   flex_damping;         // Rayleigh's damping coefficient           (nflex x 1)
   mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
   mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 512e7c29..d1b89d8e 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -444,6 +444,7 @@ typedef struct mjsFlex_ {          // flex specification
   double poisson;                  // Poisson's ratio
   double damping;                  // Rayleigh's damping
   double thickness;                // thickness (2D only)
+  int elastic2d;                   // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
 
   // mesh properties
   mjStringVec* nodebody;           // node body names
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index c7ce4861..b381d5d2 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -366,6 +366,7 @@
     X   ( mjtNum,  flexedge_invweight0,   nflexedge,     1                    ) \
     XMJV( mjtNum,  flex_radius,           nflex,         1                    ) \
     X   ( mjtNum,  flex_stiffness,        nflexelem,     21                   ) \
+    X   ( mjtNum,  flex_bending,          nflexedge,     16                   ) \
     X   ( mjtNum,  flex_damping,          nflex,         1                    ) \
     X   ( mjtNum,  flex_edgestiffness,    nflex,         1                    ) \
     X   ( mjtNum,  flex_edgedamping,      nflex,         1                    ) \
diff --git a/model/flex/trampoline.xml b/model/flex/trampoline.xml
index 8d436e5d..16775a82 100644
--- a/model/flex/trampoline.xml
+++ b/model/flex/trampoline.xml
@@ -39,7 +39,7 @@
               radius=".001" mass="10" name="plate" dim="2">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="false" damping="10"/>
-      <elasticity young="3e5" poisson="0" thickness="1e-2"/>
+      <elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="2"/>
       <pin id="0 15 240 255"/>
     </flexcomp>
   </worldbody>
diff --git a/model/plugin/elasticity/flag_flex.xml b/model/plugin/elasticity/flag_flex.xml
index 667a8c36..9e37edab 100644
--- a/model/plugin/elasticity/flag_flex.xml
+++ b/model/plugin/elasticity/flag_flex.xml
@@ -37,12 +37,8 @@
       <flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
                 name="flag" radius="0.001">
         <edge equality="true" damping="0.001"/>
-        <plugin plugin="mujoco.elasticity.shell">
-          <config key="poisson" value="0"/>
-          <config key="thickness" value="1e-2"/>
-          <!--Units are in Pa (SI)-->
-          <config key="young" value="3e6"/>
-        </plugin>
+        <elasticity poisson="0" thickness="1e-2" young="3e6"/>
+        <plugin plugin="mujoco.elasticity.shell"/>
       </flexcomp>
     </body>
   </worldbody>
diff --git a/model/plugin/elasticity/pancake_flex.xml b/model/plugin/elasticity/pancake_flex.xml
index 38e839f9..fb390e34 100644
--- a/model/plugin/elasticity/pancake_flex.xml
+++ b/model/plugin/elasticity/pancake_flex.xml
@@ -39,12 +39,7 @@
               radius=".01" mass=".5" name="plate" dim="2">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="true" damping="10"/>
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="poisson" value="0"/>
-        <config key="thickness" value="8e-3"/>
-        <!--Units are in Pa (SI)-->
-        <config key="young" value="3e5"/>
-      </plugin>
+      <elasticity poisson="0" thickness="8e-3" young="3e5"/>
     </flexcomp>
   </worldbody>
 </mujoco>
diff --git a/model/plugin/elasticity/plate_flex.xml b/model/plugin/elasticity/plate_flex.xml
index b490b3ae..e39ec427 100644
--- a/model/plugin/elasticity/plate_flex.xml
+++ b/model/plugin/elasticity/plate_flex.xml
@@ -42,12 +42,8 @@
               radius=".001" mass="100" name="plate">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="true" damping="0.001"/>
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="poisson" value="0"/>
-        <config key="thickness" value="1e-2"/>
-        <!--Units are in Pa (SI)-->
-        <config key="young" value="3e7"/>
-      </plugin>
+      <elasticity poisson="0" thickness="1e-2" young="3e7"/>
+      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
   </worldbody>
 </mujoco>
diff --git a/model/plugin/elasticity/poncho_flex.xml b/model/plugin/elasticity/poncho_flex.xml
index 72783d7e..9400d106 100644
--- a/model/plugin/elasticity/poncho_flex.xml
+++ b/model/plugin/elasticity/poncho_flex.xml
@@ -1418,13 +1418,9 @@
                 398 399 418
                 398 376 378">
       <edge equality="true" damping="0.1"/>
+      <elasticity young="3e5" poisson="0" thickness="8e-3"/>
       <contact solref="0.003"/>
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="poisson" value="0"/>
-        <config key="thickness" value="8e-3"/>
-        <!--Units are in Pa (SI)-->
-        <config key="young" value="3e5"/>
-      </plugin>
+      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
 
   </worldbody>
diff --git a/model/plugin/elasticity/poncho_vertcollide.xml b/model/plugin/elasticity/poncho_vertcollide.xml
index 895df038..16e572bb 100644
--- a/model/plugin/elasticity/poncho_vertcollide.xml
+++ b/model/plugin/elasticity/poncho_vertcollide.xml
@@ -1418,13 +1418,9 @@
                 398 399 418
                 398 376 378">
       <edge equality="true" damping="0.1"/>
+      <elasticity poisson="0.3" young="3e5" thickness="8e-3"/>
       <contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="poisson" value="0"/>
-        <config key="thickness" value="8e-3"/>
-        <!--Units are in Pa (SI)-->
-        <config key="young" value="3e5"/>
-      </plugin>
+      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
 
   </worldbody>
diff --git a/plugin/elasticity/shell.cc b/plugin/elasticity/shell.cc
index 772b06eb..699040c6 100644
--- a/plugin/elasticity/shell.cc
+++ b/plugin/elasticity/shell.cc
@@ -33,54 +33,18 @@ namespace {
 // local tetrahedron numbering
 constexpr int kNumVerts = Stencil2D::kNumVerts;
 
-// cotangent between two edges
-mjtNum cot(mjtNum* x, int v0, int v1, int v2) {
-  mjtNum normal[3];
-  mjtNum edge1[3];
-  mjtNum edge2[3];
 
-  mju_sub3(edge1, x+3*v1, x+3*v0);
-  mju_sub3(edge2, x+3*v2, x+3*v0);
-  mju_cross(normal, edge1, edge2);
-
-  return mju_dot3(edge1, edge2) / mju_norm3(normal);
-}
-
-// area of a triangle
-mjtNum ComputeVolume(const mjtNum* x, const int v[kNumVerts]) {
-  mjtNum normal[3];
-  mjtNum edge1[3];
-  mjtNum edge2[3];
-
-  mju_sub3(edge1, x+3*v[1], x+3*v[0]);
-  mju_sub3(edge2, x+3*v[2], x+3*v[0]);
-  mju_cross(normal, edge1, edge2);
-
-  return mju_norm3(normal) / 2;
-}
 
 }  // namespace
 
 // factory function
 std::optional<Shell> Shell::Create(const mjModel* m, mjData* d, int instance) {
-    if (CheckAttr("poisson", m, instance) &&
-        CheckAttr("young", m, instance) &&
-        CheckAttr("thickness", m, instance)) {
-      mjtNum nu = strtod(mj_getPluginConfig(m, instance, "poisson"), nullptr);
-      mjtNum E = strtod(mj_getPluginConfig(m, instance, "young"), nullptr);
-      mjtNum thick =
-          strtod(mj_getPluginConfig(m, instance, "thickness"), nullptr);
-      return Shell(m, d, instance, nu, E, thick);
-    } else {
-      mju_warning("Invalid parameter specification in shell plugin");
-      return std::nullopt;
-    }
+    return Shell(m, d, instance);
 }
 
 // plugin constructor
-Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
-             mjtNum thick)
-    : f0(-1), thickness(thick) {
+Shell::Shell(const mjModel* m, mjData* d, int instance)
+    : f0(-1) {
   // count plugin bodies
   nv = 0;
   for (int i = 1; i < m->nbody; i++) {
@@ -104,9 +68,6 @@ Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
     }
   }
 
-  // material parameters
-  mjtNum mu = E / (2*(1+nu));
-
   // loop over all triangles
   for (int t = 0; t < m->flex_elemnum[f0]; t++) {
     int* v = m->flex_elem + 3*(t+m->flex_elemadr[f0]);
@@ -119,41 +80,9 @@ Shell::Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
 
   // allocate array
   position.assign(nv*3, 0);
-  bending.assign(m->flex_edgenum[f0]*16, 0);
 
   // store previous positions
   mju_copy(position.data(), m->body_pos+3*i0, 3*nv);
-
-  // assemble bending Hessian
-  for (int e = 0; e < m->flex_edgenum[f0]; e++)  {
-    int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f0]);
-    int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f0]);
-    int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-    int vadj[3] = {v[1], v[0], v[3]};
-
-    if (v[3]== -1) {
-      // skip boundary edges
-      continue;
-    }
-
-    // cotangent operator from Wardetzky at al., "Discrete Quadratic Curvature
-    // Energies", https://cims.nyu.edu/gcl/papers/wardetzky2007dqb.pdf
-
-    mjtNum a01 = cot(m->body_pos+3*i0, v[0], v[1], v[2]);
-    mjtNum a02 = cot(m->body_pos+3*i0, v[0], v[3], v[1]);
-    mjtNum a03 = cot(m->body_pos+3*i0, v[1], v[2], v[0]);
-    mjtNum a04 = cot(m->body_pos+3*i0, v[1], v[0], v[3]);
-    mjtNum c[4] = {a03 + a04, a01 + a02, -(a01 + a03), -(a02 + a04)};
-    mjtNum volume = ComputeVolume(m->body_pos+3*i0, v) +
-                    ComputeVolume(m->body_pos+3*i0, vadj);
-
-    for (int v1 = 0; v1 < StencilFlap::kNumVerts; v1++) {
-      for (int v2 = 0; v2 < StencilFlap::kNumVerts; v2++) {
-        bending[16 * e + 4 * v1 + v2] +=
-            1.5 * c[v1] * c[v2] / volume * mu * pow(thickness, 3) / 12;
-      }
-    }
-  }
 }
 
 void Shell::Compute(const mjModel* m, mjData* d, int instance) {
@@ -166,10 +95,11 @@ void Shell::Compute(const mjModel* m, mjData* d, int instance) {
       // skip boundary edges
       continue;
     }
+    mjtNum* k = m->flex_bending + 16*m->flex_edgeadr[f0];
     for (int i = 0; i < StencilFlap::kNumVerts; i++) {
       for (int j = 0; j < StencilFlap::kNumVerts; j++) {
         for (int x = 0; x < 3; x++) {
-          force[3*i+x] += bending[16*e+4*i+j] * d->xpos[3*(i0+v[j])+x];
+          force[3*i+x] += k[16*e+4*i+j] * d->xpos[3*(i0+v[j])+x];
         }
       }
     }
@@ -195,7 +125,7 @@ void Shell::RegisterPlugin() {
   plugin.name = "mujoco.elasticity.shell";
   plugin.capabilityflags |= mjPLUGIN_PASSIVE;
 
-  const char* attributes[] = {"young", "poisson", "thickness", "damping"};
+  const char* attributes[] = {"damping"};
   plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
   plugin.attributes = attributes;
   plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
diff --git a/plugin/elasticity/shell.h b/plugin/elasticity/shell.h
index e8496e70..aa1e0191 100644
--- a/plugin/elasticity/shell.h
+++ b/plugin/elasticity/shell.h
@@ -51,13 +51,9 @@ class Shell {
 
   // precomputed quantities
   std::vector<mjtNum> position;             // previous-step positions (nv x 3)
-  std::vector<mjtNum> bending;              // bending Hessian         (ne x 16)
-
-  mjtNum thickness;
 
  private:
-  Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
-        mjtNum thick);
+  Shell(const mjModel* m, mjData* d, int instance);
 };
 
 }  // namespace mujoco::plugin::elasticity
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 4d45dc9e..d9f04366 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -2755,6 +2755,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='finite element stiffness matrix',
                  array_extent=('nflexelem', 21),
              ),
+             StructFieldDecl(
+                 name='flex_bending',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='bending stiffness',
+                 array_extent=('nflexedge', 16),
+             ),
              StructFieldDecl(
                  name='flex_damping',
                  type=PointerType(
@@ -10867,6 +10875,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='double'),
                  doc='thickness (2D only)',
              ),
+             StructFieldDecl(
+                 name='elastic2d',
+                 type=ValueType(name='int'),
+                 doc='2D passive forces; 0: none, 1: bending, 2: stretching, 3: both',  # pylint: disable=line-too-long
+             ),
              StructFieldDecl(
                  name='nodebody',
                  type=PointerType(
diff --git a/src/user/user_init.c b/src/user/user_init.c
index 01f4a8b9..3a55af25 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -238,6 +238,7 @@ void mjs_defaultFlex(mjsFlex* flex) {
   flex->rgba[0] = flex->rgba[1] = flex->rgba[2] = 0.5f;
   flex->rgba[3] = 1.0f;
   flex->thickness = -1;
+  flex->elastic2d = 1;
 }
 
 
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index b44ecff5..49230914 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -3075,6 +3075,56 @@ static void CreateFlapStencil(std::vector<StencilFlap>& flaps,
   }
 }
 
+// cotangent between two edges
+double inline cot(double* x, int v0, int v1, int v2) {
+  double normal[3];
+  double edge1[3] = {x[3*v1]-x[3*v0], x[3*v1+1]-x[3*v0+1], x[3*v1+2]-x[3*v0+2]};
+  double edge2[3] = {x[3*v2]-x[3*v0], x[3*v2+1]-x[3*v0+1], x[3*v2+2]-x[3*v0+2]};
+
+  mjuu_crossvec(normal, edge1, edge2);
+  return mjuu_dot3(edge1, edge2) / sqrt(mjuu_dot3(normal, normal));
+}
+
+// area of a triangle
+double inline ComputeVolume(const double* x, const int v[Stencil2D::kNumVerts]) {
+  double normal[3];
+  double edge1[3] = {x[3*v[1]]-x[3*v[0]], x[3*v[1]+1]-x[3*v[0]+1], x[3*v[1]+2]-x[3*v[0]+2]};
+  double edge2[3] = {x[3*v[2]]-x[3*v[0]], x[3*v[2]+1]-x[3*v[0]+1], x[3*v[2]+2]-x[3*v[0]+2]};
+
+  mjuu_crossvec(normal, edge1, edge2);
+  return sqrt(mjuu_dot3(normal, normal)) / 2;
+}
+
+// compute bending stiffness for a single edge
+template <typename T>
+void inline ComputeBending(double* bending, double* pos, const int v[4], double mu,
+                           double thickness) {
+  int vadj[3] = {v[1], v[0], v[3]};
+
+  if (v[3]== -1) {
+    // skip boundary edges
+    return;
+  }
+
+  // cotangent operator from Wardetzky at al., "Discrete Quadratic Curvature
+  // Energies", https://cims.nyu.edu/gcl/papers/wardetzky2007dqb.pdf
+
+  mjtNum a01 = cot(pos, v[0], v[1], v[2]);
+  mjtNum a02 = cot(pos, v[0], v[3], v[1]);
+  mjtNum a03 = cot(pos, v[1], v[2], v[0]);
+  mjtNum a04 = cot(pos, v[1], v[0], v[3]);
+  mjtNum c[4] = {a03 + a04, a01 + a02, -(a01 + a03), -(a02 + a04)};
+  mjtNum volume = ComputeVolume(pos, v) +
+                  ComputeVolume(pos, vadj);
+
+  for (int v1 = 0; v1 < T::kNumVerts; v1++) {
+    for (int v2 = 0; v2 < T::kNumVerts; v2++) {
+      bending[4 * v1 + v2] +=
+          1.5 * c[v1] * c[v2] / volume * mu * pow(thickness, 3) / 12;
+    }
+  }
+}
+
 //----------------------------- linear elasticity --------------------------------------------------
 
 // Gauss Legendre quadrature points in 1 dimension on the interval [a, b]
@@ -3570,11 +3620,18 @@ void mjCFlex::Compile(const mjVFS* vfs) {
   // set size
   nedge = (int)edge.size();
 
+  // create flap stencil
+  if (dim == 2) {
+    CreateFlapStencil(flaps, elem_, edgeidx_);
+  }
+
   // compute elasticity
   if (young > 0) {
     if (poisson < 0 || poisson >= 0.5) {
       throw mjCError(this, "Poisson ratio must be in [0, 0.5)");
     }
+
+    // linear elasticity
     stiffness.assign(21*nelem, 0);
     if (interpolated) {
       int min_size = ceil(nodexpos.size()*nodexpos.size() / 21);
@@ -3583,11 +3640,13 @@ void mjCFlex::Compile(const mjVFS* vfs) {
       }
       ComputeLinearStiffness(stiffness, nodexpos.data(), young, poisson);
     }
+
+    // geometrically nonlinear elasticity
     for (unsigned int t = 0; t < nelem; t++) {
       if (interpolated) {
         continue;
       }
-      if (dim == 2) {
+      if (dim == 2 && elastic2d >= 2 && thickness > 0) {
         ComputeStiffness<Stencil2D>(stiffness, vertxpos,
                                     elem_.data() + (dim + 1) * t, t, young,
                                     poisson, thickness);
@@ -3597,6 +3656,16 @@ void mjCFlex::Compile(const mjVFS* vfs) {
                                     poisson);
       }
     }
+
+    // bending stiffness (2D only)
+    if (dim == 2 && (elastic2d == 1 || elastic2d == 3) && thickness > 0) {
+      bending.assign(nedge*16, 0);
+
+      for (unsigned int e = 0; e < nedge; e++) {
+        ComputeBending<StencilFlap>(bending.data() + 16 * e, vertxpos.data(), flaps[e].vertices,
+                                    young / (2 * (1 + poisson)), thickness);
+      }
+    }
   }
 
   // add plugins
@@ -3613,11 +3682,6 @@ void mjCFlex::Compile(const mjVFS* vfs) {
     }
   }
 
-  // create flap stencil
-  if (dim == 2) {
-    CreateFlapStencil(flaps, elem_, edgeidx_);
-  }
-
   // create shell fragments and element-vertex collision pairs
   CreateShellPair();
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index f705551c..9e516380 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3043,6 +3043,11 @@ void mjCModel::CopyObjects(mjModel* m) {
     } else {
       mjuu_zerovec(m->flex_stiffness + 21 * elem_adr, 21 * pfl->nelem);
     }
+    if (!pfl->bending.empty()) {
+      mjuu_copyvec(m->flex_bending + 16 * edge_adr, pfl->bending.data(), pfl->bending.size());
+    } else {
+      mjuu_zerovec(m->flex_bending + 16 * edge_adr, 16 * pfl->nedge);
+    }
     m->flex_damping[i] = (mjtNum)pfl->damping;
 
     // set fields: mesh-like
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 585d6abb..46df52e6 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -857,6 +857,7 @@ class mjCFlex_ : public mjCBase {
   std::vector<double> elemaabb_;          // element bounding volume
   std::vector<int> edgeidx_;              // element edge ids
   std::vector<double> stiffness;          // elasticity stiffness matrix
+  std::vector<double> bending;            // bending stiffness matrix
 
   // variable-size data
   std::vector<std::string> vertbody_;     // vertex body names
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 85723a6e..8e2874aa 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -311,7 +311,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
             "flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "origin"},
         {"<"},
             {"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
-            {"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
+            {"elasticity", "?", "5", "young", "poisson", "damping", "thickness", "elastic2d"},
             {"contact", "?", "14", "contype", "conaffinity", "condim", "priority",
                 "friction", "solmix", "solref", "solimp", "margin", "gap",
                 "internal", "selfcollide", "activelayers", "vertcollide"},
@@ -332,7 +332,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
                 "friction", "solmix", "solref", "solimp", "margin", "gap",
                 "internal", "selfcollide", "activelayers", "vertcollide"},
             {"edge", "?", "2", "stiffness", "damping"},
-            {"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
+            {"elasticity", "?", "5", "young", "poisson", "damping", "thickness", "elastic2d"},
         {">"},
         {"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
             "vertex", "texcoord", "face", "group"},
@@ -1401,6 +1401,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
     ReadAttr(elasticity, "poisson", 1, &flex->poisson, text);
     ReadAttr(elasticity, "thickness", 1, &flex->thickness, text);
     ReadAttr(elasticity, "damping", 1, &flex->damping, text);
+    ReadAttr(elasticity, "elastic2d", 1, &flex->elastic2d, text);
   }
 
   // write error info
@@ -2664,10 +2665,11 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
     ReadAttr(elasticity, "poisson", 1, &dflex.poisson, text);
     ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
     ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
+    ReadAttr(elasticity, "elastic2d", 1, &dflex.elastic2d, text);
   }
 
   // check errors
-  if (elasticity && fcomp.equality) {
+  if (dflex.elastic2d >= 2 && fcomp.equality) {
     throw mjXError(elem, "elasticity and edge constraints cannot both be present");
   }
 
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index a7f27871..14905144 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -194,6 +194,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
   WriteAttr(elastic, "poisson", 1, &flex->poisson, &defflex.poisson);
   WriteAttr(elastic, "thickness", 1, &flex->thickness, &defflex.thickness);
   WriteAttr(elastic, "damping", 1, &flex->damping, &defflex.damping);
+  WriteAttr(elastic, "elastic2d", 1, &flex->elastic2d, &defflex.elastic2d);
 
   // edge subelement
   XMLElement* edge = InsertEnd(elem, "edge");
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index 16273900..754fa46e 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -65,11 +65,8 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
   <worldbody>
     <flexcomp type="grid" count="8 8 1" spacing="1 1 1"
               radius=".025" name="test" dim="2">
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="poisson" value="0"/>
-        <config key="young" value="2"/>
-        <config key="thickness" value="1"/>
-      </plugin>
+      <elasticity young="2" poisson="0" thickness="1"/>
+      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
   </worldbody>
   </mujoco>
@@ -97,7 +94,7 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
           for (int x = 0; x < 3; x++) {
             mjtNum elongation1 = scale * shell->position[3*v[i]+x];
             mjtNum elongation2 = scale * shell->position[3*v[j]+x];
-            energy += shell->bending[16*e+4*i+j] * elongation1 * elongation2;
+            energy += m->flex_bending[16*e+4*i+j] * elongation1 * elongation2;
           }
         }
       }
@@ -117,7 +114,7 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
   <worldbody>
     <flexcomp type="grid" count="8 8 1" spacing="1 1 1"
               radius=".025" name="test" dim="2">
-      <elasticity young="2" poisson="0" thickness="1"/>
+      <elasticity young="2" poisson="0" thickness="1" elastic2d="2"/>
       <edge equality="false"/>
     </flexcomp>
   </worldbody>
@@ -161,31 +158,6 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
   mj_deleteModel(m);
 }
 
-TEST_F(ElasticityTest, InvalidThickness) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
-  <worldbody>
-    <flexcomp type="grid" count="2 2 1" spacing="1 1 1"
-              radius=".025" name="test" dim="2">
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="thickness" value="hello"/>
-      </plugin>
-      <edge equality="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjModel* m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m, testing::IsNull());
-  EXPECT_THAT(error, ::testing::HasSubstr("Invalid parameter"));
-}
-
 // -------------------------------- solid -----------------------------------
 TEST_F(ElasticityTest, ElasticEnergySolid) {
   static constexpr char cantilever_xml[] = R"(
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 34355b04..4f0d209b 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5497,6 +5497,7 @@ public unsafe struct mjModel_ {
   public double* flexedge_invweight0;
   public double* flex_radius;
   public double* flex_stiffness;
+  public double* flex_bending;
   public double* flex_damping;
   public double* flex_edgestiffness;
   public double* flex_edgedamping;

From e1baa15776ca7e899c178fb581ba33202da8bd30 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 14 May 2025 08:11:10 -0700
Subject: [PATCH 134/191] Remove unnecessary argument in `mju_mulSymVecSparse`

PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
---
 src/engine/engine_solver.c             | 4 ++--
 src/engine/engine_util_sparse.c        | 9 +--------
 src/engine/engine_util_sparse.h        | 3 +--
 test/engine/engine_util_sparse_test.cc | 5 ++---
 4 files changed, 6 insertions(+), 15 deletions(-)

diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 899d935c..7568b0f6 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1357,7 +1357,7 @@ static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations)
 
   // compute Mv = M * v
   mju_mulSymVecSparse(ctx->Mv, ctx->M, ctx->search, nv,
-                      ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
+                      ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind);
 
   // compute Jv = J * search  (dense or sparse)
   if (!ctx->is_sparse) {
@@ -1887,7 +1887,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
 
   // compute Ma = M * qacc
   mju_mulSymVecSparse(ctx.Ma, ctx.M, ctx.qacc, nv,
-                      ctx.M_rownnz, ctx.M_rowadr, ctx.M_diagnum, ctx.M_colind);
+                      ctx.M_rownnz, ctx.M_rowadr, ctx.M_colind);
 
 
   // compute Jaref = J * qacc - aref  (dense or sparse)
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 8d364c5e..17e960a3 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -227,7 +227,7 @@ void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
 void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
                          const mjtNum* restrict vec, int n,
                          const int* restrict rownnz, const int* restrict rowadr,
-                         const int* restrict diagnum, const int* restrict colind) {
+                         const int* restrict colind) {
   // clear res
   mju_zero(res, n);
 
@@ -240,13 +240,6 @@ void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
     // diagonal
     res[i] = row[diag] * vec[i];
 
-    // TODO: consider using SIMD if diagnum[i] >= 4
-
-    // shortcut for diagonal row/column
-    if (diagnum[i]) {
-      continue;
-    }
-
     // off-diagonals
     const int* ind = colind + adr;
     for (int k=diag-1; k >= 0; k--) {
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index 616b4d21..ab7ea0f3 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -64,8 +64,7 @@ MJAPI void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
 // multiply symmetric matrix (only lower triangle represented) by vector:
 //  res = (mat + strict_upper(mat')) * vec
 MJAPI void mju_mulSymVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
-                               const int* rownnz, const int* rowadr, const int* diagnum,
-                               const int* colind);
+                               const int* rownnz, const int* rowadr, const int* colind);
 
 // compress sparse matrix, remove elements with abs(value) <= minval, return total non-zeros
 MJAPI int mju_compressSparse(mjtNum* mat, int nr, int nc,
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index 10875a67..7fee2127 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -1075,7 +1075,7 @@ TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
   constexpr int nnz = 9;
 
   mjtNum mat[n*n] = {1,  0,  0,  0,
-                    -1,  2,  0,  0,  // spurious (ignored) -1 at (1, 0)
+                     0,  2,  0,  0,
                      3,  0,  4,  0,
                      5,  6,  7,  8};
 
@@ -1090,12 +1090,11 @@ TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
   int rowadr[n];
   int colind[nnz];
   mju_dense2sparse(mat_sparse, mat, n, n, rownnz, rowadr, colind, nnz);
-  int diagnum[n] = {0, 1, 0, 0};
 
   // multiply: res = (mat + strict_upper(mat')) * vec
   mjtNum vec[n] = {4, 3, 2, 1};
   mjtNum res[n];
-  mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, diagnum, colind);
+  mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, colind);
 
   // dense multiply
   mjtNum res2[n];

From 0a5da8db220336993dd1012ea887a14321c71e40 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 14 May 2025 09:09:01 -0700
Subject: [PATCH 135/191] Rename MjcSiteAPI to MjcPhysicsSiteAPI for
 consistency.

PiperOrigin-RevId: 758708231
Change-Id: I75914ba52159996515547aa9e2e93690cadbfc66
---
 src/experimental/usd/mjcPhysics/generatedSchema.usda | 2 +-
 src/experimental/usd/mjcPhysics/plugInfo.json        | 2 +-
 src/experimental/usd/mjcPhysics/schema.usda          | 2 +-
 src/experimental/usd/mjcPhysics/siteAPI.h            | 4 ++--
 src/experimental/usd/mjcPhysics/tokens.cpp           | 4 ++--
 src/experimental/usd/mjcPhysics/tokens.h             | 4 ++--
 src/experimental/usd/mjcPhysics/wrapTokens.cpp       | 2 +-
 7 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index 62050c6c..7510f8e3 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -220,7 +220,7 @@ class "MjcPhysicsSceneAPI" (
     )
 }
 
-class "MjcSiteAPI" (
+class "MjcPhysicsSiteAPI" (
     doc = "API describing a Mujoco site."
 )
 {
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index fcf19910..9206a5d0 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -18,7 +18,7 @@
           },
           "MjcPhysicsSiteAPI": {
             "alias": {
-              "UsdSchemaBase": "MjcSiteAPI"
+              "UsdSchemaBase": "MjcPhysicsSiteAPI"
             },
             "autoGenerated": true,
             "bases": [
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index d6e2727d..7bd5b6e6 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -510,7 +510,7 @@ class "MjcPhysicsSceneAPI"
     )
 }
 
-class "MjcSiteAPI"
+class "MjcPhysicsSiteAPI"
 (
     customData = {
         string className = "SiteAPI"
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.h b/src/experimental/usd/mjcPhysics/siteAPI.h
index e1981297..74712557 100644
--- a/src/experimental/usd/mjcPhysics/siteAPI.h
+++ b/src/experimental/usd/mjcPhysics/siteAPI.h
@@ -34,7 +34,7 @@ PXR_NAMESPACE_OPEN_SCOPE
 class SdfAssetPath;
 
 // -------------------------------------------------------------------------- //
-// MJCSITEAPI                                                                 //
+// MJCPHYSICSSITEAPI                                                          //
 // -------------------------------------------------------------------------- //
 
 /// \class MjcPhysicsSiteAPI
@@ -104,7 +104,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
   static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
 
   /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcSiteAPI" to the
+  /// This information is stored by adding "MjcPhysicsSiteAPI" to the
   /// token-valued, listOp metadata \em apiSchemas on the prim.
   ///
   /// \return A valid MjcPhysicsSiteAPI object is returned upon success.
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index b6bfd4b8..4f0da276 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -86,7 +86,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       rk4("rk4", TfToken::Immortal),
       sparse("sparse", TfToken::Immortal),
       MjcPhysicsSceneAPI("MjcPhysicsSceneAPI", TfToken::Immortal),
-      MjcSiteAPI("MjcSiteAPI", TfToken::Immortal),
+      MjcPhysicsSiteAPI("MjcPhysicsSiteAPI", TfToken::Immortal),
       allTokens({auto_,
                  cg,
                  dense,
@@ -149,7 +149,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  rk4,
                  sparse,
                  MjcPhysicsSceneAPI,
-                 MjcSiteAPI}) {}
+                 MjcPhysicsSiteAPI}) {}
 
 TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
 
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 8d6b5f92..92ffc587 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -313,10 +313,10 @@ struct MjcPhysicsTokensType {
   ///
   /// Schema identifer and family for MjcPhysicsSceneAPI
   const TfToken MjcPhysicsSceneAPI;
-  /// \brief "MjcSiteAPI"
+  /// \brief "MjcPhysicsSiteAPI"
   ///
   /// Schema identifer and family for MjcPhysicsSiteAPI
-  const TfToken MjcSiteAPI;
+  const TfToken MjcPhysicsSiteAPI;
   /// A vector of all of the tokens listed above.
   const std::vector<TfToken> allTokens;
 };
diff --git a/src/experimental/usd/mjcPhysics/wrapTokens.cpp b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
index bd9d4b75..5b0672cc 100644
--- a/src/experimental/usd/mjcPhysics/wrapTokens.cpp
+++ b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
@@ -146,5 +146,5 @@ void wrapMjcPhysicsTokens() {
   _AddToken(cls, "rk4", MjcPhysicsTokens->rk4);
   _AddToken(cls, "sparse", MjcPhysicsTokens->sparse);
   _AddToken(cls, "MjcPhysicsSceneAPI", MjcPhysicsTokens->MjcPhysicsSceneAPI);
-  _AddToken(cls, "MjcSiteAPI", MjcPhysicsTokens->MjcSiteAPI);
+  _AddToken(cls, "MjcPhysicsSiteAPI", MjcPhysicsTokens->MjcPhysicsSiteAPI);
 }

From dc4968506b96ae1a73a02abb5fc9f5ccc86dd1e7 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 14 May 2025 09:38:11 -0700
Subject: [PATCH 136/191] Remove MjcPhysics prefix from schema API types.

PiperOrigin-RevId: 758718987
Change-Id: I8a3a5dc7a990d401a91f5982e62c590e8924472a
---
 src/experimental/usd/mjcPhysics/generatedSchema.usda |  4 ++--
 src/experimental/usd/mjcPhysics/plugInfo.json        |  4 ++--
 src/experimental/usd/mjcPhysics/sceneAPI.h           |  4 ++--
 src/experimental/usd/mjcPhysics/schema.usda          | 10 ++--------
 src/experimental/usd/mjcPhysics/siteAPI.h            |  4 ++--
 src/experimental/usd/mjcPhysics/tokens.cpp           |  8 ++++----
 src/experimental/usd/mjcPhysics/tokens.h             |  8 ++++----
 src/experimental/usd/mjcPhysics/wrapTokens.cpp       |  4 ++--
 8 files changed, 20 insertions(+), 26 deletions(-)

diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index 7510f8e3..4cb4d177 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -3,7 +3,7 @@
     "WARNING: THIS FILE IS GENERATED BY usdGenSchema.  DO NOT EDIT."
 )
 
-class "MjcPhysicsSceneAPI" (
+class "SceneAPI" (
     doc = "API providing global simulation options for Mujoco."
 )
 {
@@ -220,7 +220,7 @@ class "MjcPhysicsSceneAPI" (
     )
 }
 
-class "MjcPhysicsSiteAPI" (
+class "SiteAPI" (
     doc = "API describing a Mujoco site."
 )
 {
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index 9206a5d0..56e11dd5 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -8,7 +8,7 @@
         "Types": {
           "MjcPhysicsSceneAPI": {
             "alias": {
-              "UsdSchemaBase": "MjcPhysicsSceneAPI"
+              "UsdSchemaBase": "SceneAPI"
             },
             "autoGenerated": true,
             "bases": [
@@ -18,7 +18,7 @@
           },
           "MjcPhysicsSiteAPI": {
             "alias": {
-              "UsdSchemaBase": "MjcPhysicsSiteAPI"
+              "UsdSchemaBase": "SiteAPI"
             },
             "autoGenerated": true,
             "bases": [
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.h b/src/experimental/usd/mjcPhysics/sceneAPI.h
index 0fd0d56e..4b77202a 100644
--- a/src/experimental/usd/mjcPhysics/sceneAPI.h
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.h
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
 class SdfAssetPath;
 
 // -------------------------------------------------------------------------- //
-// MJCPHYSICSSCENEAPI                                                         //
+// SCENEAPI                                                                   //
 // -------------------------------------------------------------------------- //
 
 /// \class MjcPhysicsSceneAPI
@@ -110,7 +110,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
 
   /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcPhysicsSceneAPI" to the
+  /// This information is stored by adding "SceneAPI" to the
   /// token-valued, listOp metadata \em apiSchemas on the prim.
   ///
   /// \return A valid MjcPhysicsSceneAPI object is returned upon success.
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 7bd5b6e6..3d416fc2 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -92,11 +92,8 @@ over "GLOBAL" (
 
 }
 
-class "MjcPhysicsSceneAPI"
+class "SceneAPI"
 (
-    customData = {
-        string className = "SceneAPI"
-    }
     doc = """API providing global simulation options for Mujoco."""
 
     inherits = </APISchemaBase>
@@ -510,11 +507,8 @@ class "MjcPhysicsSceneAPI"
     )
 }
 
-class "MjcPhysicsSiteAPI"
+class "SiteAPI"
 (
-    customData = {
-        string className = "SiteAPI"
-    }
     doc = """API describing a Mujoco site."""
 
     inherits = </APISchemaBase>
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.h b/src/experimental/usd/mjcPhysics/siteAPI.h
index 74712557..537345ce 100644
--- a/src/experimental/usd/mjcPhysics/siteAPI.h
+++ b/src/experimental/usd/mjcPhysics/siteAPI.h
@@ -34,7 +34,7 @@ PXR_NAMESPACE_OPEN_SCOPE
 class SdfAssetPath;
 
 // -------------------------------------------------------------------------- //
-// MJCPHYSICSSITEAPI                                                          //
+// SITEAPI                                                                    //
 // -------------------------------------------------------------------------- //
 
 /// \class MjcPhysicsSiteAPI
@@ -104,7 +104,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
   static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
 
   /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcPhysicsSiteAPI" to the
+  /// This information is stored by adding "SiteAPI" to the
   /// token-valued, listOp metadata \em apiSchemas on the prim.
   ///
   /// \return A valid MjcPhysicsSiteAPI object is returned upon success.
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index 4f0da276..7b1868f8 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -85,8 +85,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       pyramidal("pyramidal", TfToken::Immortal),
       rk4("rk4", TfToken::Immortal),
       sparse("sparse", TfToken::Immortal),
-      MjcPhysicsSceneAPI("MjcPhysicsSceneAPI", TfToken::Immortal),
-      MjcPhysicsSiteAPI("MjcPhysicsSiteAPI", TfToken::Immortal),
+      SceneAPI("SceneAPI", TfToken::Immortal),
+      SiteAPI("SiteAPI", TfToken::Immortal),
       allTokens({auto_,
                  cg,
                  dense,
@@ -148,8 +148,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  pyramidal,
                  rk4,
                  sparse,
-                 MjcPhysicsSceneAPI,
-                 MjcPhysicsSiteAPI}) {}
+                 SceneAPI,
+                 SiteAPI}) {}
 
 TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
 
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 92ffc587..50239a66 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -309,14 +309,14 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
   /// represents the sparse constraint Jacobian and matrices computed from it.
   const TfToken sparse;
-  /// \brief "MjcPhysicsSceneAPI"
+  /// \brief "SceneAPI"
   ///
   /// Schema identifer and family for MjcPhysicsSceneAPI
-  const TfToken MjcPhysicsSceneAPI;
-  /// \brief "MjcPhysicsSiteAPI"
+  const TfToken SceneAPI;
+  /// \brief "SiteAPI"
   ///
   /// Schema identifer and family for MjcPhysicsSiteAPI
-  const TfToken MjcPhysicsSiteAPI;
+  const TfToken SiteAPI;
   /// A vector of all of the tokens listed above.
   const std::vector<TfToken> allTokens;
 };
diff --git a/src/experimental/usd/mjcPhysics/wrapTokens.cpp b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
index 5b0672cc..3a5aa603 100644
--- a/src/experimental/usd/mjcPhysics/wrapTokens.cpp
+++ b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
@@ -145,6 +145,6 @@ void wrapMjcPhysicsTokens() {
   _AddToken(cls, "pyramidal", MjcPhysicsTokens->pyramidal);
   _AddToken(cls, "rk4", MjcPhysicsTokens->rk4);
   _AddToken(cls, "sparse", MjcPhysicsTokens->sparse);
-  _AddToken(cls, "MjcPhysicsSceneAPI", MjcPhysicsTokens->MjcPhysicsSceneAPI);
-  _AddToken(cls, "MjcPhysicsSiteAPI", MjcPhysicsTokens->MjcPhysicsSiteAPI);
+  _AddToken(cls, "SceneAPI", MjcPhysicsTokens->SceneAPI);
+  _AddToken(cls, "SiteAPI", MjcPhysicsTokens->SiteAPI);
 }

From e8c566bee1348006d54dfdad791c1723c7ccdf4d Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 15 May 2025 00:38:33 -0700
Subject: [PATCH 137/191] Remove use of `diagnum` in solver

PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
---
 doc/includes/references.h            |  1 -
 include/mujoco/mjdata.h              |  1 -
 include/mujoco/mjxmacro.h            |  1 -
 python/mujoco/introspect/structs.py  |  8 --------
 src/engine/engine_island.c           | 19 -------------------
 src/engine/engine_solver.c           |  3 ---
 unity/Runtime/Bindings/MjBindings.cs |  1 -
 7 files changed, 34 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 9726123d..59320911 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -392,7 +392,6 @@ struct mjData_ {
   mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
   int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
   int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
-  int*    iM_diagnum;        // inertia: num of consecutive diagonal elements    (nidof x 1)
   int*    iM_colind;         // inertia: column indices of non-zeros             (nC x 1)
   mjtNum* iM;                // total inertia (sparse)                           (nC x 1)
   mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index ac780c82..c05db9ab 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -420,7 +420,6 @@ struct mjData_ {
   mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
   int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
   int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
-  int*    iM_diagnum;        // inertia: num of consecutive diagonal elements    (nidof x 1)
   int*    iM_colind;         // inertia: column indices of non-zeros             (nC x 1)
   mjtNum* iM;                // total inertia (sparse)                           (nC x 1)
   mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index b381d5d2..ecd40310 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -758,7 +758,6 @@
     X( mjtNum,  iacc_smooth,       MJ_D(nidof),    1 ) \
     X( int,     iM_rownnz,         MJ_D(nidof),    1 ) \
     X( int,     iM_rowadr,         MJ_D(nidof),    1 ) \
-    X( int,     iM_diagnum,        MJ_D(nidof),    1 ) \
     X( int,     iM_colind,         MJ_M(nC),       1 ) \
     X( mjtNum,  iM,                MJ_M(nC),       1 ) \
     X( mjtNum,  iLD,               MJ_M(nC),       1 ) \
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index d9f04366..4aac02a9 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -6024,14 +6024,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='inertia: address of each row in iM_colind',
                  array_extent=('nidof',),
              ),
-             StructFieldDecl(
-                 name='iM_diagnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='inertia: num of consecutive diagonal elements',
-                 array_extent=('nidof',),
-             ),
              StructFieldDecl(
                  name='iM_colind',
                  type=PointerType(
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
index d38943d4..05364373 100644
--- a/src/engine/engine_island.c
+++ b/src/engine/engine_island.c
@@ -544,25 +544,6 @@ void mj_island(const mjModel* m, mjData* d) {
                       d->iM, d->M);
   mju_gather(d->iLDiagInv, d->qLDiagInv, d->map_idof2dof, nidof);
 
-  // compute iM_diagnum (dof_simplenum per island)
-  int count = 0;
-  int dof_next = d->map_idof2dof[nidof-1];
-  for (int i=nidof-1; i >= 0; i--) {
-    // check if island boundary was crossed
-    int dof = d->map_idof2dof[i];
-    int island_boundary = (d->dof_island[dof] != d->dof_island[dof_next]);
-    dof_next = dof;
-
-    // accumulate and set simple dof (diagonal row) counter
-    if (m->dof_simplenum[dof] && !island_boundary) {
-      count++;    // increment counter
-    } else {
-      count = 0;  // reset
-    }
-    d->iM_diagnum[i] = count;
-  }
-
-
 
   // ------------------------------------- constraints ---------------------------------------------
 
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 7568b0f6..37b83024 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -786,7 +786,6 @@ struct _mjCGContext {
   // inertia
   const int* M_rownnz;
   const int* M_rowadr;
-  const int* M_diagnum;
   const int* M_colind;
   const mjtNum* M;
   const mjtNum* qLD;
@@ -888,7 +887,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     // inertia
     ctx->M_rownnz         = d->M_rownnz;
     ctx->M_rowadr         = d->M_rowadr;
-    ctx->M_diagnum        = m->dof_simplenum;
     ctx->M_colind         = d->M_colind;
     ctx->M                = d->M;
     ctx->qLD              = d->qLD;
@@ -937,7 +935,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
     // inertia
     ctx->M_rownnz         = d->iM_rownnz         + idofadr;
     ctx->M_rowadr         = d->iM_rowadr         + idofadr;
-    ctx->M_diagnum        = d->iM_diagnum        + idofadr;
     ctx->M_colind         = d->iM_colind;
     ctx->M                = d->iM;
     ctx->qLD              = d->iLD;
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 4f0d209b..d0dd61aa 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5004,7 +5004,6 @@ public unsafe struct mjData_ {
   public double* iacc_smooth;
   public int* iM_rownnz;
   public int* iM_rowadr;
-  public int* iM_diagnum;
   public int* iM_colind;
   public double* iM;
   public double* iLD;

From 7ba507323dff297e6c7b2ed9503f7db42a7972b9 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 15 May 2025 03:09:30 -0700
Subject: [PATCH 138/191] Handle mocap body in `bind`.

PiperOrigin-RevId: 759065524
Change-Id: Ic4cc737596af883f267b6e2c470ac4591ea1eead
---
 mjx/mujoco/mjx/_src/support.py      | 10 +++++++++-
 mjx/mujoco/mjx/_src/support_test.py | 14 +++++++++++++-
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index aea5bced..ab330067 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -473,6 +473,8 @@ class BindData(object):
         return self._slice(self.__getname(name), slice(adr, adr + num))
       else:
         return self._slice(self.__getname(name), adr)
+    elif name in ('mocap_pos', 'mocap_quat'):
+      return self._slice(self.__getname(name), self.model.body_mocapid[self.id])
     return self._slice(self.__getname(name), self.id)
 
   def set(self, name: str, value: jax.Array) -> Data:
@@ -485,7 +487,7 @@ class BindData(object):
       iter(value)
     except TypeError:
       value = [value]
-    if name in ('qpos', 'qvel', 'qacc'):
+    if name in ('qpos', 'qvel', 'qacc', 'mocap_pos', 'mocap_quat'):
       adr = num = 0
       if name == 'qpos':
         adr = self.model.jnt_qposadr[self.id]
@@ -495,6 +497,12 @@ class BindData(object):
         adr = self.model.jnt_dofadr[self.id]
         typ = self.model.jnt_type[self.id]
         num = sum((typ == jt) * jt.dof_width() for jt in JointType)
+      elif name == 'mocap_pos':
+        adr = self.model.body_mocapid[self.id] * 3
+        num = np.ones_like(self.id, dtype=int) * 3
+      elif name == 'mocap_quat':
+        adr = self.model.body_mocapid[self.id] * 4
+        num = np.ones_like(self.id, dtype=int) * 4
       if not isinstance(self.id, list):
         adr = [adr]
         num = [num]
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 38392d38..05c1e5bd 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -173,6 +173,8 @@ class SupportTest(parameterized.TestCase):
             <joint axis="0 0 1" type="slide" name="joint3"/>
             <geom size="7 8 9" type="box" name="geom3"/>
           </body>
+          <body pos="100 110 120" name="body4" mocap="true"/>
+          <body pos="130 140 150" name="body5" mocap="true"/>
         </worldbody>
 
         <actuator>
@@ -318,6 +320,16 @@ class SupportTest(parameterized.TestCase):
     np.testing.assert_array_equal(
         dx10.bind(mx, s.bodies[1]).xfrc_applied, [2, 2, 2, 2, 2, 2]
     )
+    dx11 = dx.bind(mx, s.bodies[-1]).set(
+        'mocap_pos',
+        [1, 2, 3],
+    )
+    np.testing.assert_array_equal(
+        dx11.bind(mx, s.bodies[-2]).mocap_pos, [100, 110, 120]
+    )
+    np.testing.assert_array_equal(
+        dx11.bind(mx, s.bodies[-1]).mocap_pos, [1, 2, 3]
+    )
 
     # test attribute and type mismatches
     with self.assertRaisesRegex(
@@ -359,7 +371,7 @@ class SupportTest(parameterized.TestCase):
     self.assertEqual(
         str(e.exception),
         'mjSpec signature does not match mjx.Model signature:'
-        ' 17856615236057737915 != 12517827274439268436',
+        ' 15297169659434471387 != 2785811613804955188',
     )
 
   _CONTACTS = """

From 81442e06a0f10a08b54912fb2264e4844427cc0d Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 15 May 2025 06:37:10 -0700
Subject: [PATCH 139/191] Add MjcPhysicsSiteAPI support and testing.

PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  3 +
 .../usd/mjcPhysics/mjc_site_api_test.cc       | 96 +++++++++++++++++++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 15 +++
 3 files changed, 114 insertions(+)
 create mode 100644 test/experimental/usd/mjcPhysics/mjc_site_api_test.cc

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index ef5e9f71..45d59d66 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -21,6 +21,7 @@
 #include <vector>
 
 #include <mujoco/mujoco.h>
+#include "third_party/mujoco/src/experimental/usd/mjcPhysics/tokens.h"
 #include "mjcf/utils.h"
 #include <pxr/base/arch/attributes.h>
 #include <pxr/base/gf/matrix4d.h>
@@ -834,6 +835,8 @@ class ModelWriter {
     pxr::SdfPath site_path = WriteSiteGeom(site, body_path);
     SetPrimPurpose(data_, site_path, pxr::UsdGeomTokens->guide);
 
+    ApplyApiSchema(data_, site_path, pxr::MjcPhysicsTokens->SiteAPI);
+
     int site_id = mjs_getId(site->element);
     auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
                                               &model_->site_quat[4 * site_id]);
diff --git a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
new file mode 100644
index 00000000..a193dbb1
--- /dev/null
+++ b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
@@ -0,0 +1,96 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/experimental/usd.h>
+#include <mujoco/mujoco.h>
+#include "src/experimental/usd/mjcPhysics/siteAPI.h"
+#include "test/fixture.h"
+#include <pxr/base/tf/token.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdGeom/capsule.h>
+#include <pxr/usd/usdGeom/cube.h>
+#include <pxr/usd/usdGeom/cylinder.h>
+#include <pxr/usd/usdGeom/sphere.h>
+#include <pxr/usd/usdGeom/xform.h>
+#include <pxr/usd/usdPhysics/collisionAPI.h>
+#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
+
+#define EXPECT_SITE_TYPE(spec, site_path, expected_type)                  \
+  {                                                                       \
+    mjsElement* site_element =                                            \
+        mjs_findElement(spec, mjOBJ_SITE, site_path.GetString().c_str()); \
+    EXPECT_THAT(site_element, NotNull());                                 \
+    mjsSite* site = mjs_asSite(site_element);                             \
+    EXPECT_EQ(site->type, expected_type);                                 \
+  }
+
+namespace mujoco {
+namespace {
+
+using pxr::MjcPhysicsSiteAPI;
+using pxr::SdfPath;
+using MjcSiteApiTest = MujocoTest;
+using testing::NotNull;
+
+TEST_F(MjcSiteApiTest, TestApply) {
+  auto stage = pxr::UsdStage::CreateInMemory();
+
+  auto test_body_path = SdfPath("/World/TestBody");
+  auto body = pxr::UsdGeomXform::Define(stage, test_body_path);
+  pxr::UsdPhysicsRigidBodyAPI::Apply(body.GetPrim());
+
+  auto test_collider_path =
+      test_body_path.AppendChild(pxr::TfToken("Collider"));
+  auto collider = pxr::UsdGeomSphere::Define(stage, test_collider_path);
+  pxr::UsdPhysicsCollisionAPI::Apply(collider.GetPrim());
+
+  auto test_sphere_site_path =
+      test_body_path.AppendChild(pxr::TfToken("SphereSite"));
+  auto test_cylinder_site_path =
+      test_body_path.AppendChild(pxr::TfToken("CylinderSite"));
+  auto test_capsule_site_path =
+      test_body_path.AppendChild(pxr::TfToken("CapsuleSite"));
+  auto test_box_site_path = test_body_path.AppendChild(pxr::TfToken("BoxSite"));
+
+  auto sphere = pxr::UsdGeomSphere::Define(stage, test_sphere_site_path);
+  MjcPhysicsSiteAPI::Apply(sphere.GetPrim());
+
+  auto cylinder = pxr::UsdGeomCylinder::Define(stage, test_cylinder_site_path);
+  MjcPhysicsSiteAPI::Apply(cylinder.GetPrim());
+
+  auto capsule = pxr::UsdGeomCapsule::Define(stage, test_capsule_site_path);
+  MjcPhysicsSiteAPI::Apply(capsule.GetPrim());
+
+  auto box = pxr::UsdGeomCube::Define(stage, test_box_site_path);
+  MjcPhysicsSiteAPI::Apply(box.GetPrim());
+
+  mjSpec* spec = mj_parseUSDStage(stage);
+  mjModel* default_model = mj_compile(spec, nullptr);
+  EXPECT_THAT(default_model, NotNull()) << mjs_getError(spec);
+
+  EXPECT_SITE_TYPE(spec, test_sphere_site_path, mjGEOM_SPHERE);
+  EXPECT_SITE_TYPE(spec, test_cylinder_site_path, mjGEOM_CYLINDER);
+  EXPECT_SITE_TYPE(spec, test_capsule_site_path, mjGEOM_CAPSULE);
+  EXPECT_SITE_TYPE(spec, test_box_site_path, mjGEOM_BOX);
+
+  mj_deleteModel(default_model);
+  mj_deleteSpec(spec);
+}
+
+}  // namespace
+}  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 22b8ac52..8186af02 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -17,6 +17,8 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
+#include "src/experimental/usd/mjcPhysics/siteAPI.h"
 #include "test/experimental/usd/test_utils.h"
 #include "test/fixture.h"
 #include <pxr/base/gf/vec2f.h>
@@ -518,15 +520,28 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_VALID(stage, "/test/box_site");
   EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
+
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/sphere_site",
+                          pxr::MjcPhysicsSiteAPI);
+
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/capsule_site",
+                          pxr::MjcPhysicsSiteAPI);
+
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site",
                    pxr::UsdGeomCylinder);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/cylinder_site",
+                          pxr::MjcPhysicsSiteAPI);
+
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/ellipsoid_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/ellipsoid_site", pxr::UsdGeomSphere);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/ellipsoid_site",
+                          pxr::MjcPhysicsSiteAPI);
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {

From af0cb2d365967210082f85b9e19c449269a41465 Mon Sep 17 00:00:00 2001
From: Hannes Braun <apple.hannes@gmail.com>
Date: Thu, 15 May 2025 15:42:51 +0200
Subject: [PATCH 140/191] Use errno.h instead of sys/errno.h

---
 simulate/main.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/simulate/main.cc b/simulate/main.cc
index 3ebe873c..8d70e6e8 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -39,7 +39,7 @@ extern "C" {
   #if defined(__APPLE__)
     #include <mach-o/dyld.h>
   #endif
-  #include <sys/errno.h>
+  #include <errno.h>
   #include <unistd.h>
 #endif
 }

From ee8abdf854b46179ecb912f723ca9f371555354a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 16 May 2025 06:41:08 -0700
Subject: [PATCH 141/191] Speed up mju_sqrMatTDSparse

PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
---
 src/engine/engine_util_sparse.c               | 207 +++++++++++++++++-
 src/engine/engine_util_sparse.h               |  10 +
 .../engine_util_sparse_benchmark_test.cc      |  15 +-
 test/engine/engine_util_sparse_test.cc        | 124 +++++++++--
 4 files changed, 335 insertions(+), 21 deletions(-)

diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 17e960a3..44dddb92 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -18,6 +18,7 @@
 #include <string.h>
 
 #include <mujoco/mjdata.h>
+#include <mujoco/mjmacro.h>
 #include <mujoco/mjsan.h>  // IWYU pragma: keep
 #include <mujoco/mjtnum.h>
 #include "engine/engine_io.h"
@@ -711,8 +712,10 @@ void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc) {
 
 
 
-// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
-// res_rowadr is required to be precomputed
+// max number of supernodes handled
+#define mjMAXSUPER 8
+
+// compute sparse M'*diag*M (diag=NULL: compute M'*M), res_rowadr must be precomputed
 void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
                         const mjtNum* diag, int nr, int nc,
                         int* res_rownnz, const int* res_rowadr, int* res_colind,
@@ -721,6 +724,206 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
                         const int* rownnzT, const int* rowadrT,
                         const int* colindT, const int* rowsuperT,
                         mjData* d, int* diagind) {
+  mj_markStack(d);
+
+  // reinterpret transposed matrices as compressed sparse column
+  const mjtNum* mat_csc  = matT;
+  const int* colnnz      = rownnzT;
+  const int* coladr      = rowadrT;
+  const int* rowind      = colindT;
+  const int* colsuper    = rowsuperT;
+  const mjtNum* matT_csc = mat;
+  const int* colnnzT     = rownnz;
+  const int* coladrT     = rowadr;
+  const int* rowindT     = colind;
+  // rowsuper is unused
+
+  // marker[i] = 1 if row i is set in current column
+  int* marker = mjSTACKALLOC(d, nc, int);
+  mju_zeroInt(marker, nc);
+
+  // dense buffer (considered column-major) containing up to mjMAXSUPER columns
+  mjtNum* buffer = mjSTACKALLOC(d, nc*mjMAXSUPER, mjtNum);
+
+  // dense index vector of the current column (unsorted)
+  int* buffer_idx = mjSTACKALLOC(d, nc, int);
+
+  // rowstart[i]: address of first row in column mat'[:, i] with index > current column
+  int* rowstart = mjSTACKALLOC(d, nr, int);
+  mju_zeroInt(rowstart, nr);
+
+  // clear res_rownnz
+  mju_zeroInt(res_rownnz, nc);
+
+  // construct res[lower+diagonal], by column
+  for (int c=0; c < nc; c++) {
+    int buffer_nnz = 0;
+
+    // prepare column c of mat
+    int nnz = colnnz[c];
+    int adr = coladr[c];
+    const int* ind = rowind + adr;
+
+    // val: array of ns > 0 column pointers with identical pattern to c
+    const mjtNum* val[mjMAXSUPER];
+
+    // first column is c
+    int ns = 1;
+    val[0] = mat_csc + adr;
+
+    // add c's supernodes, if any
+    int cs;
+    if (colsuper && (cs = colsuper[c])) {
+      ns += mjMIN(cs, mjMAXSUPER - 1);
+      for (int s=1; s < ns; s++) {
+        val[s] = mat_csc + coladr[c + s];
+      }
+    }
+
+    // diagonal special-case: dense dot product of column c, with/out diag
+    mjtNum diag_c[mjMAXSUPER];
+    if (diag) {
+      for (int s=0; s < ns; s++) {
+        mjtNum ds = 0;
+        for (int k=0; k < nnz; k++) {
+          ds += (val[s][k] * val[s][k]) * diag[ind[k]];
+        }
+        diag_c[s] = ds;
+      }
+    } else {
+      for (int s=0; s < ns; s++) {
+        diag_c[s] = mju_dot(val[s], val[s], nnz);
+      }
+    }
+
+    // in the strict lower triangle, compute
+    // res[:, c] = mat' * mat[:, c] = sum_r(diag[r] * mat'[:, r] * mat[:, c])
+    for (int i=0; i < nnz; i++) {
+      // prepare column r of mat'
+      int r = ind[i];
+      int adrT = coladrT[r];
+      int nnzT = colnnzT[r];
+      const int* indT = rowindT + adrT;
+      const mjtNum* valT = matT_csc + adrT;
+
+      // get v[s] = diag[r] * mat[r, c + s] for s in [0, ns)
+      mjtNum v[mjMAXSUPER];
+      if (diag) {
+        mjtNum diag_r = diag[r];
+        for (int s=0; s < ns; s++) {
+          v[s] = diag_r * val[s][i];
+        }
+      } else {
+        for (int s=0; s < ns; s++) {
+          v[s] = val[s][i];
+        }
+      }
+
+      // gather to dense buffer columns:  buffer[:, s] += mat'[:, r] * v[s]
+      for (int k=rowstart[r]; k < nnzT; k++) {
+        int j = indT[k];
+
+        // if j is not in the strict lower triangle, increment rowstart and continue
+        if (j <= c) {
+          rowstart[r]++;
+          continue;
+        }
+
+        // first nonzero in row j: mark and set value
+        if (!marker[j]) {
+          // mark j and save it
+          marker[j] = 1;
+          buffer_idx[buffer_nnz++] = j;
+
+          // set value
+          mjtNum vk = valT[k];
+          for (int s=0; s < ns; s++) {
+            buffer[s*nc + j] = vk * v[s];
+          }
+        }
+
+        // otherwise existing nonzero in row j: add to value
+        else {
+          mjtNum vk = valT[k];
+          for (int s=0; s < ns; s++) {
+            buffer[s*nc + j] += vk * v[s];
+          }
+        }
+      }
+    }
+
+    // scatter to res from dense buffer:  res[:, c + s] = buffer[:, s] for s in [0, ns)
+
+    // write values under diagonal
+    for (int i=0; i < buffer_nnz; i++) {
+      int j = buffer_idx[i];
+      marker[j] = 0;
+      int adr_j = res_rowadr[j] + res_rownnz[j];
+
+      // truncate row to strict lower triangle
+      int lower = j - c;
+      int nm = mjMIN(ns, lower);
+
+      // increment nonzeros
+      res_rownnz[j] += nm;
+
+      // write value
+      for (int s=0; s < nm; s++) {
+        res[adr_j + s] = buffer[s*nc + j];
+      }
+
+      // write index
+      for (int s=0; s < nm; s++) {
+        res_colind[adr_j + s] = c + s;
+      }
+    }
+
+    // write diagonal value
+    for (int s=0; s < ns; s++) {
+      int adr_s = res_rowadr[c + s] + res_rownnz[c + s]++;
+      res_colind[adr_s] = c + s;
+      res[adr_s] = diag_c[s];
+    }
+
+    // supernode: skip ahead if ns > 1
+    c += ns - 1;
+  }
+
+  // upper triangle requested: save diagonal indices and fill
+  if (diagind) {
+    // save diagonal indices
+    for (int i=0; i < nc; i++) {
+      diagind[i] = res_rowadr[i] + res_rownnz[i] - 1;
+    }
+
+    // fill upper triangle
+    for (int i=0; i < nc; i++) {
+      int start = res_rowadr[i];
+      int end = start + res_rownnz[i] - 1;
+      for (int j=start; j < end; j++) {
+        int adr = res_rowadr[res_colind[j]] + res_rownnz[res_colind[j]]++;
+        res[adr] = res[j];
+        res_colind[adr] = i;
+      }
+    }
+  }
+
+  mj_freeStack(d);
+}
+
+#undef mjMAXSUPER
+
+
+
+// legacy row-based implementation (reference)
+void mju_sqrMatTDSparse_row(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
+                            const mjtNum* diag, int nr, int nc,
+                            int* res_rownnz, const int* res_rowadr, int* res_colind,
+                            const int* rownnz, const int* rowadr,
+                            const int* colind, const int* rowsuper,
+                            const int* rownnzT, const int* rowadrT,
+                            const int* colindT, const int* rowsuperT,
+                            mjData* d, int* diagind) {
   // allocate space for accumulation buffer and matT
   mj_markStack(d);
 
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index ab7ea0f3..33f65513 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -110,6 +110,16 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
                               const int* colindT, const int* rowsuperT,
                               mjData* d, int* diagind);
 
+// LEGACY: row-based implementation
+MJAPI void mju_sqrMatTDSparse_row(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
+                                  const mjtNum* diag, int nr, int nc,
+                                  int* res_rownnz, const int* res_rowadr, int* res_colind,
+                                  const int* rownnz, const int* rowadr,
+                                  const int* colind, const int* rowsuper,
+                                  const int* rownnzT, const int* rowadrT,
+                                  const int* colindT, const int* rowsuperT,
+                                  mjData* d, int* diagind);
+
 // precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
 MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
                                    const int* rownnz, const int* rowadr, const int* colind,
diff --git a/test/benchmark/engine_util_sparse_benchmark_test.cc b/test/benchmark/engine_util_sparse_benchmark_test.cc
index 6be10ded..6a1b3835 100644
--- a/test/benchmark/engine_util_sparse_benchmark_test.cc
+++ b/test/benchmark/engine_util_sparse_benchmark_test.cc
@@ -613,18 +613,25 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
 }
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_sqrMatTDSparse_new(benchmark::State& state) {
+BM_sqrMatTDSparse_col(benchmark::State& state) {
   MujocoErrorTestGuard guard;
   BM_sqrMatTDSparse(state, &mju_sqrMatTDSparse);
 }
-BENCHMARK(BM_sqrMatTDSparse_new);
+BENCHMARK(BM_sqrMatTDSparse_col);
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_sqrMatTDSparse_old(benchmark::State& state) {
+BM_sqrMatTDSparse_row(benchmark::State& state) {
+  MujocoErrorTestGuard guard;
+  BM_sqrMatTDSparse(state, &mju_sqrMatTDSparse_row);
+}
+BENCHMARK(BM_sqrMatTDSparse_row);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+BM_sqrMatTDSparse_uncompressed(benchmark::State& state) {
   MujocoErrorTestGuard guard;
   BM_sqrMatTDSparse(state, nullptr);
 }
-BENCHMARK(BM_sqrMatTDSparse_old);
+BENCHMARK(BM_sqrMatTDSparse_uncompressed);
 
 }  // namespace
 }  // namespace mujoco
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index 7fee2127..edbd2558 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -377,9 +377,53 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
   mj_deleteModel(model);
 }
 
+TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseLower) {
+  //     2 -1  1
+  // M = 2 -1  2
+  //     2  2  3
+
+  mjModel* model = LoadModelFromString("<mujoco/>");
+  mjData* data = mj_makeData(model);
+
+  mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
+  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
+  int rownnz[] = {3, 3, 3};
+  int rowadr[] = {0, 3, 6};
+
+  mjtNum matT[] = {2, 2, 2, -1, -1, 2, 1, 2, 3};
+  int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
+  int rownnzT[] = {3, 3, 3};
+  int rowadrT[] = {0, 3, 6};
+
+  mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int rownnzH[] = {0, 0, 0};
+  int rowadrH[] = {0, 0, 0};
+
+  // test precount
+  mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
+                          rownnzT, rowadrT, colindT, nullptr, data, 0);
+  EXPECT_THAT(rownnzH, ElementsAre(1, 2, 3));
+  EXPECT_THAT(rowadrH, ElementsAre(0, 1, 3));
+
+  // test computation
+  mju_sqrMatTDUncompressedInit(rowadrH, 3);
+  mju_sqrMatTDSparse(matH, mat, matT, nullptr, 3, 3, rownnzH, rowadrH, colindH,
+                     rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
+                     nullptr, data, nullptr);
+
+  EXPECT_THAT(matH, ElementsAre(12, 0, 0, 0, 6, 0, 12, 3, 14));
+  EXPECT_THAT(colindH, ElementsAre(0, 0, 0, 0, 1, 0, 0, 1, 2));
+  EXPECT_THAT(rownnzH, ElementsAre(1, 2, 3));
+  EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
   //     2 -1  1
-  // M = 1  2 -1
+  // M = 2 -1  2
   //     2  2  3
 
   mjModel* model = LoadModelFromString("<mujoco/>");
@@ -419,6 +463,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
   EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
   EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
   EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
+  EXPECT_THAT(diagindH, ElementsAre(0, 4, 8));
 
   mj_deleteData(data);
   mj_deleteModel(model);
@@ -464,14 +509,63 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
                      nullptr, data, diagindH);
 
   EXPECT_THAT(matH, ElementsAre(66, 4, 0, 4, 35, 0, 0, 0, 0));
-  EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 1, 0, 0, 0, 0));
-  EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
+  EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 1, 0, 2, 0, 0));
+  EXPECT_THAT(rownnzH, ElementsAre(2, 2, 1));
   EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
 
   mj_deleteData(data);
   mj_deleteModel(model);
 }
 
+TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3b) {
+  //     1 2 0
+  // M = 0 3 4
+  //     5 0 0
+
+  mjModel* model = LoadModelFromString("<mujoco/>");
+  mjData* data = mj_makeData(model);
+
+  mjtNum mat[] = {1, 2, 3, 4, 5};
+  int colind[] = {0, 1, 1, 2, 0};
+  int rownnz[] = {2, 2, 1};
+  int rowadr[] = {0, 2, 4};
+
+  mjtNum matT[] = {1, 5, 2, 3, 4};
+  int colindT[] = {0, 2, 0, 1, 1};
+  int rownnzT[] = {2, 2, 1};
+  int rowadrT[] = {0, 2, 4};
+
+  mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int rownnzH[] = {0, 0, 0};
+  int rowadrH[] = {0, 0, 0};
+  int diagindH[] = {0, 0, 0};
+
+  mjtNum diag[] = {1, 1, 1};
+
+  // test precount
+  mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
+                          rownnzT, rowadrT, colindT, nullptr, data, 1);
+
+  EXPECT_THAT(rownnzH, ElementsAre(2, 3, 2));
+  EXPECT_THAT(rowadrH, ElementsAre(0, 2, 5));
+
+  // test computation
+  mju_sqrMatTDUncompressedInit(rowadrH, 3);
+  mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
+                     rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
+                     nullptr, data, diagindH);
+
+  EXPECT_THAT(matH, ElementsAre(26, 2, 0, 2, 13, 12, 12, 16, 0));
+  EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 1, 2, 1, 2, 0));
+  EXPECT_THAT(rownnzH, ElementsAre(2, 3, 2));
+  EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
+  EXPECT_THAT(diagindH, ElementsAre(0, 4, 7));
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
   //     1 0 2
   // M = 0 0 3
@@ -513,8 +607,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
                      nullptr, data, diagindH);
 
   EXPECT_THAT(matH, ElementsAre(66, 4, 0, 0, 0, 0, 4, 35, 0));
-  EXPECT_THAT(colindH, ElementsAre(0, 2, 0, 0, 0, 0, 0, 2, 0));
-  EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
+  EXPECT_THAT(colindH, ElementsAre(0, 2, 0, 1, 0, 0, 0, 2, 0));
+  EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
   EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
 
   mj_deleteData(data);
@@ -759,19 +853,19 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
 }
 
 TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
-  //     1 1 1
-  // M = 2 2 2
-  //     3 3 3
+  //     1 2 3
+  // M = 2 3 2
+  //     3 1 1
 
   mjModel* model = LoadModelFromString("<mujoco/>");
   mjData* data = mj_makeData(model);
 
-  mjtNum mat[] = {1, 1, 1, 2, 2, 2, 3, 3, 3};
+  mjtNum mat[] = {1, 2, 3, 2, 3, 2, 3, 1, 1};
   int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
   int rownnz[] = {3, 3, 3};
   int rowadr[] = {0, 3, 6};
 
-  mjtNum matT[] = {1, 2, 3, 1, 2, 3, 1, 2, 3};
+  mjtNum matT[] = {1, 2, 3, 2, 3, 1, 3, 2, 1};
   int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
   int rownnzT[] = {3, 3, 3};
   int rowadrT[] = {0, 3, 6};
@@ -783,7 +877,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
   int rowadrH[] = {0, 0, 0};
   int diagindH[] = {0, 0, 0};
 
-  mjtNum diag[] = {1, 1, 1};
+  mjtNum diag[] = {1, 2, 1};
 
   // test precount
   mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
@@ -798,7 +892,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
                      rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
                      rowsuperT, data, diagindH);
 
-  EXPECT_THAT(matH, ElementsAre(14, 14, 14, 14, 14, 14, 14, 14, 14));
+  EXPECT_THAT(matH, ElementsAre(18, 17, 14, 17, 23, 19, 14, 19, 18));
   EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
   EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
   EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -951,9 +1045,9 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
 
   EXPECT_THAT(matH, ElementsAre(3, 3, 0, 0, 0, 3, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                                 0, 0, 0, 0, 0, 0, 0, 0, 0));
-  EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0,
-                                   0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
-  EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0));
+  EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 0,
+                                   3, 0, 0, 0, 0, 4, 0, 0, 0, 0));
+  EXPECT_THAT(rownnzH, ElementsAre(2, 2, 1, 1, 1));
   EXPECT_THAT(rowadrH, ElementsAre(0, 5, 10, 15, 20));
 
   mj_deleteData(data);

From df09980258d51c73906684e6a0c57ac1b4840f6c Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 16 May 2025 07:12:00 -0700
Subject: [PATCH 142/191] Create python module for MjcPhysics.

PiperOrigin-RevId: 759602056
Change-Id: I06e604a5f6b3ca3b1a4bb949589d1b7ab72dd6ad
---
 .../usd/mjcPhysics/wrapSceneAPI.cpp           | 653 ------------------
 .../usd/mjcPhysics/wrapSiteAPI.cpp            | 120 ----
 .../usd/mjcPhysics/wrapTokens.cpp             | 150 ----
 3 files changed, 923 deletions(-)
 delete mode 100644 src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp
 delete mode 100644 src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp
 delete mode 100644 src/experimental/usd/mjcPhysics/wrapTokens.cpp

diff --git a/src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp b/src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp
deleted file mode 100644
index f8936938..00000000
--- a/src/experimental/usd/mjcPhysics/wrapSceneAPI.cpp
+++ /dev/null
@@ -1,653 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <boost/python.hpp>
-#include <string>
-
-#include "./sceneAPI.h"
-#include "pxr/base/tf/pyAnnotatedBoolResult.h"
-#include "pxr/base/tf/pyContainerConversions.h"
-#include "pxr/base/tf/pyResultConversions.h"
-#include "pxr/base/tf/pyUtils.h"
-#include "pxr/base/tf/wrapTypeHelpers.h"
-#include "pxr/usd/sdf/primSpec.h"
-#include "pxr/usd/usd/pyConversions.h"
-#include "pxr/usd/usd/schemaBase.h"
-
-using namespace boost::python;
-
-PXR_NAMESPACE_USING_DIRECTIVE
-
-namespace {
-
-#define WRAP_CUSTOM    \
-  template <class Cls> \
-  static void _CustomWrapCode(Cls &_class)
-
-// fwd decl.
-WRAP_CUSTOM;
-
-static UsdAttribute _CreateTimestepAttr(MjcPhysicsSceneAPI &self,
-                                        object defaultVal, bool writeSparsely) {
-  return self.CreateTimestepAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateApiRateAttr(MjcPhysicsSceneAPI &self,
-                                       object defaultVal, bool writeSparsely) {
-  return self.CreateApiRateAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateImpRatioAttr(MjcPhysicsSceneAPI &self,
-                                        object defaultVal, bool writeSparsely) {
-  return self.CreateImpRatioAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateWindAttr(MjcPhysicsSceneAPI &self, object defaultVal,
-                                    bool writeSparsely) {
-  return self.CreateWindAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double3),
-      writeSparsely);
-}
-
-static UsdAttribute _CreateMagneticAttr(MjcPhysicsSceneAPI &self,
-                                        object defaultVal, bool writeSparsely) {
-  return self.CreateMagneticAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double3),
-      writeSparsely);
-}
-
-static UsdAttribute _CreateDensityAttr(MjcPhysicsSceneAPI &self,
-                                       object defaultVal, bool writeSparsely) {
-  return self.CreateDensityAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateViscosityAttr(MjcPhysicsSceneAPI &self,
-                                         object defaultVal,
-                                         bool writeSparsely) {
-  return self.CreateViscosityAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateOMarginAttr(MjcPhysicsSceneAPI &self,
-                                       object defaultVal, bool writeSparsely) {
-  return self.CreateOMarginAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateOSolRefAttr(MjcPhysicsSceneAPI &self,
-                                       object defaultVal, bool writeSparsely) {
-  return self.CreateOSolRefAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
-      writeSparsely);
-}
-
-static UsdAttribute _CreateOSolImpAttr(MjcPhysicsSceneAPI &self,
-                                       object defaultVal, bool writeSparsely) {
-  return self.CreateOSolImpAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
-      writeSparsely);
-}
-
-static UsdAttribute _CreateOFrictionAttr(MjcPhysicsSceneAPI &self,
-                                         object defaultVal,
-                                         bool writeSparsely) {
-  return self.CreateOFrictionAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
-      writeSparsely);
-}
-
-static UsdAttribute _CreateIntegratorAttr(MjcPhysicsSceneAPI &self,
-                                          object defaultVal,
-                                          bool writeSparsely) {
-  return self.CreateIntegratorAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
-}
-
-static UsdAttribute _CreateConeAttr(MjcPhysicsSceneAPI &self, object defaultVal,
-                                    bool writeSparsely) {
-  return self.CreateConeAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
-}
-
-static UsdAttribute _CreateJacobianAttr(MjcPhysicsSceneAPI &self,
-                                        object defaultVal, bool writeSparsely) {
-  return self.CreateJacobianAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
-}
-
-static UsdAttribute _CreateSolverAttr(MjcPhysicsSceneAPI &self,
-                                      object defaultVal, bool writeSparsely) {
-  return self.CreateSolverAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
-}
-
-static UsdAttribute _CreateIterationsAttr(MjcPhysicsSceneAPI &self,
-                                          object defaultVal,
-                                          bool writeSparsely) {
-  return self.CreateIterationsAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
-}
-
-static UsdAttribute _CreateToleranceAttr(MjcPhysicsSceneAPI &self,
-                                         object defaultVal,
-                                         bool writeSparsely) {
-  return self.CreateToleranceAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateLSIterationsAttr(MjcPhysicsSceneAPI &self,
-                                            object defaultVal,
-                                            bool writeSparsely) {
-  return self.CreateLSIterationsAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
-}
-
-static UsdAttribute _CreateLSToleranceAttr(MjcPhysicsSceneAPI &self,
-                                           object defaultVal,
-                                           bool writeSparsely) {
-  return self.CreateLSToleranceAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateNoslipIterationsAttr(MjcPhysicsSceneAPI &self,
-                                                object defaultVal,
-                                                bool writeSparsely) {
-  return self.CreateNoslipIterationsAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
-}
-
-static UsdAttribute _CreateNoslipToleranceAttr(MjcPhysicsSceneAPI &self,
-                                               object defaultVal,
-                                               bool writeSparsely) {
-  return self.CreateNoslipToleranceAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateCCDIterationsAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateCCDIterationsAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
-}
-
-static UsdAttribute _CreateCCDToleranceAttr(MjcPhysicsSceneAPI &self,
-                                            object defaultVal,
-                                            bool writeSparsely) {
-  return self.CreateCCDToleranceAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
-}
-
-static UsdAttribute _CreateSDFIterationsAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateSDFIterationsAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
-}
-
-static UsdAttribute _CreateSDFInitPointsAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateSDFInitPointsAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
-}
-
-static UsdAttribute _CreateActuatorGroupDisableAttr(MjcPhysicsSceneAPI &self,
-                                                    object defaultVal,
-                                                    bool writeSparsely) {
-  return self.CreateActuatorGroupDisableAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->IntArray),
-      writeSparsely);
-}
-
-static UsdAttribute _CreateConstraintFlagAttr(MjcPhysicsSceneAPI &self,
-                                              object defaultVal,
-                                              bool writeSparsely) {
-  return self.CreateConstraintFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateEqualityFlagAttr(MjcPhysicsSceneAPI &self,
-                                            object defaultVal,
-                                            bool writeSparsely) {
-  return self.CreateEqualityFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateFrictionLossFlagAttr(MjcPhysicsSceneAPI &self,
-                                                object defaultVal,
-                                                bool writeSparsely) {
-  return self.CreateFrictionLossFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateLimitFlagAttr(MjcPhysicsSceneAPI &self,
-                                         object defaultVal,
-                                         bool writeSparsely) {
-  return self.CreateLimitFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateContactFlagAttr(MjcPhysicsSceneAPI &self,
-                                           object defaultVal,
-                                           bool writeSparsely) {
-  return self.CreateContactFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreatePassiveFlagAttr(MjcPhysicsSceneAPI &self,
-                                           object defaultVal,
-                                           bool writeSparsely) {
-  return self.CreatePassiveFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateGravityFlagAttr(MjcPhysicsSceneAPI &self,
-                                           object defaultVal,
-                                           bool writeSparsely) {
-  return self.CreateGravityFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateClampCtrlFlagAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateClampCtrlFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateWarmStartFlagAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateWarmStartFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateFilterParentFlagAttr(MjcPhysicsSceneAPI &self,
-                                                object defaultVal,
-                                                bool writeSparsely) {
-  return self.CreateFilterParentFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateActuationFlagAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateActuationFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateRefSafeFlagAttr(MjcPhysicsSceneAPI &self,
-                                           object defaultVal,
-                                           bool writeSparsely) {
-  return self.CreateRefSafeFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateSensorFlagAttr(MjcPhysicsSceneAPI &self,
-                                          object defaultVal,
-                                          bool writeSparsely) {
-  return self.CreateSensorFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateMidPhaseFlagAttr(MjcPhysicsSceneAPI &self,
-                                            object defaultVal,
-                                            bool writeSparsely) {
-  return self.CreateMidPhaseFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateNativeCCDFlagAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateNativeCCDFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateEulerDampFlagAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateEulerDampFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateAutoResetFlagAttr(MjcPhysicsSceneAPI &self,
-                                             object defaultVal,
-                                             bool writeSparsely) {
-  return self.CreateAutoResetFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateOverrideFlagAttr(MjcPhysicsSceneAPI &self,
-                                            object defaultVal,
-                                            bool writeSparsely) {
-  return self.CreateOverrideFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateEnergyFlagAttr(MjcPhysicsSceneAPI &self,
-                                          object defaultVal,
-                                          bool writeSparsely) {
-  return self.CreateEnergyFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateFwdinvFlagAttr(MjcPhysicsSceneAPI &self,
-                                          object defaultVal,
-                                          bool writeSparsely) {
-  return self.CreateFwdinvFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateInvDiscreteFlagAttr(MjcPhysicsSceneAPI &self,
-                                               object defaultVal,
-                                               bool writeSparsely) {
-  return self.CreateInvDiscreteFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateMultiCCDFlagAttr(MjcPhysicsSceneAPI &self,
-                                            object defaultVal,
-                                            bool writeSparsely) {
-  return self.CreateMultiCCDFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static UsdAttribute _CreateIslandFlagAttr(MjcPhysicsSceneAPI &self,
-                                          object defaultVal,
-                                          bool writeSparsely) {
-  return self.CreateIslandFlagAttr(
-      UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
-}
-
-static std::string _Repr(const MjcPhysicsSceneAPI &self) {
-  std::string primRepr = TfPyRepr(self.GetPrim());
-  return TfStringPrintf("MjcPhysics.SceneAPI(%s)", primRepr.c_str());
-}
-
-struct MjcPhysicsSceneAPI_CanApplyResult
-    : public TfPyAnnotatedBoolResult<std::string> {
-  MjcPhysicsSceneAPI_CanApplyResult(bool val, std::string const &msg)
-      : TfPyAnnotatedBoolResult<std::string>(val, msg) {}
-};
-
-static MjcPhysicsSceneAPI_CanApplyResult _WrapCanApply(const UsdPrim &prim) {
-  std::string whyNot;
-  bool result = MjcPhysicsSceneAPI::CanApply(prim, &whyNot);
-  return MjcPhysicsSceneAPI_CanApplyResult(result, whyNot);
-}
-
-}  // anonymous namespace
-
-void wrapMjcPhysicsSceneAPI() {
-  typedef MjcPhysicsSceneAPI This;
-
-  MjcPhysicsSceneAPI_CanApplyResult::Wrap<MjcPhysicsSceneAPI_CanApplyResult>(
-      "_CanApplyResult", "whyNot");
-
-  class_<This, bases<UsdAPISchemaBase> > cls("SceneAPI");
-
-  cls.def(init<UsdPrim>(arg("prim")))
-      .def(init<UsdSchemaBase const &>(arg("schemaObj")))
-      .def(TfTypePythonClass())
-
-      .def("Get", &This::Get, (arg("stage"), arg("path")))
-      .staticmethod("Get")
-
-      .def("CanApply", &_WrapCanApply, (arg("prim")))
-      .staticmethod("CanApply")
-
-      .def("Apply", &This::Apply, (arg("prim")))
-      .staticmethod("Apply")
-
-      .def("GetSchemaAttributeNames", &This::GetSchemaAttributeNames,
-           arg("includeInherited") = true,
-           return_value_policy<TfPySequenceToList>())
-      .staticmethod("GetSchemaAttributeNames")
-
-      .def("_GetStaticTfType", (TfType const &(*)())TfType::Find<This>,
-           return_value_policy<return_by_value>())
-      .staticmethod("_GetStaticTfType")
-
-      .def(!self)
-
-      .def("GetTimestepAttr", &This::GetTimestepAttr)
-      .def("CreateTimestepAttr", &_CreateTimestepAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetApiRateAttr", &This::GetApiRateAttr)
-      .def("CreateApiRateAttr", &_CreateApiRateAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetImpRatioAttr", &This::GetImpRatioAttr)
-      .def("CreateImpRatioAttr", &_CreateImpRatioAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetWindAttr", &This::GetWindAttr)
-      .def("CreateWindAttr", &_CreateWindAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetMagneticAttr", &This::GetMagneticAttr)
-      .def("CreateMagneticAttr", &_CreateMagneticAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetDensityAttr", &This::GetDensityAttr)
-      .def("CreateDensityAttr", &_CreateDensityAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetViscosityAttr", &This::GetViscosityAttr)
-      .def("CreateViscosityAttr", &_CreateViscosityAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetOMarginAttr", &This::GetOMarginAttr)
-      .def("CreateOMarginAttr", &_CreateOMarginAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetOSolRefAttr", &This::GetOSolRefAttr)
-      .def("CreateOSolRefAttr", &_CreateOSolRefAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetOSolImpAttr", &This::GetOSolImpAttr)
-      .def("CreateOSolImpAttr", &_CreateOSolImpAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetOFrictionAttr", &This::GetOFrictionAttr)
-      .def("CreateOFrictionAttr", &_CreateOFrictionAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetIntegratorAttr", &This::GetIntegratorAttr)
-      .def("CreateIntegratorAttr", &_CreateIntegratorAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetConeAttr", &This::GetConeAttr)
-      .def("CreateConeAttr", &_CreateConeAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetJacobianAttr", &This::GetJacobianAttr)
-      .def("CreateJacobianAttr", &_CreateJacobianAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetSolverAttr", &This::GetSolverAttr)
-      .def("CreateSolverAttr", &_CreateSolverAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetIterationsAttr", &This::GetIterationsAttr)
-      .def("CreateIterationsAttr", &_CreateIterationsAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetToleranceAttr", &This::GetToleranceAttr)
-      .def("CreateToleranceAttr", &_CreateToleranceAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetLSIterationsAttr", &This::GetLSIterationsAttr)
-      .def("CreateLSIterationsAttr", &_CreateLSIterationsAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetLSToleranceAttr", &This::GetLSToleranceAttr)
-      .def("CreateLSToleranceAttr", &_CreateLSToleranceAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetNoslipIterationsAttr", &This::GetNoslipIterationsAttr)
-      .def("CreateNoslipIterationsAttr", &_CreateNoslipIterationsAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetNoslipToleranceAttr", &This::GetNoslipToleranceAttr)
-      .def("CreateNoslipToleranceAttr", &_CreateNoslipToleranceAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetCCDIterationsAttr", &This::GetCCDIterationsAttr)
-      .def("CreateCCDIterationsAttr", &_CreateCCDIterationsAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetCCDToleranceAttr", &This::GetCCDToleranceAttr)
-      .def("CreateCCDToleranceAttr", &_CreateCCDToleranceAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetSDFIterationsAttr", &This::GetSDFIterationsAttr)
-      .def("CreateSDFIterationsAttr", &_CreateSDFIterationsAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetSDFInitPointsAttr", &This::GetSDFInitPointsAttr)
-      .def("CreateSDFInitPointsAttr", &_CreateSDFInitPointsAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetActuatorGroupDisableAttr", &This::GetActuatorGroupDisableAttr)
-      .def("CreateActuatorGroupDisableAttr", &_CreateActuatorGroupDisableAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetConstraintFlagAttr", &This::GetConstraintFlagAttr)
-      .def("CreateConstraintFlagAttr", &_CreateConstraintFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetEqualityFlagAttr", &This::GetEqualityFlagAttr)
-      .def("CreateEqualityFlagAttr", &_CreateEqualityFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetFrictionLossFlagAttr", &This::GetFrictionLossFlagAttr)
-      .def("CreateFrictionLossFlagAttr", &_CreateFrictionLossFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetLimitFlagAttr", &This::GetLimitFlagAttr)
-      .def("CreateLimitFlagAttr", &_CreateLimitFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetContactFlagAttr", &This::GetContactFlagAttr)
-      .def("CreateContactFlagAttr", &_CreateContactFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetPassiveFlagAttr", &This::GetPassiveFlagAttr)
-      .def("CreatePassiveFlagAttr", &_CreatePassiveFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetGravityFlagAttr", &This::GetGravityFlagAttr)
-      .def("CreateGravityFlagAttr", &_CreateGravityFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetClampCtrlFlagAttr", &This::GetClampCtrlFlagAttr)
-      .def("CreateClampCtrlFlagAttr", &_CreateClampCtrlFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetWarmStartFlagAttr", &This::GetWarmStartFlagAttr)
-      .def("CreateWarmStartFlagAttr", &_CreateWarmStartFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetFilterParentFlagAttr", &This::GetFilterParentFlagAttr)
-      .def("CreateFilterParentFlagAttr", &_CreateFilterParentFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetActuationFlagAttr", &This::GetActuationFlagAttr)
-      .def("CreateActuationFlagAttr", &_CreateActuationFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetRefSafeFlagAttr", &This::GetRefSafeFlagAttr)
-      .def("CreateRefSafeFlagAttr", &_CreateRefSafeFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetSensorFlagAttr", &This::GetSensorFlagAttr)
-      .def("CreateSensorFlagAttr", &_CreateSensorFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetMidPhaseFlagAttr", &This::GetMidPhaseFlagAttr)
-      .def("CreateMidPhaseFlagAttr", &_CreateMidPhaseFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetNativeCCDFlagAttr", &This::GetNativeCCDFlagAttr)
-      .def("CreateNativeCCDFlagAttr", &_CreateNativeCCDFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetEulerDampFlagAttr", &This::GetEulerDampFlagAttr)
-      .def("CreateEulerDampFlagAttr", &_CreateEulerDampFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetAutoResetFlagAttr", &This::GetAutoResetFlagAttr)
-      .def("CreateAutoResetFlagAttr", &_CreateAutoResetFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetOverrideFlagAttr", &This::GetOverrideFlagAttr)
-      .def("CreateOverrideFlagAttr", &_CreateOverrideFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetEnergyFlagAttr", &This::GetEnergyFlagAttr)
-      .def("CreateEnergyFlagAttr", &_CreateEnergyFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetFwdinvFlagAttr", &This::GetFwdinvFlagAttr)
-      .def("CreateFwdinvFlagAttr", &_CreateFwdinvFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetInvDiscreteFlagAttr", &This::GetInvDiscreteFlagAttr)
-      .def("CreateInvDiscreteFlagAttr", &_CreateInvDiscreteFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetMultiCCDFlagAttr", &This::GetMultiCCDFlagAttr)
-      .def("CreateMultiCCDFlagAttr", &_CreateMultiCCDFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("GetIslandFlagAttr", &This::GetIslandFlagAttr)
-      .def("CreateIslandFlagAttr", &_CreateIslandFlagAttr,
-           (arg("defaultValue") = object(), arg("writeSparsely") = false))
-
-      .def("__repr__", ::_Repr);
-
-  _CustomWrapCode(cls);
-}
-
-// ===================================================================== //
-// Feel free to add custom code below this line, it will be preserved by
-// the code generator.  The entry point for your custom code should look
-// minimally like the following:
-//
-// WRAP_CUSTOM {
-//     _class
-//         .def("MyCustomMethod", ...)
-//     ;
-// }
-//
-// Of course any other ancillary or support code may be provided.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'namespace {', '}'.
-//
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
-
-namespace {
-
-WRAP_CUSTOM {}
-
-}  // namespace
diff --git a/src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp b/src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp
deleted file mode 100644
index 267978d7..00000000
--- a/src/experimental/usd/mjcPhysics/wrapSiteAPI.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <boost/python.hpp>
-#include <string>
-
-#include "./siteAPI.h"
-#include "pxr/base/tf/pyAnnotatedBoolResult.h"
-#include "pxr/base/tf/pyContainerConversions.h"
-#include "pxr/base/tf/pyResultConversions.h"
-#include "pxr/base/tf/pyUtils.h"
-#include "pxr/base/tf/wrapTypeHelpers.h"
-#include "pxr/usd/sdf/primSpec.h"
-#include "pxr/usd/usd/pyConversions.h"
-#include "pxr/usd/usd/schemaBase.h"
-
-using namespace boost::python;
-
-PXR_NAMESPACE_USING_DIRECTIVE
-
-namespace {
-
-#define WRAP_CUSTOM    \
-  template <class Cls> \
-  static void _CustomWrapCode(Cls &_class)
-
-// fwd decl.
-WRAP_CUSTOM;
-
-static std::string _Repr(const MjcPhysicsSiteAPI &self) {
-  std::string primRepr = TfPyRepr(self.GetPrim());
-  return TfStringPrintf("MjcPhysics.SiteAPI(%s)", primRepr.c_str());
-}
-
-struct MjcPhysicsSiteAPI_CanApplyResult
-    : public TfPyAnnotatedBoolResult<std::string> {
-  MjcPhysicsSiteAPI_CanApplyResult(bool val, std::string const &msg)
-      : TfPyAnnotatedBoolResult<std::string>(val, msg) {}
-};
-
-static MjcPhysicsSiteAPI_CanApplyResult _WrapCanApply(const UsdPrim &prim) {
-  std::string whyNot;
-  bool result = MjcPhysicsSiteAPI::CanApply(prim, &whyNot);
-  return MjcPhysicsSiteAPI_CanApplyResult(result, whyNot);
-}
-
-}  // anonymous namespace
-
-void wrapMjcPhysicsSiteAPI() {
-  typedef MjcPhysicsSiteAPI This;
-
-  MjcPhysicsSiteAPI_CanApplyResult::Wrap<MjcPhysicsSiteAPI_CanApplyResult>(
-      "_CanApplyResult", "whyNot");
-
-  class_<This, bases<UsdAPISchemaBase> > cls("SiteAPI");
-
-  cls.def(init<UsdPrim>(arg("prim")))
-      .def(init<UsdSchemaBase const &>(arg("schemaObj")))
-      .def(TfTypePythonClass())
-
-      .def("Get", &This::Get, (arg("stage"), arg("path")))
-      .staticmethod("Get")
-
-      .def("CanApply", &_WrapCanApply, (arg("prim")))
-      .staticmethod("CanApply")
-
-      .def("Apply", &This::Apply, (arg("prim")))
-      .staticmethod("Apply")
-
-      .def("GetSchemaAttributeNames", &This::GetSchemaAttributeNames,
-           arg("includeInherited") = true,
-           return_value_policy<TfPySequenceToList>())
-      .staticmethod("GetSchemaAttributeNames")
-
-      .def("_GetStaticTfType", (TfType const &(*)())TfType::Find<This>,
-           return_value_policy<return_by_value>())
-      .staticmethod("_GetStaticTfType")
-
-      .def(!self)
-
-      .def("__repr__", ::_Repr);
-
-  _CustomWrapCode(cls);
-}
-
-// ===================================================================== //
-// Feel free to add custom code below this line, it will be preserved by
-// the code generator.  The entry point for your custom code should look
-// minimally like the following:
-//
-// WRAP_CUSTOM {
-//     _class
-//         .def("MyCustomMethod", ...)
-//     ;
-// }
-//
-// Of course any other ancillary or support code may be provided.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'namespace {', '}'.
-//
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
-
-namespace {
-
-WRAP_CUSTOM {}
-
-}  // namespace
diff --git a/src/experimental/usd/mjcPhysics/wrapTokens.cpp b/src/experimental/usd/mjcPhysics/wrapTokens.cpp
deleted file mode 100644
index 3a5aa603..00000000
--- a/src/experimental/usd/mjcPhysics/wrapTokens.cpp
+++ /dev/null
@@ -1,150 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE.  DO NOT EDIT.
-#include <boost/python/class.hpp>
-
-#include "./tokens.h"
-
-PXR_NAMESPACE_USING_DIRECTIVE
-
-namespace {
-
-// Helper to return a static token as a string.  We wrap tokens as Python
-// strings and for some reason simply wrapping the token using def_readonly
-// bypasses to-Python conversion, leading to the error that there's no
-// Python type for the C++ TfToken type.  So we wrap this functor instead.
-class _WrapStaticToken {
- public:
-  _WrapStaticToken(const TfToken* token) : _token(token) {}
-
-  std::string operator()() const { return _token->GetString(); }
-
- private:
-  const TfToken* _token;
-};
-
-template <typename T>
-void _AddToken(T& cls, const char* name, const TfToken& token) {
-  cls.add_static_property(
-      name,
-      boost::python::make_function(
-          _WrapStaticToken(&token),
-          boost::python::return_value_policy<boost::python::return_by_value>(),
-          boost::mpl::vector1<std::string>()));
-}
-
-}  // namespace
-
-void wrapMjcPhysicsTokens() {
-  boost::python::class_<MjcPhysicsTokensType, boost::noncopyable> cls(
-      "Tokens", boost::python::no_init);
-  _AddToken(cls, "auto_", MjcPhysicsTokens->auto_);
-  _AddToken(cls, "cg", MjcPhysicsTokens->cg);
-  _AddToken(cls, "dense", MjcPhysicsTokens->dense);
-  _AddToken(cls, "elliptic", MjcPhysicsTokens->elliptic);
-  _AddToken(cls, "euler", MjcPhysicsTokens->euler);
-  _AddToken(cls, "implicit", MjcPhysicsTokens->implicit);
-  _AddToken(cls, "implicitfast", MjcPhysicsTokens->implicitfast);
-  _AddToken(cls, "mjcPhysicsActuatorgroupdisable",
-            MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable);
-  _AddToken(cls, "mjcPhysicsApirate", MjcPhysicsTokens->mjcPhysicsApirate);
-  _AddToken(cls, "mjcPhysicsCcd_iterations",
-            MjcPhysicsTokens->mjcPhysicsCcd_iterations);
-  _AddToken(cls, "mjcPhysicsCcd_tolerance",
-            MjcPhysicsTokens->mjcPhysicsCcd_tolerance);
-  _AddToken(cls, "mjcPhysicsCone", MjcPhysicsTokens->mjcPhysicsCone);
-  _AddToken(cls, "mjcPhysicsDensity", MjcPhysicsTokens->mjcPhysicsDensity);
-  _AddToken(cls, "mjcPhysicsFlagActuation",
-            MjcPhysicsTokens->mjcPhysicsFlagActuation);
-  _AddToken(cls, "mjcPhysicsFlagAutoreset",
-            MjcPhysicsTokens->mjcPhysicsFlagAutoreset);
-  _AddToken(cls, "mjcPhysicsFlagClampctrl",
-            MjcPhysicsTokens->mjcPhysicsFlagClampctrl);
-  _AddToken(cls, "mjcPhysicsFlagConstraint",
-            MjcPhysicsTokens->mjcPhysicsFlagConstraint);
-  _AddToken(cls, "mjcPhysicsFlagContact",
-            MjcPhysicsTokens->mjcPhysicsFlagContact);
-  _AddToken(cls, "mjcPhysicsFlagEnergy",
-            MjcPhysicsTokens->mjcPhysicsFlagEnergy);
-  _AddToken(cls, "mjcPhysicsFlagEquality",
-            MjcPhysicsTokens->mjcPhysicsFlagEquality);
-  _AddToken(cls, "mjcPhysicsFlagEulerdamp",
-            MjcPhysicsTokens->mjcPhysicsFlagEulerdamp);
-  _AddToken(cls, "mjcPhysicsFlagFilterparent",
-            MjcPhysicsTokens->mjcPhysicsFlagFilterparent);
-  _AddToken(cls, "mjcPhysicsFlagFrictionloss",
-            MjcPhysicsTokens->mjcPhysicsFlagFrictionloss);
-  _AddToken(cls, "mjcPhysicsFlagFwdinv",
-            MjcPhysicsTokens->mjcPhysicsFlagFwdinv);
-  _AddToken(cls, "mjcPhysicsFlagGravity",
-            MjcPhysicsTokens->mjcPhysicsFlagGravity);
-  _AddToken(cls, "mjcPhysicsFlagInvdiscrete",
-            MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete);
-  _AddToken(cls, "mjcPhysicsFlagIsland",
-            MjcPhysicsTokens->mjcPhysicsFlagIsland);
-  _AddToken(cls, "mjcPhysicsFlagLimit", MjcPhysicsTokens->mjcPhysicsFlagLimit);
-  _AddToken(cls, "mjcPhysicsFlagMidphase",
-            MjcPhysicsTokens->mjcPhysicsFlagMidphase);
-  _AddToken(cls, "mjcPhysicsFlagMulticcd",
-            MjcPhysicsTokens->mjcPhysicsFlagMulticcd);
-  _AddToken(cls, "mjcPhysicsFlagNativeccd",
-            MjcPhysicsTokens->mjcPhysicsFlagNativeccd);
-  _AddToken(cls, "mjcPhysicsFlagOverride",
-            MjcPhysicsTokens->mjcPhysicsFlagOverride);
-  _AddToken(cls, "mjcPhysicsFlagPassive",
-            MjcPhysicsTokens->mjcPhysicsFlagPassive);
-  _AddToken(cls, "mjcPhysicsFlagRefsafe",
-            MjcPhysicsTokens->mjcPhysicsFlagRefsafe);
-  _AddToken(cls, "mjcPhysicsFlagSensor",
-            MjcPhysicsTokens->mjcPhysicsFlagSensor);
-  _AddToken(cls, "mjcPhysicsFlagWarmstart",
-            MjcPhysicsTokens->mjcPhysicsFlagWarmstart);
-  _AddToken(cls, "mjcPhysicsImpratio", MjcPhysicsTokens->mjcPhysicsImpratio);
-  _AddToken(cls, "mjcPhysicsIntegrator",
-            MjcPhysicsTokens->mjcPhysicsIntegrator);
-  _AddToken(cls, "mjcPhysicsIterations",
-            MjcPhysicsTokens->mjcPhysicsIterations);
-  _AddToken(cls, "mjcPhysicsJacobian", MjcPhysicsTokens->mjcPhysicsJacobian);
-  _AddToken(cls, "mjcPhysicsLs_iterations",
-            MjcPhysicsTokens->mjcPhysicsLs_iterations);
-  _AddToken(cls, "mjcPhysicsLs_tolerance",
-            MjcPhysicsTokens->mjcPhysicsLs_tolerance);
-  _AddToken(cls, "mjcPhysicsMagnetic", MjcPhysicsTokens->mjcPhysicsMagnetic);
-  _AddToken(cls, "mjcPhysicsNoslip_iterations",
-            MjcPhysicsTokens->mjcPhysicsNoslip_iterations);
-  _AddToken(cls, "mjcPhysicsNoslip_tolerance",
-            MjcPhysicsTokens->mjcPhysicsNoslip_tolerance);
-  _AddToken(cls, "mjcPhysicsO_friction",
-            MjcPhysicsTokens->mjcPhysicsO_friction);
-  _AddToken(cls, "mjcPhysicsO_margin", MjcPhysicsTokens->mjcPhysicsO_margin);
-  _AddToken(cls, "mjcPhysicsO_solimp", MjcPhysicsTokens->mjcPhysicsO_solimp);
-  _AddToken(cls, "mjcPhysicsO_solref", MjcPhysicsTokens->mjcPhysicsO_solref);
-  _AddToken(cls, "mjcPhysicsSdf_initpoints",
-            MjcPhysicsTokens->mjcPhysicsSdf_initpoints);
-  _AddToken(cls, "mjcPhysicsSdf_iterations",
-            MjcPhysicsTokens->mjcPhysicsSdf_iterations);
-  _AddToken(cls, "mjcPhysicsSolver", MjcPhysicsTokens->mjcPhysicsSolver);
-  _AddToken(cls, "mjcPhysicsTimestep", MjcPhysicsTokens->mjcPhysicsTimestep);
-  _AddToken(cls, "mjcPhysicsTolerance", MjcPhysicsTokens->mjcPhysicsTolerance);
-  _AddToken(cls, "mjcPhysicsViscosity", MjcPhysicsTokens->mjcPhysicsViscosity);
-  _AddToken(cls, "mjcPhysicsWind", MjcPhysicsTokens->mjcPhysicsWind);
-  _AddToken(cls, "newton", MjcPhysicsTokens->newton);
-  _AddToken(cls, "pgs", MjcPhysicsTokens->pgs);
-  _AddToken(cls, "pyramidal", MjcPhysicsTokens->pyramidal);
-  _AddToken(cls, "rk4", MjcPhysicsTokens->rk4);
-  _AddToken(cls, "sparse", MjcPhysicsTokens->sparse);
-  _AddToken(cls, "SceneAPI", MjcPhysicsTokens->SceneAPI);
-  _AddToken(cls, "SiteAPI", MjcPhysicsTokens->SiteAPI);
-}

From 178fb49c2b2ff48f59653515ab09b9cafca31b7a Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 16 May 2025 08:53:16 -0700
Subject: [PATCH 143/191] Fix namespacing in USD schema.

PiperOrigin-RevId: 759632714
Change-Id: I666ca0e5b7f264f63eae0bbb39f0403654fb1c56
---
 .../usd/mjcPhysics/generatedSchema.usda       | 236 +++++++-------
 src/experimental/usd/mjcPhysics/sceneAPI.cpp  | 294 +++++++++---------
 src/experimental/usd/mjcPhysics/sceneAPI.h    | 104 +++----
 src/experimental/usd/mjcPhysics/schema.usda   |  98 +++---
 src/experimental/usd/mjcPhysics/tokens.cpp    | 202 ++++++------
 src/experimental/usd/mjcPhysics/tokens.h      | 196 ++++++------
 6 files changed, 563 insertions(+), 567 deletions(-)

diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index 4cb4d177..ee17510b 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -7,214 +7,214 @@ class "SceneAPI" (
     doc = "API providing global simulation options for Mujoco."
 )
 {
-    uniform int[] mjc:physics:actuatorgroupdisable (
+    uniform bool mjc:flag:actuation = 1 (
+        displayName = "Actuation Forces Toggle"
+        doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
+    )
+    uniform bool mjc:flag:autoreset = 1 (
+        displayName = "Automatic Simulation Reset Toggle"
+        doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
+    )
+    uniform bool mjc:flag:clampctrl = 1 (
+        displayName = "Control Input Clamping Toggle"
+        doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
+    )
+    uniform bool mjc:flag:constraint = 1 (
+        displayName = "Constraint Solver Toggle"
+        doc = "Enables constraint solver."
+    )
+    uniform bool mjc:flag:contact = 1 (
+        displayName = "Contact Constraints and Collision Detection Toggle"
+        doc = "Enables collision detection and all standard computations related to contact constraints."
+    )
+    uniform bool mjc:flag:energy = 0 (
+        displayName = "Energy Computation Toggle"
+        doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
+    )
+    uniform bool mjc:flag:equality = 1 (
+        displayName = "Equality Constraints Toggle"
+        doc = "Enables all standard computations related to equality constraints."
+    )
+    uniform bool mjc:flag:eulerdamp = 1 (
+        displayName = "Euler Integrator Damping Toggle"
+        doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
+    )
+    uniform bool mjc:flag:filterparent = 1 (
+        displayName = "Parent-Child Contact Filtering Toggle"
+        doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
+    )
+    uniform bool mjc:flag:frictionloss = 1 (
+        displayName = "Friction Loss Constraints Toggle"
+        doc = "Enables all standard computations related to friction loss constraints."
+    )
+    uniform bool mjc:flag:fwdinv = 0 (
+        displayName = "Forward/Inverse Dynamics Comparison Toggle"
+        doc = "Enables the automatic comparison of forward and inverse dynamics."
+    )
+    uniform bool mjc:flag:gravity = 1 (
+        displayName = "Gravity Toggle"
+        doc = "Enables the application of gravitational acceleration as defined in mjOption."
+    )
+    uniform bool mjc:flag:invdiscrete = 0 (
+        displayName = "Discrete-Time Inverse Dynamics Toggle"
+        doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
+    )
+    uniform bool mjc:flag:island = 0 (
+        displayName = "Constraint Island Discovery Toggle"
+        doc = "Enables the discovery of constraint islands."
+    )
+    uniform bool mjc:flag:limit = 1 (
+        displayName = "Joint and Tendon Limit Constraints Toggle"
+        doc = "Enables all standard computations related to joint and tendon limit constraints."
+    )
+    uniform bool mjc:flag:midphase = 1 (
+        displayName = "Mid-Phase Collision Filtering Toggle"
+        doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
+    )
+    uniform bool mjc:flag:multiccd = 0 (
+        displayName = "Multiple Contact Collision Detection (CCD) Toggle"
+        doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
+    )
+    uniform bool mjc:flag:nativeccd = 1 (
+        displayName = "Native Convex Collision Detection Toggle"
+        doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
+    )
+    uniform bool mjc:flag:override = 0 (
+        displayName = "Contact Override Mechanism Toggle"
+        doc = "Enables the contact override mechanism."
+    )
+    uniform bool mjc:flag:passive = 1 (
+        displayName = "Passive Forces Toggle"
+        doc = "Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."
+    )
+    uniform bool mjc:flag:refsafe = 1 (
+        displayName = "Solver Reference Safety Mechanism Toggle"
+        doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
+    )
+    uniform bool mjc:flag:sensor = 1 (
+        displayName = "Sensor Computations Toggle"
+        doc = "Enables all computations related to sensors."
+    )
+    uniform bool mjc:flag:warmstart = 1 (
+        displayName = "Solver Warm-Starting Toggle"
+        doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
+    )
+    uniform int[] mjc:option:actuatorgroupdisable (
         displayName = "Actuator Group Disable"
         doc = "List of actuator groups to disable."
     )
-    uniform double mjc:physics:apirate = 100 (
+    uniform double mjc:option:apirate = 100 (
         displayName = "ApiRate"
         doc = """Determines the rate (in Hz) at which an external API allows
         the update function to be executed."""
     )
-    uniform int mjc:physics:ccd_iterations = 50 (
+    uniform int mjc:option:ccd_iterations = 50 (
         displayName = "CCD Iterations"
         doc = "Maximum number of iterations of the algorithm used for convex collisions."
     )
-    uniform double mjc:physics:ccd_tolerance = 0.000001 (
+    uniform double mjc:option:ccd_tolerance = 0.000001 (
         displayName = "CCD Tolerance"
         doc = """Tolerance threshold used for early termination of the convex
         collision algorithm."""
     )
-    uniform token mjc:physics:cone = "pyramidal" (
+    uniform token mjc:option:cone = "pyramidal" (
         allowedTokens = ["pyramidal", "elliptic"]
         displayName = "Friction Cone Type"
         doc = "The type of contact friction cone."
     )
-    uniform double mjc:physics:density = 0 (
+    uniform double mjc:option:density = 0 (
         displayName = "Density"
         doc = "Density of medium."
     )
-    uniform bool mjc:physics:flag:actuation = 1 (
-        displayName = "Actuation Forces Toggle"
-        doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
-    )
-    uniform bool mjc:physics:flag:autoreset = 1 (
-        displayName = "Automatic Simulation Reset Toggle"
-        doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
-    )
-    uniform bool mjc:physics:flag:clampctrl = 1 (
-        displayName = "Control Input Clamping Toggle"
-        doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
-    )
-    uniform bool mjc:physics:flag:constraint = 1 (
-        displayName = "Constraint Solver Toggle"
-        doc = "Enables constraint solver."
-    )
-    uniform bool mjc:physics:flag:contact = 1 (
-        displayName = "Contact Constraints and Collision Detection Toggle"
-        doc = "Enables collision detection and all standard computations related to contact constraints."
-    )
-    uniform bool mjc:physics:flag:energy = 0 (
-        displayName = "Energy Computation Toggle"
-        doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
-    )
-    uniform bool mjc:physics:flag:equality = 1 (
-        displayName = "Equality Constraints Toggle"
-        doc = "Enables all standard computations related to equality constraints."
-    )
-    uniform bool mjc:physics:flag:eulerdamp = 1 (
-        displayName = "Euler Integrator Damping Toggle"
-        doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
-    )
-    uniform bool mjc:physics:flag:filterparent = 1 (
-        displayName = "Parent-Child Contact Filtering Toggle"
-        doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
-    )
-    uniform bool mjc:physics:flag:frictionloss = 1 (
-        displayName = "Friction Loss Constraints Toggle"
-        doc = "Enables all standard computations related to friction loss constraints."
-    )
-    uniform bool mjc:physics:flag:fwdinv = 0 (
-        displayName = "Forward/Inverse Dynamics Comparison Toggle"
-        doc = "Enables the automatic comparison of forward and inverse dynamics."
-    )
-    uniform bool mjc:physics:flag:gravity = 1 (
-        displayName = "Gravity Toggle"
-        doc = "Enables the application of gravitational acceleration as defined in mjOption."
-    )
-    uniform bool mjc:physics:flag:invdiscrete = 0 (
-        displayName = "Discrete-Time Inverse Dynamics Toggle"
-        doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
-    )
-    uniform bool mjc:physics:flag:island = 0 (
-        displayName = "Constraint Island Discovery Toggle"
-        doc = "Enables the discovery of constraint islands."
-    )
-    uniform bool mjc:physics:flag:limit = 1 (
-        displayName = "Joint and Tendon Limit Constraints Toggle"
-        doc = "Enables all standard computations related to joint and tendon limit constraints."
-    )
-    uniform bool mjc:physics:flag:midphase = 1 (
-        displayName = "Mid-Phase Collision Filtering Toggle"
-        doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
-    )
-    uniform bool mjc:physics:flag:multiccd = 0 (
-        displayName = "Multiple Contact Collision Detection (CCD) Toggle"
-        doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
-    )
-    uniform bool mjc:physics:flag:nativeccd = 1 (
-        displayName = "Native Convex Collision Detection Toggle"
-        doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
-    )
-    uniform bool mjc:physics:flag:override = 0 (
-        displayName = "Contact Override Mechanism Toggle"
-        doc = "Enables the contact override mechanism."
-    )
-    uniform bool mjc:physics:flag:passive = 1 (
-        displayName = "Passive Forces Toggle"
-        doc = "Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."
-    )
-    uniform bool mjc:physics:flag:refsafe = 1 (
-        displayName = "Solver Reference Safety Mechanism Toggle"
-        doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
-    )
-    uniform bool mjc:physics:flag:sensor = 1 (
-        displayName = "Sensor Computations Toggle"
-        doc = "Enables all computations related to sensors."
-    )
-    uniform bool mjc:physics:flag:warmstart = 1 (
-        displayName = "Solver Warm-Starting Toggle"
-        doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
-    )
-    uniform double mjc:physics:impratio = 1 (
+    uniform double mjc:option:impratio = 1 (
         displayName = "Impedance Ratio"
         doc = """Ratio of frictional-to-normal constraint impedance for elliptic
         friction cones."""
     )
-    uniform token mjc:physics:integrator = "euler" (
+    uniform token mjc:option:integrator = "euler" (
         allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
         displayName = "Integrator"
         doc = "Numerical integrator to be used."
     )
-    uniform int mjc:physics:iterations = 100 (
+    uniform int mjc:option:iterations = 100 (
         displayName = "Solver Iterations"
         doc = "Maximum number of iterations of the constraint solver."
     )
-    uniform token mjc:physics:jacobian = "auto" (
+    uniform token mjc:option:jacobian = "auto" (
         allowedTokens = ["auto", "dense", "sparse"]
         displayName = "Jacobian Type"
         doc = "The type of constraint Jacobian and matrices computed from it."
     )
-    uniform int mjc:physics:ls_iterations = 50 (
+    uniform int mjc:option:ls_iterations = 50 (
         displayName = "Linesearch Iterations"
         doc = """Maximum number of linesearch iterations performed by CG/Newton
         constraint solvers."""
     )
-    uniform double mjc:physics:ls_tolerance = 0.01 (
+    uniform double mjc:option:ls_tolerance = 0.01 (
         displayName = "Linesearch Tolerance"
         doc = "Tolerance threshold used for early termination of the linesearch algorithm."
     )
-    uniform double3 mjc:physics:magnetic = (0, -0.5, 0) (
+    uniform double3 mjc:option:magnetic = (0, -0.5, 0) (
         displayName = "Magnetic Flux"
         doc = "Global magnetic flux."
     )
-    uniform int mjc:physics:noslip_iterations = 0 (
+    uniform int mjc:option:noslip_iterations = 0 (
         displayName = "Noslip Iterations"
         doc = "Maximum number of iterations of the Noslip solver."
     )
-    uniform double mjc:physics:noslip_tolerance = 0.000001 (
+    uniform double mjc:option:noslip_tolerance = 0.000001 (
         displayName = "Noslip Tolerance"
         doc = "Tolerance threshold used for early termination of the Noslip solver."
     )
-    uniform double[] mjc:physics:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
+    uniform double[] mjc:option:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
         displayName = "Contact Override Friction"
         doc = """Replaces the friction parameter of all active contact pairs when
         Contact override is enabled."""
     )
-    uniform double mjc:physics:o_margin = 0 (
+    uniform double mjc:option:o_margin = 0 (
         displayName = "Contact Override Margin"
         doc = """Replaces the margin parameter of all active contact pairs when
         Contact override is enabled."""
     )
-    uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
+    uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
         displayName = "Contact Override SolImp"
         doc = """Replaces the solimp parameter of all active contact pairs when
         Contact override is enabled."""
     )
-    uniform double[] mjc:physics:o_solref = [0.02, 1] (
+    uniform double[] mjc:option:o_solref = [0.02, 1] (
         displayName = "Contact Override SolRef"
         doc = """Replaces the solref parameter of all active contact pairs when
         Contact override is enabled."""
     )
-    uniform int mjc:physics:sdf_initpoints = 40 (
+    uniform int mjc:option:sdf_initpoints = 40 (
         displayName = "SDF Initial Points"
         doc = """Number of starting points used for finding contacts with Signed
         Distance Field collisions."""
     )
-    uniform int mjc:physics:sdf_iterations = 10 (
+    uniform int mjc:option:sdf_iterations = 10 (
         displayName = "SDF Iterations"
         doc = """Number of iterations used for Signed Distance Field collisions
         (per initial point)."""
     )
-    uniform token mjc:physics:solver = "newton" (
+    uniform token mjc:option:solver = "newton" (
         allowedTokens = ["pgs", "cg", "newton"]
         displayName = "Solver"
         doc = "Constraint solver algorithm to be used."
     )
-    uniform double mjc:physics:timestep = 0.002 (
+    uniform double mjc:option:timestep = 0.002 (
         displayName = "Timestep"
         doc = "Controls the timestep in seconds used by MuJoCo."
     )
-    uniform double mjc:physics:tolerance = 1e-8 (
+    uniform double mjc:option:tolerance = 1e-8 (
         displayName = "Solver Tolerance"
         doc = """Tolerance threshold used for early termination of the iterative
         solver."""
     )
-    uniform double mjc:physics:viscosity = 0 (
+    uniform double mjc:option:viscosity = 0 (
         displayName = "Viscosity"
         doc = "Viscosity of medium."
     )
-    uniform double3 mjc:physics:wind = (0, 0, 0) (
+    uniform double3 mjc:option:wind = (0, 0, 0) (
         displayName = "Wind Velocity"
         doc = "Velocity vector of medium (i.e. wind)."
     )
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.cpp b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
index 0c01a533..7bce5c2d 100644
--- a/src/experimental/usd/mjcPhysics/sceneAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
@@ -75,543 +75,543 @@ const TfType &MjcPhysicsSceneAPI::_GetTfType() const {
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetTimestepAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsTimestep);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTimestep);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const &defaultValue,
                                                     bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsTimestep, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionTimestep, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetApiRateAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsApirate);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionApirate);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateApiRateAttr(VtValue const &defaultValue,
                                                    bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsApirate, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionApirate, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetImpRatioAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsImpratio);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionImpratio);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateImpRatioAttr(VtValue const &defaultValue,
                                                     bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsImpratio, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionImpratio, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetWindAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsWind);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionWind);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateWindAttr(VtValue const &defaultValue,
                                                 bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsWind, SdfValueTypeNames->Double3,
+      MjcPhysicsTokens->mjcOptionWind, SdfValueTypeNames->Double3,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetMagneticAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsMagnetic);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionMagnetic);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateMagneticAttr(VtValue const &defaultValue,
                                                     bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsMagnetic, SdfValueTypeNames->Double3,
+      MjcPhysicsTokens->mjcOptionMagnetic, SdfValueTypeNames->Double3,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetDensityAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsDensity);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionDensity);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateDensityAttr(VtValue const &defaultValue,
                                                    bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsDensity, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionDensity, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetViscosityAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsViscosity);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionViscosity);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateViscosityAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsViscosity, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionViscosity, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetOMarginAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_margin);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_margin);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateOMarginAttr(VtValue const &defaultValue,
                                                    bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsO_margin, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionO_margin, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetOSolRefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_solref);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solref);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateOSolRefAttr(VtValue const &defaultValue,
                                                    bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsO_solref, SdfValueTypeNames->DoubleArray,
+      MjcPhysicsTokens->mjcOptionO_solref, SdfValueTypeNames->DoubleArray,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetOSolImpAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_solimp);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solimp);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateOSolImpAttr(VtValue const &defaultValue,
                                                    bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsO_solimp, SdfValueTypeNames->DoubleArray,
+      MjcPhysicsTokens->mjcOptionO_solimp, SdfValueTypeNames->DoubleArray,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetOFrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_friction);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_friction);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateOFrictionAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsO_friction, SdfValueTypeNames->DoubleArray,
+      MjcPhysicsTokens->mjcOptionO_friction, SdfValueTypeNames->DoubleArray,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetIntegratorAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsIntegrator);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionIntegrator);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateIntegratorAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsIntegrator, SdfValueTypeNames->Token,
+      MjcPhysicsTokens->mjcOptionIntegrator, SdfValueTypeNames->Token,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetConeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCone);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCone);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateConeAttr(VtValue const &defaultValue,
                                                 bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsCone, SdfValueTypeNames->Token,
+      MjcPhysicsTokens->mjcOptionCone, SdfValueTypeNames->Token,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetJacobianAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsJacobian);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionJacobian);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateJacobianAttr(VtValue const &defaultValue,
                                                     bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsJacobian, SdfValueTypeNames->Token,
+      MjcPhysicsTokens->mjcOptionJacobian, SdfValueTypeNames->Token,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetSolverAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSolver);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSolver);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateSolverAttr(VtValue const &defaultValue,
                                                   bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsSolver, SdfValueTypeNames->Token,
+      MjcPhysicsTokens->mjcOptionSolver, SdfValueTypeNames->Token,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsIterations);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionIterations);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateIterationsAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsIterations, SdfValueTypeNames->Int,
+      MjcPhysicsTokens->mjcOptionIterations, SdfValueTypeNames->Int,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsTolerance);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTolerance);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateToleranceAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsTolerance, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionTolerance, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetLSIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsLs_iterations);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionLs_iterations);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateLSIterationsAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsLs_iterations, SdfValueTypeNames->Int,
+      MjcPhysicsTokens->mjcOptionLs_iterations, SdfValueTypeNames->Int,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetLSToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsLs_tolerance);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionLs_tolerance);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateLSToleranceAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsLs_tolerance, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionLs_tolerance, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetNoslipIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsNoslip_iterations);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionNoslip_iterations);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateNoslipIterationsAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsNoslip_iterations, SdfValueTypeNames->Int,
+      MjcPhysicsTokens->mjcOptionNoslip_iterations, SdfValueTypeNames->Int,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetNoslipToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsNoslip_tolerance);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionNoslip_tolerance);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateNoslipToleranceAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsNoslip_tolerance, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionNoslip_tolerance, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetCCDIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCcd_iterations);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCcd_iterations);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateCCDIterationsAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsCcd_iterations, SdfValueTypeNames->Int,
+      MjcPhysicsTokens->mjcOptionCcd_iterations, SdfValueTypeNames->Int,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetCCDToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCcd_tolerance);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCcd_tolerance);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateCCDToleranceAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsCcd_tolerance, SdfValueTypeNames->Double,
+      MjcPhysicsTokens->mjcOptionCcd_tolerance, SdfValueTypeNames->Double,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetSDFIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSdf_iterations);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSdf_iterations);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateSDFIterationsAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsSdf_iterations, SdfValueTypeNames->Int,
+      MjcPhysicsTokens->mjcOptionSdf_iterations, SdfValueTypeNames->Int,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetSDFInitPointsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSdf_initpoints);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSdf_initpoints);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateSDFInitPointsAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsSdf_initpoints, SdfValueTypeNames->Int,
+      MjcPhysicsTokens->mjcOptionSdf_initpoints, SdfValueTypeNames->Int,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetActuatorGroupDisableAttr() const {
   return GetPrim().GetAttribute(
-      MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable);
+      MjcPhysicsTokens->mjcOptionActuatorgroupdisable);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateActuatorGroupDisableAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable,
+      MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
       SdfValueTypeNames->IntArray,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetConstraintFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagConstraint);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagConstraint);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateConstraintFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagConstraint, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagConstraint, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetEqualityFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEquality);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEquality);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateEqualityFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagEquality, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagEquality, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetFrictionLossFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFrictionloss);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFrictionloss);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateFrictionLossFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagFrictionloss, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagFrictionloss, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetLimitFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagLimit);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagLimit);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateLimitFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagLimit, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagLimit, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetContactFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagContact);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagContact);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateContactFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagContact, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagContact, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetPassiveFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagPassive);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagPassive);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreatePassiveFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagPassive, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagPassive, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetGravityFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagGravity);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagGravity);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateGravityFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagGravity, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagGravity, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetClampCtrlFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagClampctrl);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagClampctrl);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateClampCtrlFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagClampctrl, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagClampctrl, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetWarmStartFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagWarmstart);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagWarmstart);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateWarmStartFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagWarmstart, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagWarmstart, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetFilterParentFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFilterparent);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFilterparent);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateFilterParentFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagFilterparent, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagFilterparent, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetActuationFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagActuation);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagActuation);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateActuationFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagActuation, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagActuation, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetRefSafeFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagRefsafe);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagRefsafe);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateRefSafeFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagRefsafe, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagRefsafe, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetSensorFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagSensor);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagSensor);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateSensorFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagSensor, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagSensor, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetMidPhaseFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagMidphase);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagMidphase);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateMidPhaseFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagMidphase, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagMidphase, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetNativeCCDFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagNativeccd);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagNativeccd);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateNativeCCDFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagNativeccd, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagNativeccd, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetEulerDampFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEulerdamp);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEulerdamp);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateEulerDampFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagEulerdamp, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagEulerdamp, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetAutoResetFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagAutoreset);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagAutoreset);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateAutoResetFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagAutoreset, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagAutoreset, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetOverrideFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagOverride);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagOverride);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateOverrideFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagOverride, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagOverride, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetEnergyFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEnergy);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEnergy);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateEnergyFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagEnergy, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagEnergy, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetFwdinvFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFwdinv);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFwdinv);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateFwdinvFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagFwdinv, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagFwdinv, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetInvDiscreteFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagInvdiscrete);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateInvDiscreteFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagInvdiscrete, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetMultiCCDFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagMulticcd);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagMulticcd);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateMultiCCDFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagMulticcd, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagMulticcd, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::GetIslandFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagIsland);
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagIsland);
 }
 
 UsdAttribute MjcPhysicsSceneAPI::CreateIslandFlagAttr(
     VtValue const &defaultValue, bool writeSparsely) const {
   return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPhysicsFlagIsland, SdfValueTypeNames->Bool,
+      MjcPhysicsTokens->mjcFlagIsland, SdfValueTypeNames->Bool,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
@@ -630,55 +630,55 @@ static inline TfTokenVector _ConcatenateAttributeNames(
 const TfTokenVector &MjcPhysicsSceneAPI::GetSchemaAttributeNames(
     bool includeInherited) {
   static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcPhysicsTimestep,
-      MjcPhysicsTokens->mjcPhysicsApirate,
-      MjcPhysicsTokens->mjcPhysicsImpratio,
-      MjcPhysicsTokens->mjcPhysicsWind,
-      MjcPhysicsTokens->mjcPhysicsMagnetic,
-      MjcPhysicsTokens->mjcPhysicsDensity,
-      MjcPhysicsTokens->mjcPhysicsViscosity,
-      MjcPhysicsTokens->mjcPhysicsO_margin,
-      MjcPhysicsTokens->mjcPhysicsO_solref,
-      MjcPhysicsTokens->mjcPhysicsO_solimp,
-      MjcPhysicsTokens->mjcPhysicsO_friction,
-      MjcPhysicsTokens->mjcPhysicsIntegrator,
-      MjcPhysicsTokens->mjcPhysicsCone,
-      MjcPhysicsTokens->mjcPhysicsJacobian,
-      MjcPhysicsTokens->mjcPhysicsSolver,
-      MjcPhysicsTokens->mjcPhysicsIterations,
-      MjcPhysicsTokens->mjcPhysicsTolerance,
-      MjcPhysicsTokens->mjcPhysicsLs_iterations,
-      MjcPhysicsTokens->mjcPhysicsLs_tolerance,
-      MjcPhysicsTokens->mjcPhysicsNoslip_iterations,
-      MjcPhysicsTokens->mjcPhysicsNoslip_tolerance,
-      MjcPhysicsTokens->mjcPhysicsCcd_iterations,
-      MjcPhysicsTokens->mjcPhysicsCcd_tolerance,
-      MjcPhysicsTokens->mjcPhysicsSdf_iterations,
-      MjcPhysicsTokens->mjcPhysicsSdf_initpoints,
-      MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable,
-      MjcPhysicsTokens->mjcPhysicsFlagConstraint,
-      MjcPhysicsTokens->mjcPhysicsFlagEquality,
-      MjcPhysicsTokens->mjcPhysicsFlagFrictionloss,
-      MjcPhysicsTokens->mjcPhysicsFlagLimit,
-      MjcPhysicsTokens->mjcPhysicsFlagContact,
-      MjcPhysicsTokens->mjcPhysicsFlagPassive,
-      MjcPhysicsTokens->mjcPhysicsFlagGravity,
-      MjcPhysicsTokens->mjcPhysicsFlagClampctrl,
-      MjcPhysicsTokens->mjcPhysicsFlagWarmstart,
-      MjcPhysicsTokens->mjcPhysicsFlagFilterparent,
-      MjcPhysicsTokens->mjcPhysicsFlagActuation,
-      MjcPhysicsTokens->mjcPhysicsFlagRefsafe,
-      MjcPhysicsTokens->mjcPhysicsFlagSensor,
-      MjcPhysicsTokens->mjcPhysicsFlagMidphase,
-      MjcPhysicsTokens->mjcPhysicsFlagNativeccd,
-      MjcPhysicsTokens->mjcPhysicsFlagEulerdamp,
-      MjcPhysicsTokens->mjcPhysicsFlagAutoreset,
-      MjcPhysicsTokens->mjcPhysicsFlagOverride,
-      MjcPhysicsTokens->mjcPhysicsFlagEnergy,
-      MjcPhysicsTokens->mjcPhysicsFlagFwdinv,
-      MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete,
-      MjcPhysicsTokens->mjcPhysicsFlagMulticcd,
-      MjcPhysicsTokens->mjcPhysicsFlagIsland,
+      MjcPhysicsTokens->mjcOptionTimestep,
+      MjcPhysicsTokens->mjcOptionApirate,
+      MjcPhysicsTokens->mjcOptionImpratio,
+      MjcPhysicsTokens->mjcOptionWind,
+      MjcPhysicsTokens->mjcOptionMagnetic,
+      MjcPhysicsTokens->mjcOptionDensity,
+      MjcPhysicsTokens->mjcOptionViscosity,
+      MjcPhysicsTokens->mjcOptionO_margin,
+      MjcPhysicsTokens->mjcOptionO_solref,
+      MjcPhysicsTokens->mjcOptionO_solimp,
+      MjcPhysicsTokens->mjcOptionO_friction,
+      MjcPhysicsTokens->mjcOptionIntegrator,
+      MjcPhysicsTokens->mjcOptionCone,
+      MjcPhysicsTokens->mjcOptionJacobian,
+      MjcPhysicsTokens->mjcOptionSolver,
+      MjcPhysicsTokens->mjcOptionIterations,
+      MjcPhysicsTokens->mjcOptionTolerance,
+      MjcPhysicsTokens->mjcOptionLs_iterations,
+      MjcPhysicsTokens->mjcOptionLs_tolerance,
+      MjcPhysicsTokens->mjcOptionNoslip_iterations,
+      MjcPhysicsTokens->mjcOptionNoslip_tolerance,
+      MjcPhysicsTokens->mjcOptionCcd_iterations,
+      MjcPhysicsTokens->mjcOptionCcd_tolerance,
+      MjcPhysicsTokens->mjcOptionSdf_iterations,
+      MjcPhysicsTokens->mjcOptionSdf_initpoints,
+      MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
+      MjcPhysicsTokens->mjcFlagConstraint,
+      MjcPhysicsTokens->mjcFlagEquality,
+      MjcPhysicsTokens->mjcFlagFrictionloss,
+      MjcPhysicsTokens->mjcFlagLimit,
+      MjcPhysicsTokens->mjcFlagContact,
+      MjcPhysicsTokens->mjcFlagPassive,
+      MjcPhysicsTokens->mjcFlagGravity,
+      MjcPhysicsTokens->mjcFlagClampctrl,
+      MjcPhysicsTokens->mjcFlagWarmstart,
+      MjcPhysicsTokens->mjcFlagFilterparent,
+      MjcPhysicsTokens->mjcFlagActuation,
+      MjcPhysicsTokens->mjcFlagRefsafe,
+      MjcPhysicsTokens->mjcFlagSensor,
+      MjcPhysicsTokens->mjcFlagMidphase,
+      MjcPhysicsTokens->mjcFlagNativeccd,
+      MjcPhysicsTokens->mjcFlagEulerdamp,
+      MjcPhysicsTokens->mjcFlagAutoreset,
+      MjcPhysicsTokens->mjcFlagOverride,
+      MjcPhysicsTokens->mjcFlagEnergy,
+      MjcPhysicsTokens->mjcFlagFwdinv,
+      MjcPhysicsTokens->mjcFlagInvdiscrete,
+      MjcPhysicsTokens->mjcFlagMulticcd,
+      MjcPhysicsTokens->mjcFlagIsland,
   };
   static TfTokenVector allNames = _ConcatenateAttributeNames(
       UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.h b/src/experimental/usd/mjcPhysics/sceneAPI.h
index 4b77202a..2ac745c7 100644
--- a/src/experimental/usd/mjcPhysics/sceneAPI.h
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.h
@@ -154,7 +154,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:timestep = 0.002` |
+  /// | Declaration | `uniform double mjc:option:timestep = 0.002` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -179,7 +179,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:apirate = 100` |
+  /// | Declaration | `uniform double mjc:option:apirate = 100` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -204,7 +204,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:impratio = 1` |
+  /// | Declaration | `uniform double mjc:option:impratio = 1` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -228,7 +228,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double3 mjc:physics:wind = (0, 0, 0)` |
+  /// | Declaration | `uniform double3 mjc:option:wind = (0, 0, 0)` |
   /// | C++ Type | GfVec3d |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -252,7 +252,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double3 mjc:physics:magnetic = (0, -0.5, 0)` |
+  /// | Declaration | `uniform double3 mjc:option:magnetic = (0, -0.5, 0)` |
   /// | C++ Type | GfVec3d |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -276,7 +276,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:density = 0` |
+  /// | Declaration | `uniform double mjc:option:density = 0` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -300,7 +300,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:viscosity = 0` |
+  /// | Declaration | `uniform double mjc:option:viscosity = 0` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -325,7 +325,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:o_margin = 0` |
+  /// | Declaration | `uniform double mjc:option:o_margin = 0` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -350,7 +350,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:physics:o_solref = [0.02, 1]` |
+  /// | Declaration | `uniform double[] mjc:option:o_solref = [0.02, 1]` |
   /// | C++ Type | VtArray<double> |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -375,10 +375,10 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:physics:o_solimp = [0.9, 0.95,
-  /// 0.001, 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd
-  /// Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
-  /// "Variability" | SdfVariabilityUniform |
+  /// | Declaration | `uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001,
+  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
+  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
   MJCPHYSICS_API
   UsdAttribute GetOSolImpAttr() const;
 
@@ -400,7 +400,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:physics:o_friction = [1, 1, 0.005,
+  /// | Declaration | `uniform double[] mjc:option:o_friction = [1, 1, 0.005,
   /// 0.0001, 0.0001]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes
   /// "Usd Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
   /// "Variability" | SdfVariabilityUniform |
@@ -424,7 +424,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform token mjc:physics:integrator = "euler"` |
+  /// | Declaration | `uniform token mjc:option:integrator = "euler"` |
   /// | C++ Type | TfToken |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -450,7 +450,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform token mjc:physics:cone = "pyramidal"` |
+  /// | Declaration | `uniform token mjc:option:cone = "pyramidal"` |
   /// | C++ Type | TfToken |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -475,7 +475,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform token mjc:physics:jacobian = "auto"` |
+  /// | Declaration | `uniform token mjc:option:jacobian = "auto"` |
   /// | C++ Type | TfToken |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -500,7 +500,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform token mjc:physics:solver = "newton"` |
+  /// | Declaration | `uniform token mjc:option:solver = "newton"` |
   /// | C++ Type | TfToken |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -525,7 +525,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:physics:iterations = 100` |
+  /// | Declaration | `uniform int mjc:option:iterations = 100` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -550,7 +550,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:tolerance = 1e-8` |
+  /// | Declaration | `uniform double mjc:option:tolerance = 1e-8` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -575,7 +575,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:physics:ls_iterations = 50` |
+  /// | Declaration | `uniform int mjc:option:ls_iterations = 50` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -600,7 +600,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:ls_tolerance = 0.01` |
+  /// | Declaration | `uniform double mjc:option:ls_tolerance = 0.01` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -624,7 +624,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:physics:noslip_iterations = 0` |
+  /// | Declaration | `uniform int mjc:option:noslip_iterations = 0` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -649,7 +649,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:noslip_tolerance = 0.000001` |
+  /// | Declaration | `uniform double mjc:option:noslip_tolerance = 0.000001` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -674,7 +674,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:physics:ccd_iterations = 50` |
+  /// | Declaration | `uniform int mjc:option:ccd_iterations = 50` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -699,7 +699,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform double mjc:physics:ccd_tolerance = 0.000001` |
+  /// | Declaration | `uniform double mjc:option:ccd_tolerance = 0.000001` |
   /// | C++ Type | double |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -724,7 +724,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:physics:sdf_iterations = 10` |
+  /// | Declaration | `uniform int mjc:option:sdf_iterations = 10` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -749,7 +749,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:physics:sdf_initpoints = 40` |
+  /// | Declaration | `uniform int mjc:option:sdf_initpoints = 40` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -773,7 +773,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int[] mjc:physics:actuatorgroupdisable` |
+  /// | Declaration | `uniform int[] mjc:option:actuatorgroupdisable` |
   /// | C++ Type | VtArray<int> |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -798,7 +798,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:constraint = 1` |
+  /// | Declaration | `uniform bool mjc:flag:constraint = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -822,7 +822,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:equality = 1` |
+  /// | Declaration | `uniform bool mjc:flag:equality = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -846,7 +846,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:frictionloss = 1` |
+  /// | Declaration | `uniform bool mjc:flag:frictionloss = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -872,7 +872,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:limit = 1` |
+  /// | Declaration | `uniform bool mjc:flag:limit = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -897,7 +897,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:contact = 1` |
+  /// | Declaration | `uniform bool mjc:flag:contact = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -922,7 +922,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:passive = 1` |
+  /// | Declaration | `uniform bool mjc:flag:passive = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -947,7 +947,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:gravity = 1` |
+  /// | Declaration | `uniform bool mjc:flag:gravity = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -972,7 +972,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:clampctrl = 1` |
+  /// | Declaration | `uniform bool mjc:flag:clampctrl = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -997,7 +997,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:warmstart = 1` |
+  /// | Declaration | `uniform bool mjc:flag:warmstart = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1022,7 +1022,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:filterparent = 1` |
+  /// | Declaration | `uniform bool mjc:flag:filterparent = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1048,7 +1048,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:actuation = 1` |
+  /// | Declaration | `uniform bool mjc:flag:actuation = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1073,7 +1073,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:refsafe = 1` |
+  /// | Declaration | `uniform bool mjc:flag:refsafe = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1097,7 +1097,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:sensor = 1` |
+  /// | Declaration | `uniform bool mjc:flag:sensor = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1122,7 +1122,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:midphase = 1` |
+  /// | Declaration | `uniform bool mjc:flag:midphase = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1147,7 +1147,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:nativeccd = 1` |
+  /// | Declaration | `uniform bool mjc:flag:nativeccd = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1172,7 +1172,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:eulerdamp = 1` |
+  /// | Declaration | `uniform bool mjc:flag:eulerdamp = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1197,7 +1197,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:autoreset = 1` |
+  /// | Declaration | `uniform bool mjc:flag:autoreset = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1221,7 +1221,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:override = 0` |
+  /// | Declaration | `uniform bool mjc:flag:override = 0` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1246,7 +1246,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:energy = 0` |
+  /// | Declaration | `uniform bool mjc:flag:energy = 0` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1270,7 +1270,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:fwdinv = 0` |
+  /// | Declaration | `uniform bool mjc:flag:fwdinv = 0` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1295,7 +1295,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:invdiscrete = 0` |
+  /// | Declaration | `uniform bool mjc:flag:invdiscrete = 0` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1321,7 +1321,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:multiccd = 0` |
+  /// | Declaration | `uniform bool mjc:flag:multiccd = 0` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1345,7 +1345,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:physics:flag:island = 0` |
+  /// | Declaration | `uniform bool mjc:flag:island = 0` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 3d416fc2..322a90a4 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -99,7 +99,7 @@ class "SceneAPI"
     inherits = </APISchemaBase>
 )
 {
-    uniform double mjc:physics:timestep = 0.002 (
+    uniform double mjc:option:timestep = 0.002 (
         customData = {
             string apiName = "Timestep"
         }
@@ -107,7 +107,7 @@ class "SceneAPI"
         doc = """Controls the timestep in seconds used by MuJoCo."""
     )
 
-    uniform double mjc:physics:apirate = 100 (
+    uniform double mjc:option:apirate = 100 (
         customData = {
             string apiName = "ApiRate"
         }
@@ -116,7 +116,7 @@ class "SceneAPI"
         the update function to be executed."""
     )
 
-    uniform double mjc:physics:impratio = 1.0 (
+    uniform double mjc:option:impratio = 1.0 (
         customData = {
             string apiName = "ImpRatio"
         }
@@ -125,7 +125,7 @@ class "SceneAPI"
         friction cones."""
     )
 
-    uniform double3 mjc:physics:wind = (0.0, 0.0, 0.0) (
+    uniform double3 mjc:option:wind = (0.0, 0.0, 0.0) (
         customData = {
             string apiName = "Wind"
         }
@@ -133,7 +133,7 @@ class "SceneAPI"
         doc = """Velocity vector of medium (i.e. wind)."""
     )
 
-    uniform double3 mjc:physics:magnetic = (0.0, -0.5, 0.0) (
+    uniform double3 mjc:option:magnetic = (0.0, -0.5, 0.0) (
         customData = {
             string apiName = "Magnetic"
         }
@@ -141,7 +141,7 @@ class "SceneAPI"
         doc = """Global magnetic flux."""
     )
 
-    uniform double mjc:physics:density = 0.0 (
+    uniform double mjc:option:density = 0.0 (
         customData = {
             string apiName = "Density"
         }
@@ -149,7 +149,7 @@ class "SceneAPI"
         doc = """Density of medium."""
     )
 
-    uniform double mjc:physics:viscosity = 0.0 (
+    uniform double mjc:option:viscosity = 0.0 (
         customData = {
             string apiName = "Viscosity"
         }
@@ -157,7 +157,7 @@ class "SceneAPI"
         doc = """Viscosity of medium."""
     )
 
-    uniform double mjc:physics:o_margin = 0.0 (
+    uniform double mjc:option:o_margin = 0.0 (
         customData = {
             string apiName = "OMargin"
         }
@@ -166,7 +166,7 @@ class "SceneAPI"
         Contact override is enabled."""
     )
 
-    uniform double[] mjc:physics:o_solref = [0.02, 1.0] (
+    uniform double[] mjc:option:o_solref = [0.02, 1.0] (
         customData = {
             string apiName = "OSolRef"
         }
@@ -175,7 +175,7 @@ class "SceneAPI"
         Contact override is enabled."""
     )
 
-    uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
+    uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
         customData = {
             string apiName = "OSolImp"
         }
@@ -184,7 +184,7 @@ class "SceneAPI"
         Contact override is enabled."""
     )
 
-    uniform double[] mjc:physics:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
+    uniform double[] mjc:option:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
         customData = {
             string apiName = "OFriction"
         }
@@ -193,7 +193,7 @@ class "SceneAPI"
         Contact override is enabled."""
     )
 
-    uniform token mjc:physics:integrator = "euler" (
+    uniform token mjc:option:integrator = "euler" (
         allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
         customData = {
             string apiName = "Integrator"
@@ -202,7 +202,7 @@ class "SceneAPI"
         doc = """Numerical integrator to be used."""
     )
 
-    uniform token mjc:physics:cone = "pyramidal" (
+    uniform token mjc:option:cone = "pyramidal" (
         allowedTokens = ["pyramidal", "elliptic"]
         customData = {
             string apiName = "Cone"
@@ -211,7 +211,7 @@ class "SceneAPI"
         doc = """The type of contact friction cone."""
     )
 
-    uniform token mjc:physics:jacobian = "auto" (
+    uniform token mjc:option:jacobian = "auto" (
         allowedTokens = ["auto", "dense", "sparse"]
         customData = {
             string apiName = "Jacobian"
@@ -220,7 +220,7 @@ class "SceneAPI"
         doc = """The type of constraint Jacobian and matrices computed from it."""
     )
 
-    uniform token mjc:physics:solver = "newton" (
+    uniform token mjc:option:solver = "newton" (
         allowedTokens = ["pgs", "cg", "newton"]
         customData = {
             string apiName = "Solver"
@@ -229,7 +229,7 @@ class "SceneAPI"
         doc = """Constraint solver algorithm to be used."""
     )
 
-    uniform int mjc:physics:iterations = 100 (
+    uniform int mjc:option:iterations = 100 (
         customData = {
             string apiName = "Iterations"
         }
@@ -237,7 +237,7 @@ class "SceneAPI"
         doc = """Maximum number of iterations of the constraint solver."""
     )
 
-    uniform double mjc:physics:tolerance = 1e-08 (
+    uniform double mjc:option:tolerance = 1e-08 (
         customData = {
             string apiName = "Tolerance"
         }
@@ -246,7 +246,7 @@ class "SceneAPI"
         solver."""
     )
 
-    uniform int mjc:physics:ls_iterations = 50 (
+    uniform int mjc:option:ls_iterations = 50 (
         customData = {
             string apiName = "LSIterations"
         }
@@ -255,7 +255,7 @@ class "SceneAPI"
         constraint solvers."""
     )
 
-    uniform double mjc:physics:ls_tolerance = 0.01 (
+    uniform double mjc:option:ls_tolerance = 0.01 (
         customData = {
             string apiName = "LSTolerance"
         }
@@ -263,7 +263,7 @@ class "SceneAPI"
         doc = """Tolerance threshold used for early termination of the linesearch algorithm."""
     )
 
-    uniform int mjc:physics:noslip_iterations = 0 (
+    uniform int mjc:option:noslip_iterations = 0 (
         customData = {
             string apiName = "NoslipIterations"
         }
@@ -271,7 +271,7 @@ class "SceneAPI"
         doc = """Maximum number of iterations of the Noslip solver."""
     )
 
-    uniform double mjc:physics:noslip_tolerance = 1e-06 (
+    uniform double mjc:option:noslip_tolerance = 1e-06 (
         customData = {
             string apiName = "NoslipTolerance"
         }
@@ -279,7 +279,7 @@ class "SceneAPI"
         doc = """Tolerance threshold used for early termination of the Noslip solver."""
     )
 
-    uniform int mjc:physics:ccd_iterations = 50 (
+    uniform int mjc:option:ccd_iterations = 50 (
         customData = {
             string apiName = "CCDIterations"
         }
@@ -287,7 +287,7 @@ class "SceneAPI"
         doc = """Maximum number of iterations of the algorithm used for convex collisions."""
     )
 
-    uniform double mjc:physics:ccd_tolerance = 1e-06 (
+    uniform double mjc:option:ccd_tolerance = 1e-06 (
         customData = {
             string apiName = "CCDTolerance"
         }
@@ -296,7 +296,7 @@ class "SceneAPI"
         collision algorithm."""
     )
 
-    uniform int mjc:physics:sdf_iterations = 10 (
+    uniform int mjc:option:sdf_iterations = 10 (
         customData = {
             string apiName = "SDFIterations"
         }
@@ -305,7 +305,7 @@ class "SceneAPI"
         (per initial point)."""
     )
 
-    uniform int mjc:physics:sdf_initpoints = 40 (
+    uniform int mjc:option:sdf_initpoints = 40 (
         customData = {
             string apiName = "SDFInitPoints"
         }
@@ -314,7 +314,7 @@ class "SceneAPI"
         Distance Field collisions."""
     )
 
-    uniform int[] mjc:physics:actuatorgroupdisable (
+    uniform int[] mjc:option:actuatorgroupdisable (
         customData = {
             string apiName = "ActuatorGroupDisable"
         }
@@ -322,7 +322,7 @@ class "SceneAPI"
         doc = """List of actuator groups to disable."""
     )
 
-    uniform bool mjc:physics:flag:constraint = True (
+    uniform bool mjc:flag:constraint = True (
         customData = {
             string apiName = "ConstraintFlag"
         }
@@ -330,7 +330,7 @@ class "SceneAPI"
         doc = """Enables constraint solver."""
     )
 
-    uniform bool mjc:physics:flag:equality = True (
+    uniform bool mjc:flag:equality = True (
         customData = {
             string apiName = "EqualityFlag"
         }
@@ -338,7 +338,7 @@ class "SceneAPI"
         doc = """Enables all standard computations related to equality constraints."""
     )
 
-    uniform bool mjc:physics:flag:frictionloss = True (
+    uniform bool mjc:flag:frictionloss = True (
         customData = {
             string apiName = "FrictionLossFlag"
         }
@@ -346,7 +346,7 @@ class "SceneAPI"
         doc = """Enables all standard computations related to friction loss constraints."""
     )
 
-    uniform bool mjc:physics:flag:limit = True (
+    uniform bool mjc:flag:limit = True (
         customData = {
             string apiName = "LimitFlag"
         }
@@ -354,7 +354,7 @@ class "SceneAPI"
         doc = """Enables all standard computations related to joint and tendon limit constraints."""
     )
 
-    uniform bool mjc:physics:flag:contact = True (
+    uniform bool mjc:flag:contact = True (
         customData = {
             string apiName = "ContactFlag"
         }
@@ -362,7 +362,7 @@ class "SceneAPI"
         doc = """Enables collision detection and all standard computations related to contact constraints."""
     )
 
-    uniform bool mjc:physics:flag:passive = True (
+    uniform bool mjc:flag:passive = True (
         customData = {
             string apiName = "PassiveFlag"
         }
@@ -370,7 +370,7 @@ class "SceneAPI"
         doc = """Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."""
     )
 
-    uniform bool mjc:physics:flag:gravity = True (
+    uniform bool mjc:flag:gravity = True (
         customData = {
             string apiName = "GravityFlag"
         }
@@ -378,7 +378,7 @@ class "SceneAPI"
         doc = """Enables the application of gravitational acceleration as defined in mjOption."""
     )
 
-    uniform bool mjc:physics:flag:clampctrl = True (
+    uniform bool mjc:flag:clampctrl = True (
         customData = {
             string apiName = "ClampCtrlFlag"
         }
@@ -386,7 +386,7 @@ class "SceneAPI"
         doc = """Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."""
     )
 
-    uniform bool mjc:physics:flag:warmstart = True (
+    uniform bool mjc:flag:warmstart = True (
         customData = {
             string apiName = "WarmStartFlag"
         }
@@ -394,7 +394,7 @@ class "SceneAPI"
         doc = """Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."""
     )
 
-    uniform bool mjc:physics:flag:filterparent = True (
+    uniform bool mjc:flag:filterparent = True (
         customData = {
             string apiName = "FilterParentFlag"
         }
@@ -402,7 +402,7 @@ class "SceneAPI"
         doc = """Enables the filtering of contact pairs where the two geoms belong to a parent and child body."""
     )
 
-    uniform bool mjc:physics:flag:actuation = True (
+    uniform bool mjc:flag:actuation = True (
         customData = {
             string apiName = "ActuationFlag"
         }
@@ -410,7 +410,7 @@ class "SceneAPI"
         doc = """Enables all standard computations related to actuator forces, including actuator dynamics."""
     )
 
-    uniform bool mjc:physics:flag:refsafe = True (
+    uniform bool mjc:flag:refsafe = True (
         customData = {
             string apiName = "RefSafeFlag"
         }
@@ -418,7 +418,7 @@ class "SceneAPI"
         doc = """Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."""
     )
 
-    uniform bool mjc:physics:flag:sensor = True (
+    uniform bool mjc:flag:sensor = True (
         customData = {
             string apiName = "SensorFlag"
         }
@@ -426,7 +426,7 @@ class "SceneAPI"
         doc = """Enables all computations related to sensors."""
     )
 
-    uniform bool mjc:physics:flag:midphase = True (
+    uniform bool mjc:flag:midphase = True (
         customData = {
             string apiName = "MidPhaseFlag"
         }
@@ -434,7 +434,7 @@ class "SceneAPI"
         doc = """Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."""
     )
 
-    uniform bool mjc:physics:flag:nativeccd = True (
+    uniform bool mjc:flag:nativeccd = True (
         customData = {
             string apiName = "NativeCCDFlag"
         }
@@ -442,7 +442,7 @@ class "SceneAPI"
         doc = """Enables the native convex collision detection pipeline instead of using the libccd library."""
     )
 
-    uniform bool mjc:physics:flag:eulerdamp = True (
+    uniform bool mjc:flag:eulerdamp = True (
         customData = {
             string apiName = "EulerDampFlag"
         }
@@ -450,7 +450,7 @@ class "SceneAPI"
         doc = """Enables implicit integration with respect to joint damping in the Euler integrator."""
     )
 
-    uniform bool mjc:physics:flag:autoreset = True (
+    uniform bool mjc:flag:autoreset = True (
         customData = {
             string apiName = "AutoResetFlag"
         }
@@ -458,7 +458,7 @@ class "SceneAPI"
         doc = """Enables the automatic resetting of the simulation state when numerical issues are detected."""
     )
 
-    uniform bool mjc:physics:flag:override = False (
+    uniform bool mjc:flag:override = False (
         customData = {
             string apiName = "OverrideFlag"
         }
@@ -466,7 +466,7 @@ class "SceneAPI"
         doc = """Enables the contact override mechanism."""
     )
 
-    uniform bool mjc:physics:flag:energy = False (
+    uniform bool mjc:flag:energy = False (
         customData = {
             string apiName = "EnergyFlag"
         }
@@ -474,7 +474,7 @@ class "SceneAPI"
         doc = """Enables the computation of potential and kinetic energy (mjData.energy[0,1])."""
     )
 
-    uniform bool mjc:physics:flag:fwdinv = False (
+    uniform bool mjc:flag:fwdinv = False (
         customData = {
             string apiName = "FwdinvFlag"
         }
@@ -482,7 +482,7 @@ class "SceneAPI"
         doc = """Enables the automatic comparison of forward and inverse dynamics."""
     )
 
-    uniform bool mjc:physics:flag:invdiscrete = False (
+    uniform bool mjc:flag:invdiscrete = False (
         customData = {
             string apiName = "InvDiscreteFlag"
         }
@@ -490,7 +490,7 @@ class "SceneAPI"
         doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."""
     )
 
-    uniform bool mjc:physics:flag:multiccd = False (
+    uniform bool mjc:flag:multiccd = False (
         customData = {
             string apiName = "MultiCCDFlag"
         }
@@ -498,7 +498,7 @@ class "SceneAPI"
         doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."""
     )
 
-    uniform bool mjc:physics:flag:island = False (
+    uniform bool mjc:flag:island = False (
         customData = {
             string apiName = "IslandFlag"
         }
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index 7b1868f8..2cc35a98 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -24,62 +24,58 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       euler("euler", TfToken::Immortal),
       implicit("implicit", TfToken::Immortal),
       implicitfast("implicitfast", TfToken::Immortal),
-      mjcPhysicsActuatorgroupdisable("mjc:physics:actuatorgroupdisable",
-                                     TfToken::Immortal),
-      mjcPhysicsApirate("mjc:physics:apirate", TfToken::Immortal),
-      mjcPhysicsCcd_iterations("mjc:physics:ccd_iterations", TfToken::Immortal),
-      mjcPhysicsCcd_tolerance("mjc:physics:ccd_tolerance", TfToken::Immortal),
-      mjcPhysicsCone("mjc:physics:cone", TfToken::Immortal),
-      mjcPhysicsDensity("mjc:physics:density", TfToken::Immortal),
-      mjcPhysicsFlagActuation("mjc:physics:flag:actuation", TfToken::Immortal),
-      mjcPhysicsFlagAutoreset("mjc:physics:flag:autoreset", TfToken::Immortal),
-      mjcPhysicsFlagClampctrl("mjc:physics:flag:clampctrl", TfToken::Immortal),
-      mjcPhysicsFlagConstraint("mjc:physics:flag:constraint",
-                               TfToken::Immortal),
-      mjcPhysicsFlagContact("mjc:physics:flag:contact", TfToken::Immortal),
-      mjcPhysicsFlagEnergy("mjc:physics:flag:energy", TfToken::Immortal),
-      mjcPhysicsFlagEquality("mjc:physics:flag:equality", TfToken::Immortal),
-      mjcPhysicsFlagEulerdamp("mjc:physics:flag:eulerdamp", TfToken::Immortal),
-      mjcPhysicsFlagFilterparent("mjc:physics:flag:filterparent",
+      mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
+      mjcFlagAutoreset("mjc:flag:autoreset", TfToken::Immortal),
+      mjcFlagClampctrl("mjc:flag:clampctrl", TfToken::Immortal),
+      mjcFlagConstraint("mjc:flag:constraint", TfToken::Immortal),
+      mjcFlagContact("mjc:flag:contact", TfToken::Immortal),
+      mjcFlagEnergy("mjc:flag:energy", TfToken::Immortal),
+      mjcFlagEquality("mjc:flag:equality", TfToken::Immortal),
+      mjcFlagEulerdamp("mjc:flag:eulerdamp", TfToken::Immortal),
+      mjcFlagFilterparent("mjc:flag:filterparent", TfToken::Immortal),
+      mjcFlagFrictionloss("mjc:flag:frictionloss", TfToken::Immortal),
+      mjcFlagFwdinv("mjc:flag:fwdinv", TfToken::Immortal),
+      mjcFlagGravity("mjc:flag:gravity", TfToken::Immortal),
+      mjcFlagInvdiscrete("mjc:flag:invdiscrete", TfToken::Immortal),
+      mjcFlagIsland("mjc:flag:island", TfToken::Immortal),
+      mjcFlagLimit("mjc:flag:limit", TfToken::Immortal),
+      mjcFlagMidphase("mjc:flag:midphase", TfToken::Immortal),
+      mjcFlagMulticcd("mjc:flag:multiccd", TfToken::Immortal),
+      mjcFlagNativeccd("mjc:flag:nativeccd", TfToken::Immortal),
+      mjcFlagOverride("mjc:flag:override", TfToken::Immortal),
+      mjcFlagPassive("mjc:flag:passive", TfToken::Immortal),
+      mjcFlagRefsafe("mjc:flag:refsafe", TfToken::Immortal),
+      mjcFlagSensor("mjc:flag:sensor", TfToken::Immortal),
+      mjcFlagWarmstart("mjc:flag:warmstart", TfToken::Immortal),
+      mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
+                                    TfToken::Immortal),
+      mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
+      mjcOptionCcd_iterations("mjc:option:ccd_iterations", TfToken::Immortal),
+      mjcOptionCcd_tolerance("mjc:option:ccd_tolerance", TfToken::Immortal),
+      mjcOptionCone("mjc:option:cone", TfToken::Immortal),
+      mjcOptionDensity("mjc:option:density", TfToken::Immortal),
+      mjcOptionImpratio("mjc:option:impratio", TfToken::Immortal),
+      mjcOptionIntegrator("mjc:option:integrator", TfToken::Immortal),
+      mjcOptionIterations("mjc:option:iterations", TfToken::Immortal),
+      mjcOptionJacobian("mjc:option:jacobian", TfToken::Immortal),
+      mjcOptionLs_iterations("mjc:option:ls_iterations", TfToken::Immortal),
+      mjcOptionLs_tolerance("mjc:option:ls_tolerance", TfToken::Immortal),
+      mjcOptionMagnetic("mjc:option:magnetic", TfToken::Immortal),
+      mjcOptionNoslip_iterations("mjc:option:noslip_iterations",
                                  TfToken::Immortal),
-      mjcPhysicsFlagFrictionloss("mjc:physics:flag:frictionloss",
-                                 TfToken::Immortal),
-      mjcPhysicsFlagFwdinv("mjc:physics:flag:fwdinv", TfToken::Immortal),
-      mjcPhysicsFlagGravity("mjc:physics:flag:gravity", TfToken::Immortal),
-      mjcPhysicsFlagInvdiscrete("mjc:physics:flag:invdiscrete",
+      mjcOptionNoslip_tolerance("mjc:option:noslip_tolerance",
                                 TfToken::Immortal),
-      mjcPhysicsFlagIsland("mjc:physics:flag:island", TfToken::Immortal),
-      mjcPhysicsFlagLimit("mjc:physics:flag:limit", TfToken::Immortal),
-      mjcPhysicsFlagMidphase("mjc:physics:flag:midphase", TfToken::Immortal),
-      mjcPhysicsFlagMulticcd("mjc:physics:flag:multiccd", TfToken::Immortal),
-      mjcPhysicsFlagNativeccd("mjc:physics:flag:nativeccd", TfToken::Immortal),
-      mjcPhysicsFlagOverride("mjc:physics:flag:override", TfToken::Immortal),
-      mjcPhysicsFlagPassive("mjc:physics:flag:passive", TfToken::Immortal),
-      mjcPhysicsFlagRefsafe("mjc:physics:flag:refsafe", TfToken::Immortal),
-      mjcPhysicsFlagSensor("mjc:physics:flag:sensor", TfToken::Immortal),
-      mjcPhysicsFlagWarmstart("mjc:physics:flag:warmstart", TfToken::Immortal),
-      mjcPhysicsImpratio("mjc:physics:impratio", TfToken::Immortal),
-      mjcPhysicsIntegrator("mjc:physics:integrator", TfToken::Immortal),
-      mjcPhysicsIterations("mjc:physics:iterations", TfToken::Immortal),
-      mjcPhysicsJacobian("mjc:physics:jacobian", TfToken::Immortal),
-      mjcPhysicsLs_iterations("mjc:physics:ls_iterations", TfToken::Immortal),
-      mjcPhysicsLs_tolerance("mjc:physics:ls_tolerance", TfToken::Immortal),
-      mjcPhysicsMagnetic("mjc:physics:magnetic", TfToken::Immortal),
-      mjcPhysicsNoslip_iterations("mjc:physics:noslip_iterations",
-                                  TfToken::Immortal),
-      mjcPhysicsNoslip_tolerance("mjc:physics:noslip_tolerance",
-                                 TfToken::Immortal),
-      mjcPhysicsO_friction("mjc:physics:o_friction", TfToken::Immortal),
-      mjcPhysicsO_margin("mjc:physics:o_margin", TfToken::Immortal),
-      mjcPhysicsO_solimp("mjc:physics:o_solimp", TfToken::Immortal),
-      mjcPhysicsO_solref("mjc:physics:o_solref", TfToken::Immortal),
-      mjcPhysicsSdf_initpoints("mjc:physics:sdf_initpoints", TfToken::Immortal),
-      mjcPhysicsSdf_iterations("mjc:physics:sdf_iterations", TfToken::Immortal),
-      mjcPhysicsSolver("mjc:physics:solver", TfToken::Immortal),
-      mjcPhysicsTimestep("mjc:physics:timestep", TfToken::Immortal),
-      mjcPhysicsTolerance("mjc:physics:tolerance", TfToken::Immortal),
-      mjcPhysicsViscosity("mjc:physics:viscosity", TfToken::Immortal),
-      mjcPhysicsWind("mjc:physics:wind", TfToken::Immortal),
+      mjcOptionO_friction("mjc:option:o_friction", TfToken::Immortal),
+      mjcOptionO_margin("mjc:option:o_margin", TfToken::Immortal),
+      mjcOptionO_solimp("mjc:option:o_solimp", TfToken::Immortal),
+      mjcOptionO_solref("mjc:option:o_solref", TfToken::Immortal),
+      mjcOptionSdf_initpoints("mjc:option:sdf_initpoints", TfToken::Immortal),
+      mjcOptionSdf_iterations("mjc:option:sdf_iterations", TfToken::Immortal),
+      mjcOptionSolver("mjc:option:solver", TfToken::Immortal),
+      mjcOptionTimestep("mjc:option:timestep", TfToken::Immortal),
+      mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
+      mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
+      mjcOptionWind("mjc:option:wind", TfToken::Immortal),
       newton("newton", TfToken::Immortal),
       pgs("pgs", TfToken::Immortal),
       pyramidal("pyramidal", TfToken::Immortal),
@@ -94,55 +90,55 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  euler,
                  implicit,
                  implicitfast,
-                 mjcPhysicsActuatorgroupdisable,
-                 mjcPhysicsApirate,
-                 mjcPhysicsCcd_iterations,
-                 mjcPhysicsCcd_tolerance,
-                 mjcPhysicsCone,
-                 mjcPhysicsDensity,
-                 mjcPhysicsFlagActuation,
-                 mjcPhysicsFlagAutoreset,
-                 mjcPhysicsFlagClampctrl,
-                 mjcPhysicsFlagConstraint,
-                 mjcPhysicsFlagContact,
-                 mjcPhysicsFlagEnergy,
-                 mjcPhysicsFlagEquality,
-                 mjcPhysicsFlagEulerdamp,
-                 mjcPhysicsFlagFilterparent,
-                 mjcPhysicsFlagFrictionloss,
-                 mjcPhysicsFlagFwdinv,
-                 mjcPhysicsFlagGravity,
-                 mjcPhysicsFlagInvdiscrete,
-                 mjcPhysicsFlagIsland,
-                 mjcPhysicsFlagLimit,
-                 mjcPhysicsFlagMidphase,
-                 mjcPhysicsFlagMulticcd,
-                 mjcPhysicsFlagNativeccd,
-                 mjcPhysicsFlagOverride,
-                 mjcPhysicsFlagPassive,
-                 mjcPhysicsFlagRefsafe,
-                 mjcPhysicsFlagSensor,
-                 mjcPhysicsFlagWarmstart,
-                 mjcPhysicsImpratio,
-                 mjcPhysicsIntegrator,
-                 mjcPhysicsIterations,
-                 mjcPhysicsJacobian,
-                 mjcPhysicsLs_iterations,
-                 mjcPhysicsLs_tolerance,
-                 mjcPhysicsMagnetic,
-                 mjcPhysicsNoslip_iterations,
-                 mjcPhysicsNoslip_tolerance,
-                 mjcPhysicsO_friction,
-                 mjcPhysicsO_margin,
-                 mjcPhysicsO_solimp,
-                 mjcPhysicsO_solref,
-                 mjcPhysicsSdf_initpoints,
-                 mjcPhysicsSdf_iterations,
-                 mjcPhysicsSolver,
-                 mjcPhysicsTimestep,
-                 mjcPhysicsTolerance,
-                 mjcPhysicsViscosity,
-                 mjcPhysicsWind,
+                 mjcFlagActuation,
+                 mjcFlagAutoreset,
+                 mjcFlagClampctrl,
+                 mjcFlagConstraint,
+                 mjcFlagContact,
+                 mjcFlagEnergy,
+                 mjcFlagEquality,
+                 mjcFlagEulerdamp,
+                 mjcFlagFilterparent,
+                 mjcFlagFrictionloss,
+                 mjcFlagFwdinv,
+                 mjcFlagGravity,
+                 mjcFlagInvdiscrete,
+                 mjcFlagIsland,
+                 mjcFlagLimit,
+                 mjcFlagMidphase,
+                 mjcFlagMulticcd,
+                 mjcFlagNativeccd,
+                 mjcFlagOverride,
+                 mjcFlagPassive,
+                 mjcFlagRefsafe,
+                 mjcFlagSensor,
+                 mjcFlagWarmstart,
+                 mjcOptionActuatorgroupdisable,
+                 mjcOptionApirate,
+                 mjcOptionCcd_iterations,
+                 mjcOptionCcd_tolerance,
+                 mjcOptionCone,
+                 mjcOptionDensity,
+                 mjcOptionImpratio,
+                 mjcOptionIntegrator,
+                 mjcOptionIterations,
+                 mjcOptionJacobian,
+                 mjcOptionLs_iterations,
+                 mjcOptionLs_tolerance,
+                 mjcOptionMagnetic,
+                 mjcOptionNoslip_iterations,
+                 mjcOptionNoslip_tolerance,
+                 mjcOptionO_friction,
+                 mjcOptionO_margin,
+                 mjcOptionO_solimp,
+                 mjcOptionO_solref,
+                 mjcOptionSdf_initpoints,
+                 mjcOptionSdf_iterations,
+                 mjcOptionSolver,
+                 mjcOptionTimestep,
+                 mjcOptionTolerance,
+                 mjcOptionViscosity,
+                 mjcOptionWind,
                  newton,
                  pgs,
                  pyramidal,
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 50239a66..7bdf56f2 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -88,202 +88,202 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
   /// represents the implicitfast numerical integrator.
   const TfToken implicitfast;
-  /// \brief "mjc:physics:actuatorgroupdisable"
+  /// \brief "mjc:flag:actuation"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsActuatorgroupdisable;
-  /// \brief "mjc:physics:apirate"
+  const TfToken mjcFlagActuation;
+  /// \brief "mjc:flag:autoreset"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsApirate;
-  /// \brief "mjc:physics:ccd_iterations"
+  const TfToken mjcFlagAutoreset;
+  /// \brief "mjc:flag:clampctrl"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsCcd_iterations;
-  /// \brief "mjc:physics:ccd_tolerance"
+  const TfToken mjcFlagClampctrl;
+  /// \brief "mjc:flag:constraint"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsCcd_tolerance;
-  /// \brief "mjc:physics:cone"
+  const TfToken mjcFlagConstraint;
+  /// \brief "mjc:flag:contact"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsCone;
-  /// \brief "mjc:physics:density"
+  const TfToken mjcFlagContact;
+  /// \brief "mjc:flag:energy"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsDensity;
-  /// \brief "mjc:physics:flag:actuation"
+  const TfToken mjcFlagEnergy;
+  /// \brief "mjc:flag:equality"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagActuation;
-  /// \brief "mjc:physics:flag:autoreset"
+  const TfToken mjcFlagEquality;
+  /// \brief "mjc:flag:eulerdamp"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagAutoreset;
-  /// \brief "mjc:physics:flag:clampctrl"
+  const TfToken mjcFlagEulerdamp;
+  /// \brief "mjc:flag:filterparent"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagClampctrl;
-  /// \brief "mjc:physics:flag:constraint"
+  const TfToken mjcFlagFilterparent;
+  /// \brief "mjc:flag:frictionloss"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagConstraint;
-  /// \brief "mjc:physics:flag:contact"
+  const TfToken mjcFlagFrictionloss;
+  /// \brief "mjc:flag:fwdinv"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagContact;
-  /// \brief "mjc:physics:flag:energy"
+  const TfToken mjcFlagFwdinv;
+  /// \brief "mjc:flag:gravity"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagEnergy;
-  /// \brief "mjc:physics:flag:equality"
+  const TfToken mjcFlagGravity;
+  /// \brief "mjc:flag:invdiscrete"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagEquality;
-  /// \brief "mjc:physics:flag:eulerdamp"
+  const TfToken mjcFlagInvdiscrete;
+  /// \brief "mjc:flag:island"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagEulerdamp;
-  /// \brief "mjc:physics:flag:filterparent"
+  const TfToken mjcFlagIsland;
+  /// \brief "mjc:flag:limit"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagFilterparent;
-  /// \brief "mjc:physics:flag:frictionloss"
+  const TfToken mjcFlagLimit;
+  /// \brief "mjc:flag:midphase"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagFrictionloss;
-  /// \brief "mjc:physics:flag:fwdinv"
+  const TfToken mjcFlagMidphase;
+  /// \brief "mjc:flag:multiccd"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagFwdinv;
-  /// \brief "mjc:physics:flag:gravity"
+  const TfToken mjcFlagMulticcd;
+  /// \brief "mjc:flag:nativeccd"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagGravity;
-  /// \brief "mjc:physics:flag:invdiscrete"
+  const TfToken mjcFlagNativeccd;
+  /// \brief "mjc:flag:override"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagInvdiscrete;
-  /// \brief "mjc:physics:flag:island"
+  const TfToken mjcFlagOverride;
+  /// \brief "mjc:flag:passive"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagIsland;
-  /// \brief "mjc:physics:flag:limit"
+  const TfToken mjcFlagPassive;
+  /// \brief "mjc:flag:refsafe"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagLimit;
-  /// \brief "mjc:physics:flag:midphase"
+  const TfToken mjcFlagRefsafe;
+  /// \brief "mjc:flag:sensor"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagMidphase;
-  /// \brief "mjc:physics:flag:multiccd"
+  const TfToken mjcFlagSensor;
+  /// \brief "mjc:flag:warmstart"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagMulticcd;
-  /// \brief "mjc:physics:flag:nativeccd"
+  const TfToken mjcFlagWarmstart;
+  /// \brief "mjc:option:actuatorgroupdisable"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagNativeccd;
-  /// \brief "mjc:physics:flag:override"
+  const TfToken mjcOptionActuatorgroupdisable;
+  /// \brief "mjc:option:apirate"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagOverride;
-  /// \brief "mjc:physics:flag:passive"
+  const TfToken mjcOptionApirate;
+  /// \brief "mjc:option:ccd_iterations"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagPassive;
-  /// \brief "mjc:physics:flag:refsafe"
+  const TfToken mjcOptionCcd_iterations;
+  /// \brief "mjc:option:ccd_tolerance"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagRefsafe;
-  /// \brief "mjc:physics:flag:sensor"
+  const TfToken mjcOptionCcd_tolerance;
+  /// \brief "mjc:option:cone"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagSensor;
-  /// \brief "mjc:physics:flag:warmstart"
+  const TfToken mjcOptionCone;
+  /// \brief "mjc:option:density"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsFlagWarmstart;
-  /// \brief "mjc:physics:impratio"
+  const TfToken mjcOptionDensity;
+  /// \brief "mjc:option:impratio"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsImpratio;
-  /// \brief "mjc:physics:integrator"
+  const TfToken mjcOptionImpratio;
+  /// \brief "mjc:option:integrator"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsIntegrator;
-  /// \brief "mjc:physics:iterations"
+  const TfToken mjcOptionIntegrator;
+  /// \brief "mjc:option:iterations"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsIterations;
-  /// \brief "mjc:physics:jacobian"
+  const TfToken mjcOptionIterations;
+  /// \brief "mjc:option:jacobian"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsJacobian;
-  /// \brief "mjc:physics:ls_iterations"
+  const TfToken mjcOptionJacobian;
+  /// \brief "mjc:option:ls_iterations"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsLs_iterations;
-  /// \brief "mjc:physics:ls_tolerance"
+  const TfToken mjcOptionLs_iterations;
+  /// \brief "mjc:option:ls_tolerance"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsLs_tolerance;
-  /// \brief "mjc:physics:magnetic"
+  const TfToken mjcOptionLs_tolerance;
+  /// \brief "mjc:option:magnetic"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsMagnetic;
-  /// \brief "mjc:physics:noslip_iterations"
+  const TfToken mjcOptionMagnetic;
+  /// \brief "mjc:option:noslip_iterations"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsNoslip_iterations;
-  /// \brief "mjc:physics:noslip_tolerance"
+  const TfToken mjcOptionNoslip_iterations;
+  /// \brief "mjc:option:noslip_tolerance"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsNoslip_tolerance;
-  /// \brief "mjc:physics:o_friction"
+  const TfToken mjcOptionNoslip_tolerance;
+  /// \brief "mjc:option:o_friction"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsO_friction;
-  /// \brief "mjc:physics:o_margin"
+  const TfToken mjcOptionO_friction;
+  /// \brief "mjc:option:o_margin"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsO_margin;
-  /// \brief "mjc:physics:o_solimp"
+  const TfToken mjcOptionO_margin;
+  /// \brief "mjc:option:o_solimp"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsO_solimp;
-  /// \brief "mjc:physics:o_solref"
+  const TfToken mjcOptionO_solimp;
+  /// \brief "mjc:option:o_solref"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsO_solref;
-  /// \brief "mjc:physics:sdf_initpoints"
+  const TfToken mjcOptionO_solref;
+  /// \brief "mjc:option:sdf_initpoints"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsSdf_initpoints;
-  /// \brief "mjc:physics:sdf_iterations"
+  const TfToken mjcOptionSdf_initpoints;
+  /// \brief "mjc:option:sdf_iterations"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsSdf_iterations;
-  /// \brief "mjc:physics:solver"
+  const TfToken mjcOptionSdf_iterations;
+  /// \brief "mjc:option:solver"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsSolver;
-  /// \brief "mjc:physics:timestep"
+  const TfToken mjcOptionSolver;
+  /// \brief "mjc:option:timestep"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsTimestep;
-  /// \brief "mjc:physics:tolerance"
+  const TfToken mjcOptionTimestep;
+  /// \brief "mjc:option:tolerance"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsTolerance;
-  /// \brief "mjc:physics:viscosity"
+  const TfToken mjcOptionTolerance;
+  /// \brief "mjc:option:viscosity"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsViscosity;
-  /// \brief "mjc:physics:wind"
+  const TfToken mjcOptionViscosity;
+  /// \brief "mjc:option:wind"
   ///
   /// MjcPhysicsSceneAPI
-  const TfToken mjcPhysicsWind;
+  const TfToken mjcOptionWind;
   /// \brief "newton"
   ///
   /// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token

From 84d658a5ad25173e5ed3b115194eb4403af79f28 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 19 May 2025 06:41:06 -0700
Subject: [PATCH 144/191] Remove redundant variable in mj_factorI

PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
---
 src/engine/engine_core_smooth.c | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index 7f30294a..d4deb5b3 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1673,12 +1673,9 @@ void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
 
     // update triangle above row k
     for (int adr=end - 1; adr >= start; adr--) {
-      // tmp = L(k, i) / L(k, k)
-      mjtNum tmp = mat[adr] * invD;
-
       // update row i < k:  L(i, 0..i) -= L(i, 0..i) * L(k, i) / L(k, k)
       int i = colind[adr];
-      mju_addToScl(mat + rowadr[i], mat + start, -tmp, rownnz[i]);
+      mju_addToScl(mat + rowadr[i], mat + start, -mat[adr] * invD, rownnz[i]);
     }
 
     // update row k:  L(k, :) /= L(k, k)

From 6c201d3e1c5ce34fecbb71dd5a184e24d2c74d91 Mon Sep 17 00:00:00 2001
From: Tom Power <tjpower@google.com>
Date: Mon, 19 May 2025 07:33:54 -0700
Subject: [PATCH 145/191] Add examples of scaling assets into tutorial
 notebook. Fixes #2476

PiperOrigin-RevId: 760617809
Change-Id: I86d4fadb473cf8ad9bcfd058567551c431f2bf31
---
 python/mjspec.ipynb | 420 +++++++++++++++++++++++++++++++++++++++++---
 1 file changed, 397 insertions(+), 23 deletions(-)

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index 925da6bc..78b0f6f1 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -124,12 +124,12 @@
     "  highlighted = pygments.highlight(xml_string, lexer, formatter)\n",
     "  display(HTML(f\"<style>{formatter.get_style_defs()}</style>{highlighted}\"))\n",
     "\n",
-    "def render(model, data=None, height=300):\n",
+    "def render(model, data=None, height=300, camera=-1):\n",
     "  if data is None:\n",
     "    data = mj.MjData(model)\n",
     "  with mj.Renderer(model, 480, 640) as renderer:\n",
     "    mj.mj_forward(model, data)\n",
-    "    renderer.update_scene(data)\n",
+    "    renderer.update_scene(data, camera)\n",
     "    media.show_image(renderer.render(), height=height)"
    ]
   },
@@ -148,6 +148,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
+    "cellView": "form",
     "id": "oummB7I7EfSq"
    },
    "outputs": [],
@@ -987,7 +988,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Six Creatures on a floor.{vertical-output: true}\n",
+    "#@title Six Creatures on a floor {vertical-output: true}\n",
     "\n",
     "arena = mj.MjSpec()\n",
     "\n",
@@ -1046,7 +1047,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Video of the movement{vertical-output: true}\n",
+    "#@title Video of the movement {vertical-output: true}\n",
     "\n",
     "data = mj.MjData(model)\n",
     "duration = 10   # (Seconds)\n",
@@ -1094,7 +1095,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Movement trajectories{vertical-output: true}\n",
+    "#@title Movement trajectories {vertical-output: true}\n",
     "\n",
     "creature_colors = [torso.rgba[:3] for torso in torsos_model]\n",
     "fig, ax = plt.subplots(figsize=(4, 4))\n",
@@ -1120,6 +1121,57 @@
     "# Model editing"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "cellView": "form",
+    "id": "m4sppBqvf7yd"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Get resources\n",
+    "\n",
+    "# Get Models\n",
+    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
+    "!git clone https://github.com/google-deepmind/mujoco\n",
+    "humanoid_file = 'mujoco/model/humanoid/humanoid.xml'\n",
+    "humanoid100_file = 'mujoco/model/humanoid/humanoid100.xml'\n",
+    "print('Getting MuJoCo Fly and Franka XML description from GitHub:')\n",
+    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
+    "fly_file = 'mujoco_menagerie/flybody/fruitfly.xml'\n",
+    "franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n",
+    "\n",
+    "# Camera options\n",
+    "cam = mj.MjvCamera()\n",
+    "mj.mjv_defaultCamera(cam)\n",
+    "cam.elevation = -10\n",
+    "cam.lookat = [0, 0, 1]\n",
+    "cam.distance = 4\n",
+    "cam.azimuth = 135\n",
+    "\n",
+    "# Arena\n",
+    "arena_xml = \"\"\"\n",
+    "<mujoco>\n",
+    "  <visual>\n",
+    "    <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
+    "    <global offwidth=\"2048\" offheight=\"1536\"/>\n",
+    "    <quality shadowsize=\"8192\"/>\n",
+    "  </visual>\n",
+    "\n",
+    "  <asset>\n",
+    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" width=\"10\" height=\"10\"/>\n",
+    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"400\" height=\"400\"/>\n",
+    "    <material name=\"groundplane\" texture=\"groundplane\" texrepeat=\"45 45\" reflectance=\"0\"/>\n",
+    "  </asset>\n",
+    "\n",
+    "  <worldbody>\n",
+    "    <geom name=\"floor\" size=\"10 10 0.1\" type=\"plane\" material=\"groundplane\"/>\n",
+    "  </worldbody>\n",
+    "</mujoco>\n",
+    "\"\"\"\n"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {
@@ -1140,13 +1192,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Traversing the spec.{vertical-output: true}\n",
-    "\n",
-    "# Get MuJoCo's humanoid model.\n",
-    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco\n",
-    "humanoid_file = 'mujoco/model/humanoid/humanoid.xml'\n",
-    "humanoid100_file = 'mujoco/model/humanoid/humanoid100.xml'\n",
+    "#@title Traversing the spec {vertical-output: true}\n",
     "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "\n",
@@ -1183,7 +1229,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Model re-compilation with state preservation.{vertical-output: true}\n",
+    "#@title Model re-compilation with state preservation {vertical-output: true}\n",
     "\n",
     "spec = mj.MjSpec.from_file(humanoid100_file)\n",
     "model = spec.compile()\n",
@@ -1239,7 +1285,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Humanoid model.{vertical-output: true}\n",
+    "#@title Humanoid model {vertical-output: true}\n",
     "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "\n",
@@ -1264,7 +1310,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Humanoid with arms replaced by legs.{vertical-output: true}\n",
+    "#@title Humanoid with arms replaced by legs {vertical-output: true}\n",
     "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "spec.copy_during_attach = True\n",
@@ -1309,11 +1355,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Humanoid with Franka arm.{vertical-output: true}\n",
-    "\n",
-    "# Get Franka arm from the MuJoCo Menagerie.\n",
-    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
-    "franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n",
+    "#@title Humanoid with Franka arm {vertical-output: true}\n",
     "\n",
     "spec = mj.MjSpec.from_file(humanoid_file)\n",
     "franka = mj.MjSpec.from_file(franka_file)\n",
@@ -1350,11 +1392,12 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
+    "cellView": "form",
     "id": "50lOgJ7mQ2bV"
    },
    "outputs": [],
    "source": [
-    "#@title Imported actuators.{vertical-output: true}\n",
+    "#@title Imported actuators {vertical-output: true}\n",
     "\n",
     "for actuator in spec.actuators:\n",
     "  print(actuator.name)"
@@ -1377,7 +1420,7 @@
    },
    "outputs": [],
    "source": [
-    "#@title Humanoid with randomized heads and arm poses.{vertical-output: true}\n",
+    "#@title Humanoid with randomized heads and arm poses {vertical-output: true}\n",
     "\n",
     "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
     "spec = mj.MjSpec()\n",
@@ -1412,13 +1455,344 @@
     "model = spec.compile()\n",
     "render(model, height=400)"
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "iXgYCVzEWFTU"
+   },
+   "source": [
+    "## Model scaling"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "-hSJKyH4A2VY"
+   },
+   "outputs": [],
+   "source": [
+    "#@title Uniformly scale humanoid {vertical-output: true}\n",
+    "\n",
+    "def scale_spec(spec, scale):\n",
+    "  scaled_spec = spec.copy()\n",
+    "  # Traverse the kinematic tree, scaling all geoms\n",
+    "  def scale_bodies(parent, scale=1.0):\n",
+    "    body = parent.first_body()\n",
+    "    while body:\n",
+    "      if body.pos is not None:\n",
+    "        body.pos = body.pos * scale\n",
+    "      for geom in body.geoms:\n",
+    "        geom.fromto = geom.fromto * scale\n",
+    "        geom.size = geom.size * scale\n",
+    "        if geom.pos is not None:\n",
+    "          geom.pos = geom.pos * scale\n",
+    "      scale_bodies(body, scale)\n",
+    "      body = parent.next_body(body)\n",
+    "\n",
+    "  scale_bodies(scaled_spec.body('world'), scale)\n",
+    "  return scaled_spec\n",
+    "\n",
+    "spec = mj.MjSpec.from_string(arena_xml)\n",
+    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
+    "small_humanoid = scale_spec(humanoid, 0.75)\n",
+    "large_humanoid = scale_spec(humanoid, 1.25)\n",
+    "\n",
+    "# Create a line-up of humanoids\n",
+    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(humanoid.body('torso'), str(0))\n",
+    "\n",
+    "frame = spec.worldbody.add_frame(pos=[0, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(small_humanoid.body('torso'), str(1))\n",
+    "\n",
+    "frame = spec.worldbody.add_frame(pos=[1, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
+    "frame.attach_body(large_humanoid.body('torso'), str(2))\n",
+    "\n",
+    "\n",
+    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
+    "                         targetbody='1torso', diffuse=[.8, .8, .8],\n",
+    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
+    "model = spec.compile()\n",
+    "render(model, height=400, camera=cam)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "tBH5vmqJXleD"
+   },
+   "source": [
+    "We can scale the size of a model by traversing the kinematic tree and applying the the scale to the relevant geoms. Above we can see humanoids of three different sizes."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "cV4tkG6siFQp"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Scaling actuator forces {vertical-output: true}\n",
+    "\n",
+    "def scale_spec(spec, scale, scale_actuators=False):\n",
+    "  scaled_spec = spec.copy()\n",
+    "  # Traverse the kinematic tree, scaling all geoms\n",
+    "  def scale_bodies(parent, scale=1.0):\n",
+    "    body = parent.first_body()\n",
+    "    while body:\n",
+    "      if body.pos is not None:\n",
+    "        body.pos = body.pos * scale\n",
+    "      for geom in body.geoms:\n",
+    "        geom.fromto = geom.fromto * scale\n",
+    "        geom.size = geom.size * scale\n",
+    "        if geom.pos is not None:\n",
+    "          geom.pos = geom.pos * scale\n",
+    "      scale_bodies(body, scale)\n",
+    "      body = parent.next_body(body)\n",
+    "\n",
+    "  if scale_actuators:\n",
+    "    # scale gear\n",
+    "    for actuator in scaled_spec.actuators:\n",
+    "      # scale the actuator gear by (scale ** 2),\n",
+    "      # this is because muscle force-generating capacity\n",
+    "      # scales with the cross-sectional area of the muscle\n",
+    "      actuator.gear = actuator.gear * scale * scale\n",
+    "\n",
+    "  # scale the z-position of the humanoid for all keypoints\n",
+    "  for keypoint in scaled_spec.keys:\n",
+    "    qpos = keypoint.qpos\n",
+    "    qpos[2] = qpos[2] * scale\n",
+    "    keypoint.qpos = qpos\n",
+    "    keypoint.qpos[2] = keypoint.qpos[2] * scale\n",
+    "\n",
+    "  scale_bodies(scaled_spec.body('world'), scale)\n",
+    "  return scaled_spec\n",
+    "\n",
+    "# Create specs\n",
+    "scale = 0.6\n",
+    "spec = mj.MjSpec.from_string(arena_xml)\n",
+    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
+    "small_humanoid = scale_spec(humanoid, scale)\n",
+    "small_humanoid_actuators_scaled = scale_spec(humanoid, scale, True)\n",
+    "\n",
+    "# Create a line-up of humanoids\n",
+    "squat_qpos = []\n",
+    "\n",
+    "# Add unscaled humanoid\n",
+    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(humanoid.body('torso'), str(0))\n",
+    "# Record squat pose\n",
+    "humanoid_squat = humanoid.key('squat').qpos\n",
+    "humanoid_squat[:2] = frame.pos[:2]\n",
+    "humanoid_squat[3:7] = frame.quat\n",
+    "squat_qpos.append(humanoid_squat)\n",
+    "\n",
+    "# Add small humanoid\n",
+    "frame = spec.worldbody.add_frame(pos=[0, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(small_humanoid.body('torso'), str(1))\n",
+    "# Record squat pose\n",
+    "humanoid_squat = small_humanoid.key('squat').qpos\n",
+    "humanoid_squat[:2] = frame.pos[:2]\n",
+    "humanoid_squat[3:7] = frame.quat\n",
+    "squat_qpos.append(humanoid_squat)\n",
+    "\n",
+    "# Add small humanoid with scaled actuators\n",
+    "frame = spec.worldbody.add_frame(pos=[1, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
+    "frame.attach_body(small_humanoid_actuators_scaled.body('torso'), str(2))\n",
+    "# Record squat pose\n",
+    "humanoid_squat = small_humanoid_actuators_scaled.key('squat').qpos\n",
+    "humanoid_squat[:2] = frame.pos[:2]\n",
+    "humanoid_squat[3:7] = frame.quat\n",
+    "squat_qpos.append(humanoid_squat)\n",
+    "squat_qpos = np.concatenate(squat_qpos)\n",
+    "\n",
+    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
+    "                         targetbody='1torso', diffuse=[.8, .8, .8],\n",
+    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
+    "model = spec.compile()\n",
+    "\n",
+    "# Initialize to squat position\n",
+    "data = mj.MjData(model)\n",
+    "data.qpos = squat_qpos\n",
+    "\n",
+    "# jumping motion\n",
+    "u_t = lambda t: 10.0 * t / duration\n",
+    "\n",
+    "# Simulate and display video.\n",
+    "duration = 2    # (seconds)\n",
+    "framerate = 30  # (Hz)\n",
+    "frames = []\n",
+    "\n",
+    "with mj.Renderer(model, 480, 640) as renderer:\n",
+    "  while data.time < duration:\n",
+    "    data.ctrl = u_t(data.time)\n",
+    "    mj.mj_step(model, data)\n",
+    "    if len(frames) < data.time * framerate:\n",
+    "      renderer.update_scene(data, camera=cam)\n",
+    "      pixels = renderer.render()\n",
+    "      frames.append(pixels)\n",
+    "\n",
+    "media.show_video(frames, fps=framerate, height=400)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "ZSOra3S2YpIB"
+   },
+   "source": [
+    "We can also apply scaling to the actuators. In the humanoid case, scaling the geoms without scaling the `gear` parameter for the actuators results in a humanoid that can jump higher proportional to its size."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "9IuwQQ0F2ddA"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Long-limbed humanoid {vertical-output: true}\n",
+    "\n",
+    "def scale_spec(spec, scale):\n",
+    "  scaled_spec = spec.copy()\n",
+    "  # Traverse the kinematic tree, scaling all geoms\n",
+    "  def scale_bodies(parent, scale=1.0):\n",
+    "    if parent is not None:\n",
+    "      for geom in parent.geoms:\n",
+    "        # Only scale fromto, not size to scale length of capsules\n",
+    "        geom.fromto = geom.fromto * scale\n",
+    "        if geom.pos is not None:\n",
+    "          geom.pos = geom.pos * scale\n",
+    "    body = parent.first_body()\n",
+    "    while body:\n",
+    "      if body.pos is not None:\n",
+    "        body.pos = body.pos * scale\n",
+    "      scale_bodies(body, scale)\n",
+    "      body = parent.next_body(body)\n",
+    "\n",
+    "  # Scale all the limbs\n",
+    "  scale_bodies(scaled_spec.body('upper_arm_right'), scale)\n",
+    "  scale_bodies(scaled_spec.body('upper_arm_left'), scale)\n",
+    "  scale_bodies(scaled_spec.body('thigh_right'), scale)\n",
+    "  scale_bodies(scaled_spec.body('thigh_left'), scale)\n",
+    "  return scaled_spec\n",
+    "\n",
+    "spec = mj.MjSpec.from_string(arena_xml)\n",
+    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
+    "small_humanoid = scale_spec(humanoid, 1.25)\n",
+    "large_humanoid = scale_spec(humanoid, 2)\n",
+    "\n",
+    "# Create a line-up of humanoids by attaching\n",
+    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(humanoid.body('torso'), str(0), str(0))\n",
+    "\n",
+    "frame = spec.worldbody.add_frame(pos=[0, 0, 0.2],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(small_humanoid.body('torso'), str(0), str(1))\n",
+    "\n",
+    "frame = spec.worldbody.add_frame(pos=[1, 0, 0.8],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
+    "frame.attach_body(large_humanoid.body('torso'), str(0), str(2))\n",
+    "\n",
+    "\n",
+    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
+    "                         targetbody='0torso1', diffuse=[.8, .8, .8],\n",
+    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
+    "model = spec.compile()\n",
+    "\n",
+    "# camera options\n",
+    "render(model, height=400, camera=cam)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "D2DrPBvBZjI0"
+   },
+   "source": [
+    "We can also apply scaling to the model non-uniformly. In this instance we scale the humanoid to have long limbs, by only applying the scale to the length of the capsule geoms for the arms, legs and feet."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "1G8VO45v2ddA"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Meshes {vertical-output: true}\n",
+    "\n",
+    "def scale_spec(spec, scale):\n",
+    "  scaled_spec = spec.copy()\n",
+    "  # scale all meshes\n",
+    "  for mesh in scaled_spec.meshes:\n",
+    "    if mesh.scale is None:\n",
+    "      mesh.scale = np.ones(3)\n",
+    "    mesh.scale = mesh.scale * scale\n",
+    "\n",
+    "  # Traverse the kinematic tree\n",
+    "  def scale_bodies(parent, scale=1.0):\n",
+    "    if parent is not None:\n",
+    "      for geom in parent.geoms:\n",
+    "        if geom.pos is not None:\n",
+    "          geom.pos = geom.pos * scale\n",
+    "    body = parent.first_body()\n",
+    "    while body:\n",
+    "      if body.pos is not None:\n",
+    "        body.pos = body.pos * scale\n",
+    "      scale_bodies(body, scale)\n",
+    "      body = parent.next_body(body)\n",
+    "\n",
+    "  # Scale all the limbs\n",
+    "  scale_bodies(scaled_spec.body('world'), scale)\n",
+    "\n",
+    "  return scaled_spec\n",
+    "\n",
+    "spec = mj.MjSpec.from_string(arena_xml)\n",
+    "fly = mj.MjSpec.from_file(fly_file)\n",
+    "# Remove lights from fly so they are not duplicated in line-up\n",
+    "for light in fly.lights:\n",
+    "  light.delete()\n",
+    "\n",
+    "small_fly = scale_spec(fly, 1.25)\n",
+    "large_fly = scale_spec(fly, 2)\n",
+    "\n",
+    "# Create a line-up of flys by attaching\n",
+    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0.25],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(fly.body('thorax'), str(0), str(0))\n",
+    "\n",
+    "frame = spec.worldbody.add_frame(pos=[0, 0, 0.25],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
+    "frame.attach_body(small_fly.body('thorax'), str(0), str(1))\n",
+    "\n",
+    "frame = spec.worldbody.add_frame(pos=[1, 0, 0.25],\n",
+    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
+    "frame.attach_body(large_fly.body('thorax'), str(0), str(2))\n",
+    "\n",
+    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
+    "                         targetbody='0thorax1', diffuse=[.8, .8, .8],\n",
+    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
+    "model = spec.compile()\n",
+    "render(model, height=400, camera=cam)\n"
+   ]
   }
  ],
  "metadata": {
   "accelerator": "GPU",
   "colab": {
    "collapsed_sections": [
-    "sJFuNetilv4m",
     "yXY7HGfVsVlo"
    ],
    "gpuClass": "premium",

From 670c97c4f753384d730f972d57e20a572492eba6 Mon Sep 17 00:00:00 2001
From: Tom Power <tjpower@google.com>
Date: Mon, 19 May 2025 08:56:55 -0700
Subject: [PATCH 146/191] Reorder model editing notebook, placing dm_control
 example last

PiperOrigin-RevId: 760642275
Change-Id: I7d8a625ab1d6d8364de93571390e8c14289e070a
---
 python/mjspec.ipynb | 574 ++++++++++++++++++++++----------------------
 1 file changed, 286 insertions(+), 288 deletions(-)

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index 78b0f6f1..926f9bfe 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -853,269 +853,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "3N4YEIVt75_T"
-   },
-   "source": [
-    "# `dm_control` example"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "TcQuv56BwaJf"
-   },
-   "source": [
-    "A key feature is the ability to easily attach multiple models into a larger one. Disambiguation of duplicated names from different\n",
-    "models, or multiple instances of the same model is handled via user-defined namespacing.\n",
-    "\n",
-    "One example use case is when we want robots with a variable number of joints, as this is a fundamental change to the kinematic structure. The snippets below follow the lines of the [example in dm_control](https://arxiv.org/abs/2006.12983), an older package with similar capabilities."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "7C-hfbtj8nRV"
-   },
-   "outputs": [],
-   "source": [
-    "leg_model = \"\"\"\n",
-    "<mujoco>\n",
-    "  <compiler angle=\"radian\"/>\n",
-    "\n",
-    "  <default>\n",
-    "    <joint damping=\"2\" type=\"hinge\"/>\n",
-    "    <geom type=\"capsule\"/>\n",
-    "  </default>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <body name=\"thigh\">\n",
-    "      <joint name=\"hip\" axis=\"0 0 1\"/>\n",
-    "      <body name=\"shin\">\n",
-    "        <joint name=\"knee\" axis=\"0 1 0\"/>\n",
-    "      </body>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <actuator>\n",
-    "    <position joint=\"hip\" kp=\"10\" name=\"hip\"/>\n",
-    "    <position joint=\"knee\" kp=\"10\" name=\"knee\"/>\n",
-    "  </actuator>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "class Leg(object):\n",
-    "  \"\"\"A 2-DoF leg with position actuators.\"\"\"\n",
-    "  def __init__(self, length, rgba):\n",
-    "    self.spec = mj.MjSpec.from_string(leg_model)\n",
-    "\n",
-    "    # Thigh:\n",
-    "    thigh = self.spec.body('thigh')\n",
-    "    thigh.add_geom(fromto=[0, 0, 0, length, 0, 0], size=[length/4, 0, 0], rgba=rgba)\n",
-    "\n",
-    "    # Hip:\n",
-    "    shin = self.spec.body('shin')\n",
-    "    shin.add_geom(fromto=[0, 0, 0, 0, 0, -length], size=[length/5, 0, 0], rgba=rgba)\n",
-    "    shin.pos[0] = length"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MQGsxnIB_RLO"
-   },
-   "source": [
-    "The `Leg` class describes an abstract articulated leg, with two joints and corresponding proportional-derivative actuators.\n",
-    "\n",
-    "Note that:\n",
-    "\n",
-    "- MJCF attributes correspond directly to arguments of the `add_()` methods.\n",
-    "- When referencing elements, e.g when specifying the joint to which an actuator is attached, the name string of the MJCF elements is used."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "kMiuMyZW_XoB"
-   },
-   "outputs": [],
-   "source": [
-    "BODY_RADIUS = 0.1\n",
-    "random_state = np.random.RandomState(42)\n",
-    "creature_model = \"\"\"\n",
-    "<mujoco>\n",
-    "  <compiler angle=\"radian\"/>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom name=\"torso\" type=\"ellipsoid\" size=\"{} {} {}\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\".format(BODY_RADIUS, BODY_RADIUS, BODY_RADIUS / 2)\n",
-    "\n",
-    "def make_creature(num_legs):\n",
-    "  \"\"\"Constructs a creature with `num_legs` legs.\"\"\"\n",
-    "  rgba = random_state.uniform([0, 0, 0, 1], [1, 1, 1, 1])\n",
-    "  spec = mj.MjSpec.from_string(creature_model)\n",
-    "  spec.copy_during_attach = True\n",
-    "\n",
-    "  # Attach legs to equidistant sites on the circumference.\n",
-    "  spec.worldbody.first_geom().rgba = rgba\n",
-    "  leg = Leg(length=BODY_RADIUS, rgba=rgba)\n",
-    "  for i in range(num_legs):\n",
-    "    theta = 2 * i * np.pi / num_legs\n",
-    "    hip_pos = BODY_RADIUS * np.array([np.cos(theta), np.sin(theta), 0])\n",
-    "    hip_site = spec.worldbody.add_site(pos=hip_pos, euler=[0, 0, theta])\n",
-    "    hip_site.attach_body(leg.spec.body('thigh'), '', '-' + str(i))\n",
-    "\n",
-    "  return spec"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "QMQ3jc6-_toj"
-   },
-   "source": [
-    "The `make_creature` function uses the `attach()` method to procedurally attach legs to the torso. Note that at this stage both the torso and hip attachment sites are children of the `worldbody`, since their parent body has yet to be instantiated. We'll now make an arena with a chequered floor and two lights, and place our creatures in a grid."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "vt2JwXd__1cT"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Six Creatures on a floor {vertical-output: true}\n",
-    "\n",
-    "arena = mj.MjSpec()\n",
-    "\n",
-    "if hasattr(arena, 'compiler'):\n",
-    "  arena.compiler.degree = False  # MuJoCo dev (next release).\n",
-    "else:\n",
-    "  arena.degree = False  # MuJoCo release\n",
-    "\n",
-    "# Make arena with textured floor.\n",
-    "chequered = arena.add_texture(\n",
-    "    name=\"chequered\", type=mj.mjtTexture.mjTEXTURE_2D,\n",
-    "    builtin=mj.mjtBuiltin.mjBUILTIN_CHECKER,\n",
-    "    width=300, height=300, rgb1=[.2, .3, .4], rgb2=[.3, .4, .5])\n",
-    "grid = arena.add_material(\n",
-    "    name='grid', texrepeat=[5, 5], reflectance=.2\n",
-    "    ).textures[mj.mjtTextureRole.mjTEXROLE_RGB] = 'chequered'\n",
-    "arena.worldbody.add_geom(\n",
-    "    type=mj.mjtGeom.mjGEOM_PLANE, size=[2, 2, .1], material='grid')\n",
-    "for x in [-2, 2]:\n",
-    "  arena.worldbody.add_light(pos=[x, -1, 3], dir=[-x, 1, -2])\n",
-    "\n",
-    "# Instantiate 6 creatures with 3 to 8 legs.\n",
-    "creatures = [make_creature(num_legs=num_legs) for num_legs in range(3, 9)]\n",
-    "\n",
-    "# Place them on a grid in the arena.\n",
-    "height = .15\n",
-    "grid = 5 * BODY_RADIUS\n",
-    "xpos, ypos, zpos = np.meshgrid([-grid, 0, grid], [0, grid], [height])\n",
-    "for i, spec in enumerate(creatures):\n",
-    "  # Place spawn sites on a grid.\n",
-    "  spawn_pos = (xpos.flat[i], ypos.flat[i], zpos.flat[i])\n",
-    "  spawn_site = arena.worldbody.add_site(pos=spawn_pos, group=3)\n",
-    "  # Attach to the arena at the spawn sites, with a free joint.\n",
-    "  spawn_body = spawn_site.attach_body(spec.worldbody, '', '-' + str(i))\n",
-    "  spawn_body.add_freejoint()\n",
-    "\n",
-    "# Instantiate the physics and render.\n",
-    "model = arena.compile()\n",
-    "render(model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "mPUGkrCzAFMg"
-   },
-   "source": [
-    "Multi-legged creatures, ready to roam! Let's inject some controls and watch them move. We'll generate a sinusoidal open-loop control signal of fixed frequency and random phase, recording both video frames and the horizontal positions of the torso geoms, in order to plot the movement trajectories."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "7gz9FfNzGxPO"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Video of the movement {vertical-output: true}\n",
-    "\n",
-    "data = mj.MjData(model)\n",
-    "duration = 10   # (Seconds)\n",
-    "framerate = 30  # (Hz)\n",
-    "video = []\n",
-    "pos_x = []\n",
-    "pos_y = []\n",
-    "geoms = arena.worldbody.find_all(mj.mjtObj.mjOBJ_GEOM)\n",
-    "torsos_data = [data.bind(geom) for geom in geoms if 'torso' in geom.name]\n",
-    "torsos_model = [model.bind(geom) for geom in geoms if 'torso' in geom.name]\n",
-    "actuators = [data.bind(actuator) for actuator in arena.actuators]\n",
-    "\n",
-    "# Control signal frequency, phase, amplitude.\n",
-    "freq = 5\n",
-    "phase = 2 * np.pi * random_state.rand(len(arena.actuators))\n",
-    "amp = 0.9\n",
-    "\n",
-    "# Simulate, saving video frames and torso locations.\n",
-    "mj.mj_resetData(model, data)\n",
-    "with mj.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    # Inject controls and step the physics.\n",
-    "    for i, actuator in enumerate(actuators):\n",
-    "      actuator.ctrl = amp * np.sin(freq * data.time + phase[i])\n",
-    "    mj.mj_step(model, data)\n",
-    "\n",
-    "    # Save torso horizontal positions using name indexing.\n",
-    "    pos_x.append([torso.xpos[0] for torso in torsos_data])\n",
-    "    pos_y.append([torso.xpos[1] for torso in torsos_data])\n",
-    "\n",
-    "    # Save video frames.\n",
-    "    if len(video) < data.time * framerate:\n",
-    "      renderer.update_scene(data)\n",
-    "      pixels = renderer.render()\n",
-    "      video.append(pixels.copy())\n",
-    "\n",
-    "media.show_video(video, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "qt2L52e_Tcgt"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Movement trajectories {vertical-output: true}\n",
-    "\n",
-    "creature_colors = [torso.rgba[:3] for torso in torsos_model]\n",
-    "fig, ax = plt.subplots(figsize=(4, 4))\n",
-    "ax.set_prop_cycle(color=creature_colors)\n",
-    "_ = ax.plot(pos_x, pos_y, linewidth=4)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "kSEUoxifxYJ4"
-   },
-   "source": [
-    "The plot above shows the corresponding movement trajectories of creature positions. Note how `mjSpec` attribute `id` were used to access both `xpos` and `rgba` values. This attribute is valid only after a model is compiled."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "QZ8alJZz8cB1"
+    "id": "IGd0uD64LdEJ"
    },
    "source": [
     "# Model editing"
@@ -1125,8 +863,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "cellView": "form",
-    "id": "m4sppBqvf7yd"
+    "id": "223KzKAzLdEJ"
    },
    "outputs": [],
    "source": [
@@ -1175,7 +912,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "JN3Z4v0PyXKa"
+    "id": "eGgXNjQ8LdEK"
    },
    "source": [
     "`mjSpec` elements can be traversed in two ways:\n",
@@ -1188,7 +925,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "8IcB7nezblyT"
+    "id": "Len0o_idLdEK"
    },
    "outputs": [],
    "source": [
@@ -1215,7 +952,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "hcGI4orhyzvc"
+    "id": "GeiFFBYxLdEK"
    },
    "source": [
     "An `mjSpec` can be compiled multiple times. If the state has to be preserved between different compilations, then the function `recompile()` must be used, which returns a new `mjData` that contains the mapped state, possibly having a different dimension from the origin."
@@ -1225,7 +962,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "uh_N1Fkqk-Mi"
+    "id": "eiRXgh9OLdEK"
    },
    "outputs": [],
    "source": [
@@ -1271,7 +1008,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "XmSlXirVzLqt"
+    "id": "kuTWD415LdEK"
    },
    "source": [
     "Let us load the humanoid model and inspect it."
@@ -1281,7 +1018,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "UywMzsp5Hnk2"
+    "id": "5d1wmQM2LdEK"
    },
    "outputs": [],
    "source": [
@@ -1296,7 +1033,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "owcmKeuSzQRy"
+    "id": "38PXB1rWLdEK"
    },
    "source": [
     "We wish to remove the arms and replace them with the legs. This can be done by first storing the arm positions into frames attached to the torso. Then we can detach the arms and self-attach the legs into the frames."
@@ -1306,7 +1043,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "qZCyv-B0IGiG"
+    "id": "0eaNq0Q7LdEK"
    },
    "outputs": [],
    "source": [
@@ -1341,7 +1078,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "LnEwEjW3zdua"
+    "id": "HfhxL2EqLdEK"
    },
    "source": [
     "Similarly, different models can be attach together. Here, the right arm is detached and a robot arm from a different model is attached in its place."
@@ -1351,7 +1088,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "w-NdFhSIIrLL"
+    "id": "uS4LGbI7LdEK"
    },
    "outputs": [],
    "source": [
@@ -1382,7 +1119,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "e_idaggAznXu"
+    "id": "CWXYy_1uLdEK"
    },
    "source": [
     "When doing this, the actuators and all other objects referenced by the attached sub-tree are imported in the new model. All assets are currently imported, referenced or not."
@@ -1392,8 +1129,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "cellView": "form",
-    "id": "50lOgJ7mQ2bV"
+    "id": "UwWDD-NHLdEK"
    },
    "outputs": [],
    "source": [
@@ -1406,7 +1142,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "APDoWK4mz0aJ"
+    "id": "hDvt3vcxLdEK"
    },
    "source": [
     "Domain randomization can be performed by attaching multiple times the same spec, edited each time with a new instance of randomized parameters."
@@ -1416,7 +1152,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "oHjdgkISNLKy"
+    "id": "oPPFbWawLdEK"
    },
    "outputs": [],
    "source": [
@@ -1459,7 +1195,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "iXgYCVzEWFTU"
+    "id": "PML2pxYgLdEK"
    },
    "source": [
     "## Model scaling"
@@ -1469,7 +1205,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "-hSJKyH4A2VY"
+    "id": "pcUNLmQBLdEK"
    },
    "outputs": [],
    "source": [
@@ -1523,7 +1259,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "tBH5vmqJXleD"
+    "id": "RYbaTPNmLdEK"
    },
    "source": [
     "We can scale the size of a model by traversing the kinematic tree and applying the the scale to the relevant geoms. Above we can see humanoids of three different sizes."
@@ -1533,7 +1269,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "cV4tkG6siFQp"
+    "id": "u-ejx8lKLdEK"
    },
    "outputs": [],
    "source": [
@@ -1646,7 +1382,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "ZSOra3S2YpIB"
+    "id": "uKhDI_IfLdEK"
    },
    "source": [
     "We can also apply scaling to the actuators. In the humanoid case, scaling the geoms without scaling the `gear` parameter for the actuators results in a humanoid that can jump higher proportional to its size."
@@ -1656,7 +1392,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "9IuwQQ0F2ddA"
+    "id": "ovQIAxn7LdEK"
    },
    "outputs": [],
    "source": [
@@ -1717,7 +1453,7 @@
   {
    "cell_type": "markdown",
    "metadata": {
-    "id": "D2DrPBvBZjI0"
+    "id": "8o1daXIOLdEK"
    },
    "source": [
     "We can also apply scaling to the model non-uniformly. In this instance we scale the humanoid to have long limbs, by only applying the scale to the length of the capsule geoms for the arms, legs and feet."
@@ -1727,7 +1463,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
-    "id": "1G8VO45v2ddA"
+    "id": "UBSo2nfQLdEK"
    },
    "outputs": [],
    "source": [
@@ -1787,6 +1523,268 @@
     "model = spec.compile()\n",
     "render(model, height=400, camera=cam)\n"
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "qhXwxLe3LdEK"
+   },
+   "source": [
+    "# dm_control example"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "enuJ_YIqLdEK"
+   },
+   "source": [
+    "A key feature is the ability to easily attach multiple models into a larger one. Disambiguation of duplicated names from different\n",
+    "models, or multiple instances of the same model is handled via user-defined namespacing.\n",
+    "\n",
+    "One example use case is when we want robots with a variable number of joints, as this is a fundamental change to the kinematic structure. The snippets below follow the lines of the [example in dm_control](https://arxiv.org/abs/2006.12983), an older package with similar capabilities."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "4p3P_dP8LdEK"
+   },
+   "outputs": [],
+   "source": [
+    "leg_model = \"\"\"\n",
+    "<mujoco>\n",
+    "  <compiler angle=\"radian\"/>\n",
+    "\n",
+    "  <default>\n",
+    "    <joint damping=\"2\" type=\"hinge\"/>\n",
+    "    <geom type=\"capsule\"/>\n",
+    "  </default>\n",
+    "\n",
+    "  <worldbody>\n",
+    "    <body name=\"thigh\">\n",
+    "      <joint name=\"hip\" axis=\"0 0 1\"/>\n",
+    "      <body name=\"shin\">\n",
+    "        <joint name=\"knee\" axis=\"0 1 0\"/>\n",
+    "      </body>\n",
+    "    </body>\n",
+    "  </worldbody>\n",
+    "\n",
+    "  <actuator>\n",
+    "    <position joint=\"hip\" kp=\"10\" name=\"hip\"/>\n",
+    "    <position joint=\"knee\" kp=\"10\" name=\"knee\"/>\n",
+    "  </actuator>\n",
+    "</mujoco>\n",
+    "\"\"\"\n",
+    "\n",
+    "class Leg(object):\n",
+    "  \"\"\"A 2-DoF leg with position actuators.\"\"\"\n",
+    "  def __init__(self, length, rgba):\n",
+    "    self.spec = mj.MjSpec.from_string(leg_model)\n",
+    "\n",
+    "    # Thigh:\n",
+    "    thigh = self.spec.body('thigh')\n",
+    "    thigh.add_geom(fromto=[0, 0, 0, length, 0, 0], size=[length/4, 0, 0], rgba=rgba)\n",
+    "\n",
+    "    # Hip:\n",
+    "    shin = self.spec.body('shin')\n",
+    "    shin.add_geom(fromto=[0, 0, 0, 0, 0, -length], size=[length/5, 0, 0], rgba=rgba)\n",
+    "    shin.pos[0] = length"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "Mqr8rXLILdEK"
+   },
+   "source": [
+    "The `Leg` class describes an abstract articulated leg, with two joints and corresponding proportional-derivative actuators.\n",
+    "\n",
+    "Note that:\n",
+    "\n",
+    "- MJCF attributes correspond directly to arguments of the `add_()` methods.\n",
+    "- When referencing elements, e.g when specifying the joint to which an actuator is attached, the name string of the MJCF elements is used."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "1z2NBpAPLdEK"
+   },
+   "outputs": [],
+   "source": [
+    "BODY_RADIUS = 0.1\n",
+    "random_state = np.random.RandomState(42)\n",
+    "creature_model = \"\"\"\n",
+    "<mujoco>\n",
+    "  <compiler angle=\"radian\"/>\n",
+    "\n",
+    "  <worldbody>\n",
+    "    <geom name=\"torso\" type=\"ellipsoid\" size=\"{} {} {}\"/>\n",
+    "  </worldbody>\n",
+    "</mujoco>\n",
+    "\"\"\".format(BODY_RADIUS, BODY_RADIUS, BODY_RADIUS / 2)\n",
+    "\n",
+    "def make_creature(num_legs):\n",
+    "  \"\"\"Constructs a creature with `num_legs` legs.\"\"\"\n",
+    "  rgba = random_state.uniform([0, 0, 0, 1], [1, 1, 1, 1])\n",
+    "  spec = mj.MjSpec.from_string(creature_model)\n",
+    "  spec.copy_during_attach = True\n",
+    "\n",
+    "  # Attach legs to equidistant sites on the circumference.\n",
+    "  spec.worldbody.first_geom().rgba = rgba\n",
+    "  leg = Leg(length=BODY_RADIUS, rgba=rgba)\n",
+    "  for i in range(num_legs):\n",
+    "    theta = 2 * i * np.pi / num_legs\n",
+    "    hip_pos = BODY_RADIUS * np.array([np.cos(theta), np.sin(theta), 0])\n",
+    "    hip_site = spec.worldbody.add_site(pos=hip_pos, euler=[0, 0, theta])\n",
+    "    hip_site.attach_body(leg.spec.body('thigh'), '', '-' + str(i))\n",
+    "\n",
+    "  return spec"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "865FGuntLdEL"
+   },
+   "source": [
+    "The `make_creature` function uses the `attach()` method to procedurally attach legs to the torso. Note that at this stage both the torso and hip attachment sites are children of the `worldbody`, since their parent body has yet to be instantiated. We'll now make an arena with a chequered floor and two lights, and place our creatures in a grid."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "2fPaSkgfLdEL"
+   },
+   "outputs": [],
+   "source": [
+    "#@title Six Creatures on a floor {vertical-output: true}\n",
+    "\n",
+    "arena = mj.MjSpec()\n",
+    "\n",
+    "if hasattr(arena, 'compiler'):\n",
+    "  arena.compiler.degree = False  # MuJoCo dev (next release).\n",
+    "else:\n",
+    "  arena.degree = False  # MuJoCo release\n",
+    "\n",
+    "# Make arena with textured floor.\n",
+    "chequered = arena.add_texture(\n",
+    "    name=\"chequered\", type=mj.mjtTexture.mjTEXTURE_2D,\n",
+    "    builtin=mj.mjtBuiltin.mjBUILTIN_CHECKER,\n",
+    "    width=300, height=300, rgb1=[.2, .3, .4], rgb2=[.3, .4, .5])\n",
+    "grid = arena.add_material(\n",
+    "    name='grid', texrepeat=[5, 5], reflectance=.2\n",
+    "    ).textures[mj.mjtTextureRole.mjTEXROLE_RGB] = 'chequered'\n",
+    "arena.worldbody.add_geom(\n",
+    "    type=mj.mjtGeom.mjGEOM_PLANE, size=[2, 2, .1], material='grid')\n",
+    "for x in [-2, 2]:\n",
+    "  arena.worldbody.add_light(pos=[x, -1, 3], dir=[-x, 1, -2])\n",
+    "\n",
+    "# Instantiate 6 creatures with 3 to 8 legs.\n",
+    "creatures = [make_creature(num_legs=num_legs) for num_legs in range(3, 9)]\n",
+    "\n",
+    "# Place them on a grid in the arena.\n",
+    "height = .15\n",
+    "grid = 5 * BODY_RADIUS\n",
+    "xpos, ypos, zpos = np.meshgrid([-grid, 0, grid], [0, grid], [height])\n",
+    "for i, spec in enumerate(creatures):\n",
+    "  # Place spawn sites on a grid.\n",
+    "  spawn_pos = (xpos.flat[i], ypos.flat[i], zpos.flat[i])\n",
+    "  spawn_site = arena.worldbody.add_site(pos=spawn_pos, group=3)\n",
+    "  # Attach to the arena at the spawn sites, with a free joint.\n",
+    "  spawn_body = spawn_site.attach_body(spec.worldbody, '', '-' + str(i))\n",
+    "  spawn_body.add_freejoint()\n",
+    "\n",
+    "# Instantiate the physics and render.\n",
+    "model = arena.compile()\n",
+    "render(model)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "tq5mKlc_LdEL"
+   },
+   "source": [
+    "Multi-legged creatures, ready to roam! Let's inject some controls and watch them move. We'll generate a sinusoidal open-loop control signal of fixed frequency and random phase, recording both video frames and the horizontal positions of the torso geoms, in order to plot the movement trajectories."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "i37FpwCeLdEL"
+   },
+   "outputs": [],
+   "source": [
+    "#@title Video of the movement {vertical-output: true}\n",
+    "\n",
+    "data = mj.MjData(model)\n",
+    "duration = 10   # (Seconds)\n",
+    "framerate = 30  # (Hz)\n",
+    "video = []\n",
+    "pos_x = []\n",
+    "pos_y = []\n",
+    "geoms = arena.worldbody.find_all(mj.mjtObj.mjOBJ_GEOM)\n",
+    "torsos_data = [data.bind(geom) for geom in geoms if 'torso' in geom.name]\n",
+    "torsos_model = [model.bind(geom) for geom in geoms if 'torso' in geom.name]\n",
+    "actuators = [data.bind(actuator) for actuator in arena.actuators]\n",
+    "\n",
+    "# Control signal frequency, phase, amplitude.\n",
+    "freq = 5\n",
+    "phase = 2 * np.pi * random_state.rand(len(arena.actuators))\n",
+    "amp = 0.9\n",
+    "\n",
+    "# Simulate, saving video frames and torso locations.\n",
+    "mj.mj_resetData(model, data)\n",
+    "with mj.Renderer(model) as renderer:\n",
+    "  while data.time < duration:\n",
+    "    # Inject controls and step the physics.\n",
+    "    for i, actuator in enumerate(actuators):\n",
+    "      actuator.ctrl = amp * np.sin(freq * data.time + phase[i])\n",
+    "    mj.mj_step(model, data)\n",
+    "\n",
+    "    # Save torso horizontal positions using name indexing.\n",
+    "    pos_x.append([torso.xpos[0] for torso in torsos_data])\n",
+    "    pos_y.append([torso.xpos[1] for torso in torsos_data])\n",
+    "\n",
+    "    # Save video frames.\n",
+    "    if len(video) < data.time * framerate:\n",
+    "      renderer.update_scene(data)\n",
+    "      pixels = renderer.render()\n",
+    "      video.append(pixels.copy())\n",
+    "\n",
+    "media.show_video(video, fps=framerate)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "uFrvaih4LdEL"
+   },
+   "outputs": [],
+   "source": [
+    "#@title Movement trajectories {vertical-output: true}\n",
+    "\n",
+    "creature_colors = [torso.rgba[:3] for torso in torsos_model]\n",
+    "fig, ax = plt.subplots(figsize=(4, 4))\n",
+    "ax.set_prop_cycle(color=creature_colors)\n",
+    "_ = ax.plot(pos_x, pos_y, linewidth=4)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "FMW4l-fSLdEL"
+   },
+   "source": [
+    "The plot above shows the corresponding movement trajectories of creature positions. Note how `mjSpec` attribute `id` were used to access both `xpos` and `rgba` values. This attribute is valid only after a model is compiled."
+   ]
   }
  ],
  "metadata": {

From 8268c6d1ff5603f055c5356c86bd0f62c024b0a7 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 19 May 2025 08:58:45 -0700
Subject: [PATCH 147/191] Add `mjv_copyData`

PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
---
 doc/APIreference/functions.rst        |   9 ++
 doc/includes/references.h             |   1 +
 include/mujoco/mjxmacro.h             | 206 +++++++++++++-------------
 include/mujoco/mujoco.h               |   3 +
 python/mujoco/introspect/functions.py |  28 ++++
 src/engine/engine_io.c                |  63 ++++++--
 src/engine/engine_io.h                |   3 +
 test/engine/engine_io_test.cc         |  33 ++++-
 unity/Runtime/Bindings/MjBindings.cs  |   3 +
 9 files changed, 236 insertions(+), 113 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index a86386d5..49656292 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -1364,6 +1364,15 @@ If the model buffer is unallocated the initial configuration will not be set.
 Copy mjData.
 m is only required to contain the size fields from MJMODEL_INTS.
 
+.. _mjv_copyData:
+
+`mjv_copyData <#mjv_copyData>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_copyData
+
+Copy mjData, skip large arrays not required for visualization.
+
 .. _mj_resetData:
 
 `mj_resetData <#mj_resetData>`__
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 59320911..f55992d0 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3283,6 +3283,7 @@ void mj_deleteModel(mjModel* m);
 int mj_sizeModel(const mjModel* m);
 mjData* mj_makeData(const mjModel* m);
 mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
+mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
 void mj_resetData(const mjModel* m, mjData* d);
 void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
 void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index ecd40310..9ba47b19 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -268,7 +268,7 @@
     X   ( mjtNum,  geom_friction,         ngeom,         3                    ) \
     X   ( mjtNum,  geom_margin,           ngeom,         1                    ) \
     X   ( mjtNum,  geom_gap,              ngeom,         1                    ) \
-    X   ( mjtNum,  geom_fluid,            ngeom,         mjNFLUID             ) \
+    XNV ( mjtNum,  geom_fluid,            ngeom,         mjNFLUID             ) \
     X   ( mjtNum,  geom_user,             ngeom,         MJ_M(nuser_geom)     ) \
     XMJV( float,   geom_rgba,             ngeom,         4                    ) \
     XMJV( int,     site_type,             nsite,         1                    ) \
@@ -401,15 +401,15 @@
     XNV ( int,     mesh_facetexcoord,     nmeshface,     3                    ) \
     XNV ( int,     mesh_graph,            nmeshgraph,    1                    ) \
     XMJV( int,     mesh_pathadr,          nmesh,         1                    ) \
-    X   ( int,     mesh_polynum,          nmesh,         1                    ) \
-    X   ( int,     mesh_polyadr,          nmesh,         1                    ) \
-    X   ( mjtNum,  mesh_polynormal,       nmeshpoly,     3                    ) \
-    X   ( int,     mesh_polyvertadr,      nmeshpoly,     1                    ) \
-    X   ( int,     mesh_polyvertnum,      nmeshpoly,     1                    ) \
-    X   ( int,     mesh_polyvert,         nmeshpolyvert, 1                    ) \
-    X   ( int,     mesh_polymapadr,       nmeshvert,     1                    ) \
-    X   ( int,     mesh_polymapnum,       nmeshvert,     1                    ) \
-    X   ( int,     mesh_polymap,          nmeshpolymap,  1                    ) \
+    XNV ( int,     mesh_polynum,          nmesh,         1                    ) \
+    XNV ( int,     mesh_polyadr,          nmesh,         1                    ) \
+    XNV ( mjtNum,  mesh_polynormal,       nmeshpoly,     3                    ) \
+    XNV ( int,     mesh_polyvertadr,      nmeshpoly,     1                    ) \
+    XNV ( int,     mesh_polyvertnum,      nmeshpoly,     1                    ) \
+    XNV ( int,     mesh_polyvert,         nmeshpolyvert, 1                    ) \
+    XNV ( int,     mesh_polymapadr,       nmeshvert,     1                    ) \
+    XNV ( int,     mesh_polymapnum,       nmeshvert,     1                    ) \
+    XNV ( int,     mesh_polymap,          nmeshpolymap,  1                    ) \
     XMJV( int,     skin_matid,            nskin,         1                    ) \
     XMJV( int,     skin_group,            nskin,         1                    ) \
     XMJV( float,   skin_rgba,             nskin,         4                    ) \
@@ -655,10 +655,10 @@
     X   ( int,       moment_rowadr,     nu,          1           ) \
     X   ( int,       moment_colind,     nJmom,       1           ) \
     X   ( mjtNum,    actuator_moment,   nJmom,       1           ) \
-    X   ( mjtNum,    crb,               nbody,       10          ) \
-    X   ( mjtNum,    qM,                nM,          1           ) \
-    X   ( mjtNum,    M,                 nC,          1           ) \
-    X   ( mjtNum,    qLD,               nC,          1           ) \
+    XNV ( mjtNum,    crb,               nbody,       10          ) \
+    XNV ( mjtNum,    qM,                nM,          1           ) \
+    XNV ( mjtNum,    M,                 nC,          1           ) \
+    XNV ( mjtNum,    qLD,               nC,          1           ) \
     X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
     XMJV( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
     XMJV( mjtByte,   bvh_active,        nbvh,        1           ) \
@@ -675,23 +675,23 @@
     X   ( mjtNum,    qfrc_passive,      nv,          1           ) \
     X   ( mjtNum,    subtree_linvel,    nbody,       3           ) \
     X   ( mjtNum,    subtree_angmom,    nbody,       3           ) \
-    X   ( mjtNum,    qH,                nC,          1           ) \
+    XNV ( mjtNum,    qH,                nC,          1           ) \
     X   ( mjtNum,    qHDiagInv,         nv,          1           ) \
-    X   ( int,       B_rownnz,          nbody,       1           ) \
-    X   ( int,       B_rowadr,          nbody,       1           ) \
-    X   ( int,       B_colind,          nB,          1           ) \
-    X   ( int,       M_rownnz,          nv,          1           ) \
-    X   ( int,       M_rowadr,          nv,          1           ) \
-    X   ( int,       M_colind,          nC,          1           ) \
-    X   ( int,       mapM2M,            nC,          1           ) \
-    X   ( int,       D_rownnz,          nv,          1           ) \
-    X   ( int,       D_rowadr,          nv,          1           ) \
-    X   ( int,       D_diag,            nv,          1           ) \
-    X   ( int,       D_colind,          nD,          1           ) \
-    X   ( int,       mapM2D,            nD,          1           ) \
-    X   ( int,       mapD2M,            nM,          1           ) \
-    X   ( mjtNum,    qDeriv,            nD,          1           ) \
-    X   ( mjtNum,    qLU,               nD,          1           ) \
+    XNV ( int,       B_rownnz,          nbody,       1           ) \
+    XNV ( int,       B_rowadr,          nbody,       1           ) \
+    XNV ( int,       B_colind,          nB,          1           ) \
+    XNV ( int,       M_rownnz,          nv,          1           ) \
+    XNV ( int,       M_rowadr,          nv,          1           ) \
+    XNV ( int,       M_colind,          nC,          1           ) \
+    XNV ( int,       mapM2M,            nC,          1           ) \
+    XNV ( int,       D_rownnz,          nv,          1           ) \
+    XNV ( int,       D_rowadr,          nv,          1           ) \
+    XNV ( int,       D_diag,            nv,          1           ) \
+    XNV ( int,       D_colind,          nD,          1           ) \
+    XNV ( int,       mapM2D,            nD,          1           ) \
+    XNV ( int,       mapD2M,            nM,          1           ) \
+    XNV ( mjtNum,    qDeriv,            nD,          1           ) \
+    XNV ( mjtNum,    qLU,               nD,          1           ) \
     X   ( mjtNum,    actuator_force,    nu,          1           ) \
     X   ( mjtNum,    qfrc_actuator,     nv,          1           ) \
     X   ( mjtNum,    qfrc_smooth,       nv,          1           ) \
@@ -712,83 +712,83 @@
     X( mjContact, contact, MJ_D(ncon), 1 )
 
 // array fields of mjData that are used in the primal problem
-#define MJDATA_ARENA_POINTERS_SOLVER                   \
-    X( int,      efc_type,          MJ_D(nefc),    1 ) \
-    X( int,      efc_id,            MJ_D(nefc),    1 ) \
-    X( int,      efc_J_rownnz,      MJ_D(nefc),    1 ) \
-    X( int,      efc_J_rowadr,      MJ_D(nefc),    1 ) \
-    X( int,      efc_J_rowsuper,    MJ_D(nefc),    1 ) \
-    X( int,      efc_J_colind,      MJ_D(nJ),      1 ) \
-    X( int,      efc_JT_rownnz,     MJ_M(nv),      1 ) \
-    X( int,      efc_JT_rowadr,     MJ_M(nv),      1 ) \
-    X( int,      efc_JT_rowsuper,   MJ_M(nv),      1 ) \
-    X( int,      efc_JT_colind,     MJ_D(nJ),      1 ) \
-    X( mjtNum,   efc_J,             MJ_D(nJ),      1 ) \
-    X( mjtNum,   efc_JT,            MJ_D(nJ),      1 ) \
-    X( mjtNum,   efc_pos,           MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_margin,        MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_frictionloss,  MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_diagApprox,    MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_KBIP,          MJ_D(nefc),    4 ) \
-    X( mjtNum,   efc_D,             MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_R,             MJ_D(nefc),    1 ) \
-    X( int,      tendon_efcadr,     MJ_M(ntendon), 1 ) \
-    X( mjtNum,   efc_vel,           MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_aref,          MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_b,             MJ_D(nefc),    1 ) \
-    X( mjtNum,   efc_force,         MJ_D(nefc),    1 ) \
-    X( int,      efc_state,         MJ_D(nefc),    1 )
+#define MJDATA_ARENA_POINTERS_SOLVER                      \
+    X  ( int,      efc_type,          MJ_D(nefc),    1 ) \
+    X  ( int,      efc_id,            MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_rownnz,      MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_rowadr,      MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_rowsuper,    MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_colind,      MJ_D(nJ),      1 ) \
+    XNV( int,      efc_JT_rownnz,     MJ_M(nv),      1 ) \
+    XNV( int,      efc_JT_rowadr,     MJ_M(nv),      1 ) \
+    XNV( int,      efc_JT_rowsuper,   MJ_M(nv),      1 ) \
+    XNV( int,      efc_JT_colind,     MJ_D(nJ),      1 ) \
+    XNV( mjtNum,   efc_J,             MJ_D(nJ),      1 ) \
+    XNV( mjtNum,   efc_JT,            MJ_D(nJ),      1 ) \
+    X  ( mjtNum,   efc_pos,           MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_margin,        MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_frictionloss,  MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_diagApprox,    MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_KBIP,          MJ_D(nefc),    4 ) \
+    X  ( mjtNum,   efc_D,             MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_R,             MJ_D(nefc),    1 ) \
+    X  ( int,      tendon_efcadr,     MJ_M(ntendon), 1 ) \
+    X  ( mjtNum,   efc_vel,           MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_aref,          MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_b,             MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_force,         MJ_D(nefc),    1 ) \
+    X  ( int,      efc_state,         MJ_D(nefc),    1 )
 
 // array fields of mjData that are used in the dual problem
-#define MJDATA_ARENA_POINTERS_DUAL                    \
-    X( int,      efc_AR_rownnz,     MJ_D(nefc), 1   ) \
-    X( int,      efc_AR_rowadr,     MJ_D(nefc), 1   ) \
-    X( int,      efc_AR_colind,     MJ_D(nA),   1   ) \
-    X( mjtNum,   efc_AR,            MJ_D(nA),   1   )
+#define MJDATA_ARENA_POINTERS_DUAL                       \
+    XNV( int,      efc_AR_rownnz,     MJ_D(nefc),    1 ) \
+    XNV( int,      efc_AR_rowadr,     MJ_D(nefc),    1 ) \
+    XNV( int,      efc_AR_colind,     MJ_D(nA),      1 ) \
+    XNV( mjtNum,   efc_AR,            MJ_D(nA),      1 )
 
 // array fields of mjData that are used for constraint islands
-#define MJDATA_ARENA_POINTERS_ISLAND                   \
-    X( int,     dof_island,        MJ_M(nv),       1 ) \
-    X( int,     island_nv,         MJ_D(nisland),  1 ) \
-    X( int,     island_idofadr,    MJ_D(nisland),  1 ) \
-    X( int,     island_dofadr,     MJ_D(nisland),  1 ) \
-    X( int,     map_dof2idof,      MJ_M(nv),       1 ) \
-    X( int,     map_idof2dof,      MJ_M(nv),       1 ) \
-    X( mjtNum,  ifrc_smooth,       MJ_D(nidof),    1 ) \
-    X( mjtNum,  iacc_smooth,       MJ_D(nidof),    1 ) \
-    X( int,     iM_rownnz,         MJ_D(nidof),    1 ) \
-    X( int,     iM_rowadr,         MJ_D(nidof),    1 ) \
-    X( int,     iM_colind,         MJ_M(nC),       1 ) \
-    X( mjtNum,  iM,                MJ_M(nC),       1 ) \
-    X( mjtNum,  iLD,               MJ_M(nC),       1 ) \
-    X( mjtNum,  iLDiagInv,         MJ_D(nidof),    1 ) \
-    X( mjtNum,  iacc,              MJ_D(nidof),    1 ) \
-    X( int,     efc_island,        MJ_D(nefc),     1 ) \
-    X( int,     island_ne,         MJ_D(nisland),  1 ) \
-    X( int,     island_nf,         MJ_D(nisland),  1 ) \
-    X( int,     island_nefc,       MJ_D(nisland),  1 ) \
-    X( int,     island_iefcadr,    MJ_D(nisland),  1 ) \
-    X( int,     map_efc2iefc,      MJ_D(nefc),     1 ) \
-    X( int,     map_iefc2efc,      MJ_D(nefc),     1 ) \
-    X( int,     iefc_type,         MJ_D(nefc),     1 ) \
-    X( int,     iefc_id,           MJ_D(nefc),     1 ) \
-    X( int,     iefc_J_rownnz,     MJ_D(nefc),     1 ) \
-    X( int,     iefc_J_rowadr,     MJ_D(nefc),     1 ) \
-    X( int,     iefc_J_rowsuper,   MJ_D(nefc),     1 ) \
-    X( int,     iefc_J_colind,     MJ_D(nJ),       1 ) \
-    X( int,     iefc_JT_rownnz,    MJ_D(nidof),    1 ) \
-    X( int,     iefc_JT_rowadr,    MJ_D(nidof),    1 ) \
-    X( int,     iefc_JT_rowsuper,  MJ_D(nidof),    1 ) \
-    X( int,     iefc_JT_colind,    MJ_D(nJ),       1 ) \
-    X( mjtNum,  iefc_J,            MJ_D(nJ),       1 ) \
-    X( mjtNum,  iefc_JT,           MJ_D(nJ),       1 ) \
-    X( mjtNum,  iefc_frictionloss, MJ_D(nefc),     1 ) \
-    X( mjtNum,  iefc_D,            MJ_D(nefc),     1 ) \
-    X( mjtNum,  iefc_R,            MJ_D(nefc),     1 ) \
-    X( mjtNum,  iefc_aref,         MJ_D(nefc),     1 ) \
-    X( int,     iefc_state,        MJ_D(nefc),     1 ) \
-    X( mjtNum,  iefc_force,        MJ_D(nefc),     1 ) \
-    X( mjtNum,  ifrc_constraint,   MJ_D(nidof),    1 )
+#define MJDATA_ARENA_POINTERS_ISLAND                     \
+    X  ( int,     dof_island,        MJ_M(nv),       1 ) \
+    X  ( int,     island_nv,         MJ_D(nisland),  1 ) \
+    X  ( int,     island_idofadr,    MJ_D(nisland),  1 ) \
+    X  ( int,     island_dofadr,     MJ_D(nisland),  1 ) \
+    X  ( int,     map_dof2idof,      MJ_M(nv),       1 ) \
+    X  ( int,     map_idof2dof,      MJ_M(nv),       1 ) \
+    X  ( mjtNum,  ifrc_smooth,       MJ_D(nidof),    1 ) \
+    X  ( mjtNum,  iacc_smooth,       MJ_D(nidof),    1 ) \
+    XNV( int,     iM_rownnz,         MJ_D(nidof),    1 ) \
+    XNV( int,     iM_rowadr,         MJ_D(nidof),    1 ) \
+    XNV( int,     iM_colind,         MJ_M(nC),       1 ) \
+    XNV( mjtNum,  iM,                MJ_M(nC),       1 ) \
+    XNV( mjtNum,  iLD,               MJ_M(nC),       1 ) \
+    X  ( mjtNum,  iLDiagInv,         MJ_D(nidof),    1 ) \
+    X  ( mjtNum,  iacc,              MJ_D(nidof),    1 ) \
+    X  ( int,     efc_island,        MJ_D(nefc),     1 ) \
+    X  ( int,     island_ne,         MJ_D(nisland),  1 ) \
+    X  ( int,     island_nf,         MJ_D(nisland),  1 ) \
+    X  ( int,     island_nefc,       MJ_D(nisland),  1 ) \
+    X  ( int,     island_iefcadr,    MJ_D(nisland),  1 ) \
+    X  ( int,     map_efc2iefc,      MJ_D(nefc),     1 ) \
+    X  ( int,     map_iefc2efc,      MJ_D(nefc),     1 ) \
+    X  ( int,     iefc_type,         MJ_D(nefc),     1 ) \
+    X  ( int,     iefc_id,           MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_rownnz,     MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_rowadr,     MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_rowsuper,   MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_colind,     MJ_D(nJ),       1 ) \
+    XNV( int,     iefc_JT_rownnz,    MJ_D(nidof),    1 ) \
+    XNV( int,     iefc_JT_rowadr,    MJ_D(nidof),    1 ) \
+    XNV( int,     iefc_JT_rowsuper,  MJ_D(nidof),    1 ) \
+    XNV( int,     iefc_JT_colind,    MJ_D(nJ),       1 ) \
+    XNV( mjtNum,  iefc_J,            MJ_D(nJ),       1 ) \
+    XNV( mjtNum,  iefc_JT,           MJ_D(nJ),       1 ) \
+    X  ( mjtNum,  iefc_frictionloss, MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_D,            MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_R,            MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_aref,         MJ_D(nefc),     1 ) \
+    X  ( int,     iefc_state,        MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_force,        MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  ifrc_constraint,   MJ_D(nidof),    1 )
 
 // array fields of mjData that live in d->arena
 #define MJDATA_ARENA_POINTERS          \
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 784d1ab8..8d8cb8c2 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -187,6 +187,9 @@ MJAPI mjData* mj_makeData(const mjModel* m);
 // m is only required to contain the size fields from MJMODEL_INTS.
 MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
 
+// Copy mjData, skip large arrays not required for visualization.
+MJAPI mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
+
 // Reset data to defaults.
 MJAPI void mj_resetData(const mjModel* m, mjData* d);
 
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index ef8bcd58..1f495c03 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -745,6 +745,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Copy mjData. m is only required to contain the size fields from MJMODEL_INTS.',  # pylint: disable=line-too-long
      )),
+    ('mjv_copyData',
+     FunctionDecl(
+         name='mjv_copyData',
+         return_type=PointerType(
+             inner_type=ValueType(name='mjData'),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='dest',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='src',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Copy mjData, skip large arrays not required for visualization.',
+     )),
     ('mj_resetData',
      FunctionDecl(
          name='mj_resetData',
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index d090f229..49325b30 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1415,8 +1415,9 @@ mjData* mj_makeData(const mjModel* m) {
 
 
 
-// copy mjData, if dest==NULL create new data
-mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
+// copy mjData, if dest==NULL create new data;
+// flg_all  1: copy all fields,  0: skip fields not required for visualization
+mjData* mj_copyDataVisual(mjData* dest, const mjModel* m, const mjData* src, int flg_all) {
   void* save_buffer;
   void* save_arena;
 
@@ -1461,10 +1462,25 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
   // copy buffer
   {
     MJDATA_POINTERS_PREAMBLE(m)
-    #define X(type, name, nr, nc)  \
-      memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
-    MJDATA_POINTERS
-    #undef X
+    if (flg_all) {
+      #define X(type, name, nr, nc)  \
+        memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
+      MJDATA_POINTERS
+      #undef X
+    } else {
+      // redefine XNV to nothing
+      #undef XNV
+      #define XNV(type, name, nr, nc)
+
+      #define X(type, name, nr, nc)  \
+        memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
+      MJDATA_POINTERS
+      #undef X
+
+      // redefine XNV to be the same as X
+      #undef XNV
+      #define XNV X
+    }
   }
 
 
@@ -1474,7 +1490,8 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
   #undef MJ_M
   #define MJ_M(n) (m->n)
 
-  #define X(type, name, nr, nc)                                                  \
+  if (flg_all) {
+    #define X(type, name, nr, nc)                                                \
     if (src->name) {                                                             \
       dest->name = (type*)((char*)dest->arena + PTRDIFF(src->name, src->arena)); \
       ASAN_UNPOISON_MEMORY_REGION(dest->name, sizeof(type) * nr * nc);           \
@@ -1482,8 +1499,28 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
     } else {                                                                     \
       dest->name = NULL;                                                         \
     }
-  MJDATA_ARENA_POINTERS
-  #undef X
+    MJDATA_ARENA_POINTERS
+    #undef X
+  } else {
+    // redefine XNV to nothing
+    #undef XNV
+    #define XNV(type, name, nr, nc)
+
+    #define X(type, name, nr, nc)                                                \
+    if (src->name) {                                                             \
+      dest->name = (type*)((char*)dest->arena + PTRDIFF(src->name, src->arena)); \
+      ASAN_UNPOISON_MEMORY_REGION(dest->name, sizeof(type) * nr * nc);           \
+      memcpy((char*)dest->name, (const char*)src->name, sizeof(type) * nr * nc); \
+    } else {                                                                     \
+      dest->name = NULL;                                                         \
+    }
+    MJDATA_ARENA_POINTERS
+    #undef X
+
+    // redefine XNV to be the same as X
+    #undef XNV
+    #define XNV X
+  }
 
   #undef MJ_M
   #define MJ_M(n) n
@@ -1515,6 +1552,14 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
 }
 
 
+mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
+  return mj_copyDataVisual(dest, m, src, /*flg_all=*/1);
+}
+
+
+mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src) {
+  return mj_copyDataVisual(dest, m, src, /*flg_all=*/0);
+}
 
 static void maybe_lock_alloc_mutex(mjData* d) {
   if (d->threadpool != 0) {
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index 809d9e83..bdf0e2ce 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -99,6 +99,9 @@ MJAPI void mj_makeRawData(mjData** dest, const mjModel* m);
 // m is only required to contain the size fields from MJMODEL_INTS.
 MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
 
+// copy mjData, skip large arrays not required for abstract visualization
+MJAPI mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
+
 // set data to defaults
 MJAPI void mj_resetData(const mjModel* m, mjData* d);
 
diff --git a/test/engine/engine_io_test.cc b/test/engine/engine_io_test.cc
index 470f6f02..72e942d1 100644
--- a/test/engine/engine_io_test.cc
+++ b/test/engine/engine_io_test.cc
@@ -226,11 +226,42 @@ TEST_F(EngineIoTest, MjvCopyModel) {
   EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1);  // unchanged
   EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.4);
 
-  // mj_deleteData(data);
   mj_deleteModel(model2);
   mj_deleteModel(model1);
 }
 
+TEST_F(EngineIoTest, MjvCopyData) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body pos="0 0 0.8">
+        <freejoint/>
+        <geom type="sphere" size="0.1"/>
+      </body>
+      <geom type="plane" size="1 1 1"/>
+    </worldbody>
+  </mujoco>
+  )";
+  char error[1024];
+  mjModel* model = LoadModelFromString(xml, error, sizeof(error));
+  ASSERT_THAT(model, NotNull()) << error;
+
+  mjData* data1 = mj_makeData(model);
+  mj_forward(model, data1);
+  EXPECT_THAT(data1->efc_J, NotNull());
+
+  mjData* data2 = mj_copyData(nullptr, model, data1);
+  EXPECT_THAT(data2->efc_J, NotNull());
+
+  mj_deleteData(data2);
+  data2 = mjv_copyData(nullptr, model, data1);
+  EXPECT_THAT(data2->efc_J, IsNull());
+
+  mj_deleteData(data2);
+  mj_deleteData(data1);
+  mj_deleteModel(model);
+}
+
 using ValidateReferencesTest = MujocoTest;
 
 TEST_F(ValidateReferencesTest, BodyReferences) {
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index d0dd61aa..cdeeca54 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -6622,6 +6622,9 @@ public static unsafe extern mjData_* mj_makeData(mjModel_* m);
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern mjData_* mj_copyData(mjData_* dest, mjModel_* m, mjData_* src);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern mjData_* mjv_copyData(mjData_* dest, mjModel_* m, mjData_* src);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_resetData(mjModel_* m, mjData_* d);
 

From ced630181dfbe83c1b5ecb0d1e71a083920d4264 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 19 May 2025 09:50:49 -0700
Subject: [PATCH 148/191] Replace `mjv_sceneState` and related code with
 `mjv_copy{Model,Data}`

PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
---
 doc/APIreference/APItypes.rst         |   11 -
 doc/APIreference/functions.rst        |   63 -
 doc/changelog.rst                     |    6 +
 doc/includes/references.h             |  299 -----
 include/mujoco/mjvisualize.h          |  288 -----
 include/mujoco/mjxmacro.h             |  574 +++++----
 include/mujoco/mujoco.h               |   29 -
 python/mujoco/introspect/functions.py |  208 ----
 python/mujoco/introspect/structs.py   | 1645 -------------------------
 simulate/simulate.cc                  |  131 +-
 simulate/simulate.h                   |    7 +-
 src/engine/CMakeLists.txt             |    2 -
 src/engine/engine_vis_state.c         |  409 ------
 src/engine/engine_vis_state.h         |   63 -
 test/engine/CMakeLists.txt            |    7 -
 test/engine/engine_vis_state_test.cc  |  123 --
 unity/Runtime/Bindings/MjBindings.cs  |  285 -----
 17 files changed, 357 insertions(+), 3793 deletions(-)
 delete mode 100644 src/engine/engine_vis_state.c
 delete mode 100644 src/engine/engine_vis_state.h
 delete mode 100644 test/engine/engine_vis_state_test.cc

diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
index 205b7762..4ee6367d 100644
--- a/doc/APIreference/APItypes.rst
+++ b/doc/APIreference/APItypes.rst
@@ -987,17 +987,6 @@ This structure contains everything needed to render the 3D scene in OpenGL.
 .. mujoco-include:: mjvScene
 
 
-.. _mjvSceneState:
-
-mjvSceneState
-~~~~~~~~~~~~~
-
-This structure contains the portions of :ref:`mjModel` and :ref:`mjData` that are required for
-various ``mjv_*`` functions.
-
-.. mujoco-include:: mjvSceneState
-
-
 .. _mjvFigure:
 
 mjvFigure
diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 49656292..5b985861 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -2004,15 +2004,6 @@ Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_
 
 Move camera with mouse; action is mjtMouse.
 
-.. _mjv_moveCameraFromState:
-
-`mjv_moveCameraFromState <#mjv_moveCameraFromState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_moveCameraFromState
-
-Move camera with mouse given a scene state; action is mjtMouse.
-
 .. _mjv_movePerturb:
 
 `mjv_movePerturb <#mjv_movePerturb>`__
@@ -2022,15 +2013,6 @@ Move camera with mouse given a scene state; action is mjtMouse.
 
 Move perturb object with mouse; action is mjtMouse.
 
-.. _mjv_movePerturbFromState:
-
-`mjv_movePerturbFromState <#mjv_movePerturbFromState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_movePerturbFromState
-
-Move perturb object with mouse given a scene state; action is mjtMouse.
-
 .. _mjv_moveModel:
 
 `mjv_moveModel <#mjv_moveModel>`__
@@ -2173,15 +2155,6 @@ Free abstract scene.
 
 Update entire scene given model state.
 
-.. _mjv_updateSceneFromState:
-
-`mjv_updateSceneFromState <#mjv_updateSceneFromState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_updateSceneFromState
-
-Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
-
 .. _mjv_copyModel:
 
 `mjv_copyModel <#mjv_copyModel>`__
@@ -2191,42 +2164,6 @@ Update entire scene from a scene state, return the number of new mjWARN_VGEOMFUL
 
 Copy mjModel, skip large arrays not required for abstract visualization.
 
-.. _mjv_defaultSceneState:
-
-`mjv_defaultSceneState <#mjv_defaultSceneState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultSceneState
-
-Set default scene state.
-
-.. _mjv_makeSceneState:
-
-`mjv_makeSceneState <#mjv_makeSceneState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_makeSceneState
-
-Allocate resources and initialize a scene state object.
-
-.. _mjv_freeSceneState:
-
-`mjv_freeSceneState <#mjv_freeSceneState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_freeSceneState
-
-Free scene state.
-
-.. _mjv_updateSceneState:
-
-`mjv_updateSceneState <#mjv_updateSceneState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_updateSceneState
-
-Update a scene state from model and data.
-
 .. _mjv_addGeoms:
 
 `mjv_addGeoms <#mjv_addGeoms>`__
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 4dbaf0b2..4255c8f0 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -10,6 +10,12 @@ General
 - Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
   solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
 
+simulate
+^^^^^^^^
+- The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
+  ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
+  and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
+
 Version 3.3.2 (April 28, 2025)
 ------------------------------
 
diff --git a/doc/includes/references.h b/doc/includes/references.h
index f55992d0..9a973092 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2965,290 +2965,6 @@ struct mjvFigure_ {               // abstract 2D figure passed to OpenGL rendere
   float   yaxisdata[2];           // range of y-axis in data units
 };
 typedef struct mjvFigure_ mjvFigure;
-struct mjvSceneState_ {
-  int nbuffer;                     // size of the buffer in bytes
-  void* buffer;                    // heap-allocated memory for all arrays in this struct
-  int maxgeom;                     // maximum number of mjvGeom supported by this state object
-  mjvScene scratch;                // scratch space for vis geoms inserted by the user and plugins
-
-  // fields in mjModel that are necessary to re-render a scene
-  struct {
-    int nv;
-    int nu;
-    int na;
-    int nbody;
-    int nbvh;
-    int nbvhstatic;
-    int njnt;
-    int ngeom;
-    int nsite;
-    int ncam;
-    int nlight;
-    int nmesh;
-    int nskin;
-    int nflex;
-    int nflexvert;
-    int nflextexcoord;
-    int nskinvert;
-    int nskinface;
-    int nskinbone;
-    int nskinbonevert;
-    int nmat;
-    int neq;
-    int ntendon;
-    int ntree;
-    int nwrap;
-    int nsensor;
-    int nnames;
-    int npaths;
-    int nsensordata;
-    int narena;
-
-    mjOption opt;
-    mjVisual vis;
-    mjStatistic stat;
-
-    int* body_parentid;
-    int* body_rootid;
-    int* body_weldid;
-    int* body_mocapid;
-    int* body_jntnum;
-    int* body_jntadr;
-    int* body_dofnum;
-    int* body_dofadr;
-    int* body_geomnum;
-    int* body_geomadr;
-    mjtNum* body_iquat;
-    mjtNum* body_mass;
-    mjtNum* body_inertia;
-    int* body_bvhadr;
-    int* body_bvhnum;
-
-    int* bvh_depth;
-    int* bvh_child;
-    int* bvh_nodeid;
-    mjtNum* bvh_aabb;
-
-    int* jnt_type;
-    int* jnt_bodyid;
-    int* jnt_group;
-
-    int* geom_type;
-    int* geom_bodyid;
-    int* geom_contype;
-    int* geom_conaffinity;
-    int* geom_dataid;
-    int* geom_matid;
-    int* geom_group;
-    mjtNum* geom_size;
-    mjtNum* geom_aabb;
-    mjtNum* geom_rbound;
-    float* geom_rgba;
-
-    int* site_type;
-    int* site_bodyid;
-    int* site_matid;
-    int* site_group;
-    mjtNum* site_size;
-    float* site_rgba;
-
-    int* cam_orthographic;
-    mjtNum* cam_fovy;
-    mjtNum* cam_ipd;
-    int* cam_resolution;
-    float* cam_sensorsize;
-    float* cam_intrinsic;
-
-    mjtByte* light_directional;
-    mjtByte* light_castshadow;
-    float* light_bulbradius;
-    float* light_intensity;
-    float* light_range;
-    mjtByte* light_active;
-    float* light_attenuation;
-    float* light_cutoff;
-    float* light_exponent;
-    float* light_ambient;
-    float* light_diffuse;
-    float* light_specular;
-
-    mjtByte* flex_flatskin;
-    int* flex_dim;
-    int* flex_matid;
-    int* flex_group;
-    int* flex_interp;
-    int* flex_nodeadr;
-    int* flex_nodenum;
-    int* flex_nodebodyid;
-    int* flex_vertadr;
-    int* flex_vertnum;
-    int* flex_elem;
-    int* flex_elemtexcoord;
-    int* flex_elemlayer;
-    int* flex_elemadr;
-    int* flex_elemnum;
-    int* flex_elemdataadr;
-    int* flex_shell;
-    int* flex_shellnum;
-    int* flex_shelldataadr;
-    int* flex_texcoordadr;
-    int* flex_bvhadr;
-    int* flex_bvhnum;
-    mjtByte* flex_centered;
-    mjtNum* flex_node;
-    mjtNum* flex_radius;
-    float* flex_rgba;
-    float* flex_texcoord;
-
-    int* hfield_pathadr;
-
-    int* mesh_bvhadr;
-    int* mesh_bvhnum;
-    int* mesh_texcoordadr;
-    int* mesh_graphadr;
-    int* mesh_pathadr;
-
-    int* skin_matid;
-    int* skin_group;
-    float* skin_rgba;
-    float* skin_inflate;
-    int* skin_vertadr;
-    int* skin_vertnum;
-    int* skin_texcoordadr;
-    int* skin_faceadr;
-    int* skin_facenum;
-    int* skin_boneadr;
-    int* skin_bonenum;
-    float* skin_vert;
-    int* skin_face;
-    int* skin_bonevertadr;
-    int* skin_bonevertnum;
-    float* skin_bonebindpos;
-    float* skin_bonebindquat;
-    int* skin_bonebodyid;
-    int* skin_bonevertid;
-    float* skin_bonevertweight;
-    int* skin_pathadr;
-
-    int* tex_pathadr;
-
-    int* mat_texid;
-    mjtByte* mat_texuniform;
-    float* mat_texrepeat;
-    float* mat_emission;
-    float* mat_specular;
-    float* mat_shininess;
-    float* mat_reflectance;
-    float* mat_metallic;
-    float* mat_roughness;
-    float* mat_rgba;
-
-    int* eq_type;
-    int* eq_obj1id;
-    int* eq_obj2id;
-    int* eq_objtype;
-    mjtNum* eq_data;
-
-    int* tendon_num;
-    int* tendon_matid;
-    int* tendon_group;
-    mjtByte* tendon_limited;
-    mjtByte* tendon_actfrclimited;
-    mjtNum* tendon_width;
-    mjtNum* tendon_range;
-    mjtNum* tendon_actfrcrange;
-    mjtNum* tendon_stiffness;
-    mjtNum* tendon_damping;
-    mjtNum* tendon_frictionloss;
-    mjtNum* tendon_lengthspring;
-    float* tendon_rgba;
-
-    int* actuator_trntype;
-    int* actuator_dyntype;
-    int* actuator_trnid;
-    int* actuator_actadr;
-    int* actuator_actnum;
-    int* actuator_group;
-    mjtByte* actuator_ctrllimited;
-    mjtByte* actuator_actlimited;
-    mjtNum* actuator_ctrlrange;
-    mjtNum* actuator_actrange;
-    mjtNum* actuator_cranklength;
-
-    int* sensor_type;
-    int* sensor_objid;
-    int* sensor_adr;
-
-    int* name_bodyadr;
-    int* name_jntadr;
-    int* name_geomadr;
-    int* name_siteadr;
-    int* name_camadr;
-    int* name_lightadr;
-    int* name_eqadr;
-    int* name_tendonadr;
-    int* name_actuatoradr;
-    char* names;
-    char* paths;
-  } model;
-
-  // fields in mjData that are necessary to re-render a scene
-  struct {
-    mjWarningStat warning[mjNWARNING];
-
-    int nefc;
-    int ncon;
-    int nisland;
-
-    mjtNum time;
-
-    mjtNum* act;
-
-    mjtNum* ctrl;
-    mjtNum* xfrc_applied;
-    mjtByte* eq_active;
-
-    mjtNum* sensordata;
-
-    mjtNum* xpos;
-    mjtNum* xquat;
-    mjtNum* xmat;
-    mjtNum* xipos;
-    mjtNum* ximat;
-    mjtNum* xanchor;
-    mjtNum* xaxis;
-    mjtNum* geom_xpos;
-    mjtNum* geom_xmat;
-    mjtNum* site_xpos;
-    mjtNum* site_xmat;
-    mjtNum* cam_xpos;
-    mjtNum* cam_xmat;
-    mjtNum* light_xpos;
-    mjtNum* light_xdir;
-
-    mjtNum* subtree_com;
-
-    int* ten_wrapadr;
-    int* ten_wrapnum;
-    int* wrap_obj;
-    mjtNum* ten_length;
-    mjtNum* wrap_xpos;
-
-    mjtNum* bvh_aabb_dyn;
-    mjtByte* bvh_active;
-    int* island_dofadr;
-    int* dof_island;
-    int* efc_island;
-    int* tendon_efcadr;
-
-    mjtNum* flexvert_xpos;
-
-    mjContact* contact;
-    mjtNum* efc_force;
-    void* arena;
-  } data;
-};
-typedef struct mjvSceneState_ mjvSceneState;
 
 //----------------------------- MJAPI FUNCTIONS --------------------------------
 void mj_defaultVFS(mjVFS* vfs);
@@ -3437,14 +3153,8 @@ mjtNum mjv_frustumHeight(const mjvScene* scn);
 void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
 void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
                     const mjvScene* scn, mjvCamera* cam);
-void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
-                             mjtNum reldx, mjtNum reldy,
-                             const mjvScene* scn, mjvCamera* cam);
 void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
                      mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
-void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
-                              mjtNum reldx, mjtNum reldy,
-                              const mjvScene* scn, mjvPerturb* pert);
 void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
                    const mjtNum roomup[3], mjvScene* scn);
 void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
@@ -3467,16 +3177,7 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
 void mjv_freeScene(mjvScene* scn);
 void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
                      const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
-int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
-                             const mjvPerturb* pert, mjvCamera* cam, int catmask,
-                             mjvScene* scn);
 void mjv_copyModel(mjModel* dest, const mjModel* src);
-void mjv_defaultSceneState(mjvSceneState* scnstate);
-void mjv_makeSceneState(const mjModel* m, const mjData* d,
-                        mjvSceneState* scnstate, int maxgeom);
-void mjv_freeSceneState(mjvSceneState* scnstate);
-void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
-                          mjvSceneState* scnstate);
 void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                   const mjvPerturb* pert, int catmask, mjvScene* scn);
 void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 0093216b..560b8f35 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -406,292 +406,4 @@ struct mjvFigure_ {               // abstract 2D figure passed to OpenGL rendere
 };
 typedef struct mjvFigure_ mjvFigure;
 
-
-//---------------------------------- mjvSceneState -------------------------------------------------
-
-struct mjvSceneState_ {
-  int nbuffer;                     // size of the buffer in bytes
-  void* buffer;                    // heap-allocated memory for all arrays in this struct
-  int maxgeom;                     // maximum number of mjvGeom supported by this state object
-  mjvScene scratch;                // scratch space for vis geoms inserted by the user and plugins
-
-  // fields in mjModel that are necessary to re-render a scene
-  struct {
-    int nv;
-    int nu;
-    int na;
-    int nbody;
-    int nbvh;
-    int nbvhstatic;
-    int njnt;
-    int ngeom;
-    int nsite;
-    int ncam;
-    int nlight;
-    int nmesh;
-    int nskin;
-    int nflex;
-    int nflexvert;
-    int nflextexcoord;
-    int nskinvert;
-    int nskinface;
-    int nskinbone;
-    int nskinbonevert;
-    int nmat;
-    int neq;
-    int ntendon;
-    int ntree;
-    int nwrap;
-    int nsensor;
-    int nnames;
-    int npaths;
-    int nsensordata;
-    int narena;
-
-    mjOption opt;
-    mjVisual vis;
-    mjStatistic stat;
-
-    int* body_parentid;
-    int* body_rootid;
-    int* body_weldid;
-    int* body_mocapid;
-    int* body_jntnum;
-    int* body_jntadr;
-    int* body_dofnum;
-    int* body_dofadr;
-    int* body_geomnum;
-    int* body_geomadr;
-    mjtNum* body_iquat;
-    mjtNum* body_mass;
-    mjtNum* body_inertia;
-    int* body_bvhadr;
-    int* body_bvhnum;
-
-    int* bvh_depth;
-    int* bvh_child;
-    int* bvh_nodeid;
-    mjtNum* bvh_aabb;
-
-    int* jnt_type;
-    int* jnt_bodyid;
-    int* jnt_group;
-
-    int* geom_type;
-    int* geom_bodyid;
-    int* geom_contype;
-    int* geom_conaffinity;
-    int* geom_dataid;
-    int* geom_matid;
-    int* geom_group;
-    mjtNum* geom_size;
-    mjtNum* geom_aabb;
-    mjtNum* geom_rbound;
-    float* geom_rgba;
-
-    int* site_type;
-    int* site_bodyid;
-    int* site_matid;
-    int* site_group;
-    mjtNum* site_size;
-    float* site_rgba;
-
-    int* cam_orthographic;
-    mjtNum* cam_fovy;
-    mjtNum* cam_ipd;
-    int* cam_resolution;
-    float* cam_sensorsize;
-    float* cam_intrinsic;
-
-    mjtByte* light_directional;
-    mjtByte* light_castshadow;
-    float* light_bulbradius;
-    float* light_intensity;
-    float* light_range;
-    mjtByte* light_active;
-    float* light_attenuation;
-    float* light_cutoff;
-    float* light_exponent;
-    float* light_ambient;
-    float* light_diffuse;
-    float* light_specular;
-
-    mjtByte* flex_flatskin;
-    int* flex_dim;
-    int* flex_matid;
-    int* flex_group;
-    int* flex_interp;
-    int* flex_nodeadr;
-    int* flex_nodenum;
-    int* flex_nodebodyid;
-    int* flex_vertadr;
-    int* flex_vertnum;
-    int* flex_elem;
-    int* flex_elemtexcoord;
-    int* flex_elemlayer;
-    int* flex_elemadr;
-    int* flex_elemnum;
-    int* flex_elemdataadr;
-    int* flex_shell;
-    int* flex_shellnum;
-    int* flex_shelldataadr;
-    int* flex_texcoordadr;
-    int* flex_bvhadr;
-    int* flex_bvhnum;
-    mjtByte* flex_centered;
-    mjtNum* flex_node;
-    mjtNum* flex_radius;
-    float* flex_rgba;
-    float* flex_texcoord;
-
-    int* hfield_pathadr;
-
-    int* mesh_bvhadr;
-    int* mesh_bvhnum;
-    int* mesh_texcoordadr;
-    int* mesh_graphadr;
-    int* mesh_pathadr;
-
-    int* skin_matid;
-    int* skin_group;
-    float* skin_rgba;
-    float* skin_inflate;
-    int* skin_vertadr;
-    int* skin_vertnum;
-    int* skin_texcoordadr;
-    int* skin_faceadr;
-    int* skin_facenum;
-    int* skin_boneadr;
-    int* skin_bonenum;
-    float* skin_vert;
-    int* skin_face;
-    int* skin_bonevertadr;
-    int* skin_bonevertnum;
-    float* skin_bonebindpos;
-    float* skin_bonebindquat;
-    int* skin_bonebodyid;
-    int* skin_bonevertid;
-    float* skin_bonevertweight;
-    int* skin_pathadr;
-
-    int* tex_pathadr;
-
-    int* mat_texid;
-    mjtByte* mat_texuniform;
-    float* mat_texrepeat;
-    float* mat_emission;
-    float* mat_specular;
-    float* mat_shininess;
-    float* mat_reflectance;
-    float* mat_metallic;
-    float* mat_roughness;
-    float* mat_rgba;
-
-    int* eq_type;
-    int* eq_obj1id;
-    int* eq_obj2id;
-    int* eq_objtype;
-    mjtNum* eq_data;
-
-    int* tendon_num;
-    int* tendon_matid;
-    int* tendon_group;
-    mjtByte* tendon_limited;
-    mjtByte* tendon_actfrclimited;
-    mjtNum* tendon_width;
-    mjtNum* tendon_range;
-    mjtNum* tendon_actfrcrange;
-    mjtNum* tendon_stiffness;
-    mjtNum* tendon_damping;
-    mjtNum* tendon_frictionloss;
-    mjtNum* tendon_lengthspring;
-    float* tendon_rgba;
-
-    int* actuator_trntype;
-    int* actuator_dyntype;
-    int* actuator_trnid;
-    int* actuator_actadr;
-    int* actuator_actnum;
-    int* actuator_group;
-    mjtByte* actuator_ctrllimited;
-    mjtByte* actuator_actlimited;
-    mjtNum* actuator_ctrlrange;
-    mjtNum* actuator_actrange;
-    mjtNum* actuator_cranklength;
-
-    int* sensor_type;
-    int* sensor_objid;
-    int* sensor_adr;
-
-    int* name_bodyadr;
-    int* name_jntadr;
-    int* name_geomadr;
-    int* name_siteadr;
-    int* name_camadr;
-    int* name_lightadr;
-    int* name_eqadr;
-    int* name_tendonadr;
-    int* name_actuatoradr;
-    char* names;
-    char* paths;
-  } model;
-
-  // fields in mjData that are necessary to re-render a scene
-  struct {
-    mjWarningStat warning[mjNWARNING];
-
-    int nefc;
-    int ncon;
-    int nisland;
-
-    mjtNum time;
-
-    mjtNum* act;
-
-    mjtNum* ctrl;
-    mjtNum* xfrc_applied;
-    mjtByte* eq_active;
-
-    mjtNum* sensordata;
-
-    mjtNum* xpos;
-    mjtNum* xquat;
-    mjtNum* xmat;
-    mjtNum* xipos;
-    mjtNum* ximat;
-    mjtNum* xanchor;
-    mjtNum* xaxis;
-    mjtNum* geom_xpos;
-    mjtNum* geom_xmat;
-    mjtNum* site_xpos;
-    mjtNum* site_xmat;
-    mjtNum* cam_xpos;
-    mjtNum* cam_xmat;
-    mjtNum* light_xpos;
-    mjtNum* light_xdir;
-
-    mjtNum* subtree_com;
-
-    int* ten_wrapadr;
-    int* ten_wrapnum;
-    int* wrap_obj;
-    mjtNum* ten_length;
-    mjtNum* wrap_xpos;
-
-    mjtNum* bvh_aabb_dyn;
-    mjtByte* bvh_active;
-    int* island_dofadr;
-    int* dof_island;
-    int* efc_island;
-    int* tendon_efcadr;
-
-    mjtNum* flexvert_xpos;
-
-    mjContact* contact;
-    mjtNum* efc_force;
-    void* arena;
-  } data;
-};
-typedef struct mjvSceneState_ mjvSceneState;
-
 #endif  // MUJOCO_MJVISUALIZE_H_
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 9ba47b19..5ffe5764 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -66,92 +66,92 @@
 //-------------------------------- mjModel ---------------------------------------------------------
 
 // int fields of mjModel
-#define MJMODEL_INTS           \
-    X   ( nq )                 \
-    XMJV( nv )                 \
-    XMJV( nu )                 \
-    XMJV( na )                 \
-    XMJV( nbody )              \
-    XMJV( nbvh )               \
-    XMJV( nbvhstatic )         \
-    X   ( nbvhdynamic )        \
-    XMJV( njnt )               \
-    XMJV( ngeom )              \
-    XMJV( nsite )              \
-    XMJV( ncam )               \
-    XMJV( nlight )             \
-    XMJV( nflex )              \
-    X   ( nflexnode )          \
-    XMJV( nflexvert )          \
-    X   ( nflexedge )          \
-    X   ( nflexelem )          \
-    X   ( nflexelemdata )      \
-    X   ( nflexelemedge )      \
-    X   ( nflexshelldata )     \
-    X   ( nflexevpair )        \
-    XMJV( nflextexcoord )      \
-    XMJV( nmesh )              \
-    X   ( nmeshvert )          \
-    X   ( nmeshnormal )        \
-    X   ( nmeshtexcoord )      \
-    X   ( nmeshface )          \
-    X   ( nmeshgraph )         \
-    X   ( nmeshpoly )          \
-    X   ( nmeshpolyvert )      \
-    X   ( nmeshpolymap )       \
-    XMJV( nskin )              \
-    XMJV( nskinvert )          \
-    X   ( nskintexvert )       \
-    XMJV( nskinface )          \
-    XMJV( nskinbone )          \
-    XMJV( nskinbonevert )      \
-    X   ( nhfield )            \
-    X   ( nhfielddata )        \
-    X   ( ntex )               \
-    X   ( ntexdata )           \
-    XMJV( nmat )               \
-    X   ( npair )              \
-    X   ( nexclude )           \
-    XMJV( neq )                \
-    XMJV( ntendon )            \
-    XMJV( nwrap )              \
-    XMJV( nsensor )            \
-    X   ( nnumeric )           \
-    X   ( nnumericdata )       \
-    X   ( ntext )              \
-    X   ( ntextdata )          \
-    X   ( ntuple )             \
-    X   ( ntupledata )         \
-    X   ( nkey )               \
-    X   ( nmocap )             \
-    X   ( nplugin )            \
-    X   ( npluginattr )        \
-    X   ( nuser_body )         \
-    X   ( nuser_jnt )          \
-    X   ( nuser_geom )         \
-    X   ( nuser_site )         \
-    X   ( nuser_cam )          \
-    X   ( nuser_tendon )       \
-    X   ( nuser_actuator )     \
-    X   ( nuser_sensor )       \
-    XMJV( nnames )             \
-    XMJV( npaths )             \
-    X   ( nnames_map )         \
-    X   ( nM )                 \
-    X   ( nB )                 \
-    X   ( nC )                 \
-    X   ( nD )                 \
-    X   ( nJmom )              \
-    XMJV( ntree )              \
-    X   ( ngravcomp )          \
-    X   ( nemax )              \
-    X   ( njmax )              \
-    X   ( nconmax )            \
-    X   ( nuserdata )          \
-    XMJV( nsensordata )        \
-    X   ( npluginstate )       \
-    X   ( narena )             \
-    X   ( nbuffer )
+#define MJMODEL_INTS        \
+    X( nq )                 \
+    X( nv )                 \
+    X( nu )                 \
+    X( na )                 \
+    X( nbody )              \
+    X( nbvh )               \
+    X( nbvhstatic )         \
+    X( nbvhdynamic )        \
+    X( njnt )               \
+    X( ngeom )              \
+    X( nsite )              \
+    X( ncam )               \
+    X( nlight )             \
+    X( nflex )              \
+    X( nflexnode )          \
+    X( nflexvert )          \
+    X( nflexedge )          \
+    X( nflexelem )          \
+    X( nflexelemdata )      \
+    X( nflexelemedge )      \
+    X( nflexshelldata )     \
+    X( nflexevpair )        \
+    X( nflextexcoord )      \
+    X( nmesh )              \
+    X( nmeshvert )          \
+    X( nmeshnormal )        \
+    X( nmeshtexcoord )      \
+    X( nmeshface )          \
+    X( nmeshgraph )         \
+    X( nmeshpoly )          \
+    X( nmeshpolyvert )      \
+    X( nmeshpolymap )       \
+    X( nskin )              \
+    X( nskinvert )          \
+    X( nskintexvert )       \
+    X( nskinface )          \
+    X( nskinbone )          \
+    X( nskinbonevert )      \
+    X( nhfield )            \
+    X( nhfielddata )        \
+    X( ntex )               \
+    X( ntexdata )           \
+    X( nmat )               \
+    X( npair )              \
+    X( nexclude )           \
+    X( neq )                \
+    X( ntendon )            \
+    X( nwrap )              \
+    X( nsensor )            \
+    X( nnumeric )           \
+    X( nnumericdata )       \
+    X( ntext )              \
+    X( ntextdata )          \
+    X( ntuple )             \
+    X( ntupledata )         \
+    X( nkey )               \
+    X( nmocap )             \
+    X( nplugin )            \
+    X( npluginattr )        \
+    X( nuser_body )         \
+    X( nuser_jnt )          \
+    X( nuser_geom )         \
+    X( nuser_site )         \
+    X( nuser_cam )          \
+    X( nuser_tendon )       \
+    X( nuser_actuator )     \
+    X( nuser_sensor )       \
+    X( nnames )             \
+    X( npaths )             \
+    X( nnames_map )         \
+    X( nM )                 \
+    X( nB )                 \
+    X( nC )                 \
+    X( nD )                 \
+    X( nJmom )              \
+    X( ntree )              \
+    X( ngravcomp )          \
+    X( nemax )              \
+    X( njmax )              \
+    X( nconmax )            \
+    X( nuserdata )          \
+    X( nsensordata )        \
+    X( npluginstate )       \
+    X( narena )             \
+    X( nbuffer )
 
     /* nbuffer needs to be the final field */
 
@@ -178,31 +178,31 @@
 
 
 // pointer fields of mjModel
-// XMJV means that the field is required to construct mjvScene
-// (by default we define XMJV to be the same as X)
+// XNV means that the field is not required to construct mjvScene
+// (by default we define XNV to be the same as X)
 #define MJMODEL_POINTERS                                                        \
     X   ( mjtNum,  qpos0,                 nq,            1                    ) \
     X   ( mjtNum,  qpos_spring,           nq,            1                    ) \
-    XMJV( int,     body_parentid,         nbody,         1                    ) \
-    XMJV( int,     body_rootid,           nbody,         1                    ) \
-    XMJV( int,     body_weldid,           nbody,         1                    ) \
-    XMJV( int,     body_mocapid,          nbody,         1                    ) \
-    XMJV( int,     body_jntnum,           nbody,         1                    ) \
-    XMJV( int,     body_jntadr,           nbody,         1                    ) \
-    XMJV( int,     body_dofnum,           nbody,         1                    ) \
-    XMJV( int,     body_dofadr,           nbody,         1                    ) \
+    X   ( int,     body_parentid,         nbody,         1                    ) \
+    X   ( int,     body_rootid,           nbody,         1                    ) \
+    X   ( int,     body_weldid,           nbody,         1                    ) \
+    X   ( int,     body_mocapid,          nbody,         1                    ) \
+    X   ( int,     body_jntnum,           nbody,         1                    ) \
+    X   ( int,     body_jntadr,           nbody,         1                    ) \
+    X   ( int,     body_dofnum,           nbody,         1                    ) \
+    X   ( int,     body_dofadr,           nbody,         1                    ) \
     X   ( int,     body_treeid,           nbody,         1                    ) \
-    XMJV( int,     body_geomnum,          nbody,         1                    ) \
-    XMJV( int,     body_geomadr,          nbody,         1                    ) \
+    X   ( int,     body_geomnum,          nbody,         1                    ) \
+    X   ( int,     body_geomadr,          nbody,         1                    ) \
     X   ( mjtByte, body_simple,           nbody,         1                    ) \
     X   ( mjtByte, body_sameframe,        nbody,         1                    ) \
     X   ( mjtNum,  body_pos,              nbody,         3                    ) \
     X   ( mjtNum,  body_quat,             nbody,         4                    ) \
     X   ( mjtNum,  body_ipos,             nbody,         3                    ) \
-    XMJV( mjtNum,  body_iquat,            nbody,         4                    ) \
-    XMJV( mjtNum,  body_mass,             nbody,         1                    ) \
+    X   ( mjtNum,  body_iquat,            nbody,         4                    ) \
+    X   ( mjtNum,  body_mass,             nbody,         1                    ) \
     X   ( mjtNum,  body_subtreemass,      nbody,         1                    ) \
-    XMJV( mjtNum,  body_inertia,          nbody,         3                    ) \
+    X   ( mjtNum,  body_inertia,          nbody,         3                    ) \
     X   ( mjtNum,  body_invweight0,       nbody,         2                    ) \
     X   ( mjtNum,  body_gravcomp,         nbody,         1                    ) \
     X   ( mjtNum,  body_margin,           nbody,         1                    ) \
@@ -210,17 +210,17 @@
     X   ( int,     body_plugin,           nbody,         1                    ) \
     X   ( int,     body_contype,          nbody,         1                    ) \
     X   ( int,     body_conaffinity,      nbody,         1                    ) \
-    XMJV( int,     body_bvhadr,           nbody,         1                    ) \
-    XMJV( int,     body_bvhnum,           nbody,         1                    ) \
-    XMJV( int,     bvh_depth,             nbvh,          1                    ) \
-    XMJV( int,     bvh_child,             nbvh,          2                    ) \
-    XMJV( int,     bvh_nodeid,            nbvh,          1                    ) \
-    XMJV( mjtNum,  bvh_aabb,              nbvhstatic,    6                    ) \
-    XMJV( int,     jnt_type,              njnt,          1                    ) \
+    X   ( int,     body_bvhadr,           nbody,         1                    ) \
+    X   ( int,     body_bvhnum,           nbody,         1                    ) \
+    X   ( int,     bvh_depth,             nbvh,          1                    ) \
+    X   ( int,     bvh_child,             nbvh,          2                    ) \
+    X   ( int,     bvh_nodeid,            nbvh,          1                    ) \
+    X   ( mjtNum,  bvh_aabb,              nbvhstatic,    6                    ) \
+    X   ( int,     jnt_type,              njnt,          1                    ) \
     X   ( int,     jnt_qposadr,           njnt,          1                    ) \
     X   ( int,     jnt_dofadr,            njnt,          1                    ) \
-    XMJV( int,     jnt_bodyid,            njnt,          1                    ) \
-    XMJV( int,     jnt_group,             njnt,          1                    ) \
+    X   ( int,     jnt_bodyid,            njnt,          1                    ) \
+    X   ( int,     jnt_group,             njnt,          1                    ) \
     X   ( mjtByte, jnt_limited,           njnt,          1                    ) \
     X   ( mjtByte, jnt_actfrclimited,     njnt,          1                    ) \
     X   ( mjtByte, jnt_actgravcomp,       njnt,          1                    ) \
@@ -246,23 +246,23 @@
     X   ( mjtNum,  dof_damping,           nv,            1                    ) \
     X   ( mjtNum,  dof_invweight0,        nv,            1                    ) \
     X   ( mjtNum,  dof_M0,                nv,            1                    ) \
-    XMJV( int,     geom_type,             ngeom,         1                    ) \
-    XMJV( int,     geom_contype,          ngeom,         1                    ) \
-    XMJV( int,     geom_conaffinity,      ngeom,         1                    ) \
+    X   ( int,     geom_type,             ngeom,         1                    ) \
+    X   ( int,     geom_contype,          ngeom,         1                    ) \
+    X   ( int,     geom_conaffinity,      ngeom,         1                    ) \
     X   ( int,     geom_condim,           ngeom,         1                    ) \
-    XMJV( int,     geom_bodyid,           ngeom,         1                    ) \
-    XMJV( int,     geom_dataid,           ngeom,         1                    ) \
-    XMJV( int,     geom_matid,            ngeom,         1                    ) \
-    XMJV( int,     geom_group,            ngeom,         1                    ) \
+    X   ( int,     geom_bodyid,           ngeom,         1                    ) \
+    X   ( int,     geom_dataid,           ngeom,         1                    ) \
+    X   ( int,     geom_matid,            ngeom,         1                    ) \
+    X   ( int,     geom_group,            ngeom,         1                    ) \
     X   ( int,     geom_priority,         ngeom,         1                    ) \
     X   ( int,     geom_plugin,           ngeom,         1                    ) \
     X   ( mjtByte, geom_sameframe,        ngeom,         1                    ) \
     X   ( mjtNum,  geom_solmix,           ngeom,         1                    ) \
     X   ( mjtNum,  geom_solref,           ngeom,         mjNREF               ) \
     X   ( mjtNum,  geom_solimp,           ngeom,         mjNIMP               ) \
-    XMJV( mjtNum,  geom_size,             ngeom,         3                    ) \
-    XMJV( mjtNum,  geom_aabb,             ngeom,         6                    ) \
-    XMJV( mjtNum,  geom_rbound,           ngeom,         1                    ) \
+    X   ( mjtNum,  geom_size,             ngeom,         3                    ) \
+    X   ( mjtNum,  geom_aabb,             ngeom,         6                    ) \
+    X   ( mjtNum,  geom_rbound,           ngeom,         1                    ) \
     X   ( mjtNum,  geom_pos,              ngeom,         3                    ) \
     X   ( mjtNum,  geom_quat,             ngeom,         4                    ) \
     X   ( mjtNum,  geom_friction,         ngeom,         3                    ) \
@@ -270,17 +270,17 @@
     X   ( mjtNum,  geom_gap,              ngeom,         1                    ) \
     XNV ( mjtNum,  geom_fluid,            ngeom,         mjNFLUID             ) \
     X   ( mjtNum,  geom_user,             ngeom,         MJ_M(nuser_geom)     ) \
-    XMJV( float,   geom_rgba,             ngeom,         4                    ) \
-    XMJV( int,     site_type,             nsite,         1                    ) \
-    XMJV( int,     site_bodyid,           nsite,         1                    ) \
-    XMJV( int,     site_matid,            nsite,         1                    ) \
-    XMJV( int,     site_group,            nsite,         1                    ) \
+    X   ( float,   geom_rgba,             ngeom,         4                    ) \
+    X   ( int,     site_type,             nsite,         1                    ) \
+    X   ( int,     site_bodyid,           nsite,         1                    ) \
+    X   ( int,     site_matid,            nsite,         1                    ) \
+    X   ( int,     site_group,            nsite,         1                    ) \
     X   ( mjtByte, site_sameframe,        nsite,         1                    ) \
-    XMJV( mjtNum,  site_size,             nsite,         3                    ) \
+    X   ( mjtNum,  site_size,             nsite,         3                    ) \
     X   ( mjtNum,  site_pos,              nsite,         3                    ) \
     X   ( mjtNum,  site_quat,             nsite,         4                    ) \
     X   ( mjtNum,  site_user,             nsite,         MJ_M(nuser_site)     ) \
-    XMJV( float,   site_rgba,             nsite,         4                    ) \
+    X   ( float,   site_rgba,             nsite,         4                    ) \
     X   ( int,     cam_mode,              ncam,          1                    ) \
     X   ( int,     cam_bodyid,            ncam,          1                    ) \
     X   ( int,     cam_targetbodyid,      ncam,          1                    ) \
@@ -289,33 +289,33 @@
     X   ( mjtNum,  cam_poscom0,           ncam,          3                    ) \
     X   ( mjtNum,  cam_pos0,              ncam,          3                    ) \
     X   ( mjtNum,  cam_mat0,              ncam,          9                    ) \
-    XMJV( int,     cam_orthographic,      ncam,          1                    ) \
-    XMJV( mjtNum,  cam_fovy,              ncam,          1                    ) \
-    XMJV( mjtNum,  cam_ipd,               ncam,          1                    ) \
-    XMJV( int,     cam_resolution,        ncam,          2                    ) \
-    XMJV( float,   cam_sensorsize,        ncam,          2                    ) \
-    XMJV( float,   cam_intrinsic,         ncam,          4                    ) \
+    X   ( int,     cam_orthographic,      ncam,          1                    ) \
+    X   ( mjtNum,  cam_fovy,              ncam,          1                    ) \
+    X   ( mjtNum,  cam_ipd,               ncam,          1                    ) \
+    X   ( int,     cam_resolution,        ncam,          2                    ) \
+    X   ( float,   cam_sensorsize,        ncam,          2                    ) \
+    X   ( float,   cam_intrinsic,         ncam,          4                    ) \
     X   ( mjtNum,  cam_user,              ncam,          MJ_M(nuser_cam)      ) \
     X   ( int,     light_mode,            nlight,        1                    ) \
     X   ( int,     light_bodyid,          nlight,        1                    ) \
     X   ( int,     light_targetbodyid,    nlight,        1                    ) \
-    XMJV( mjtByte, light_directional,     nlight,        1                    ) \
-    XMJV( mjtByte, light_castshadow,      nlight,        1                    ) \
-    XMJV( float,   light_bulbradius,      nlight,        1                    ) \
-    XMJV( float,   light_intensity,       nlight,        1                    ) \
-    XMJV( float,   light_range,           nlight,        1                    ) \
-    XMJV( mjtByte, light_active,          nlight,        1                    ) \
+    X   ( mjtByte, light_directional,     nlight,        1                    ) \
+    X   ( mjtByte, light_castshadow,      nlight,        1                    ) \
+    X   ( float,   light_bulbradius,      nlight,        1                    ) \
+    X   ( float,   light_intensity,       nlight,        1                    ) \
+    X   ( float,   light_range,           nlight,        1                    ) \
+    X   ( mjtByte, light_active,          nlight,        1                    ) \
     X   ( mjtNum,  light_pos,             nlight,        3                    ) \
     X   ( mjtNum,  light_dir,             nlight,        3                    ) \
     X   ( mjtNum,  light_poscom0,         nlight,        3                    ) \
     X   ( mjtNum,  light_pos0,            nlight,        3                    ) \
     X   ( mjtNum,  light_dir0,            nlight,        3                    ) \
-    XMJV( float,   light_attenuation,     nlight,        3                    ) \
-    XMJV( float,   light_cutoff,          nlight,        1                    ) \
-    XMJV( float,   light_exponent,        nlight,        1                    ) \
-    XMJV( float,   light_ambient,         nlight,        3                    ) \
-    XMJV( float,   light_diffuse,         nlight,        3                    ) \
-    XMJV( float,   light_specular,        nlight,        3                    ) \
+    X   ( float,   light_attenuation,     nlight,        3                    ) \
+    X   ( float,   light_cutoff,          nlight,        1                    ) \
+    X   ( float,   light_exponent,        nlight,        1                    ) \
+    X   ( float,   light_ambient,         nlight,        3                    ) \
+    X   ( float,   light_diffuse,         nlight,        3                    ) \
+    X   ( float,   light_specular,        nlight,        3                    ) \
     X   ( int,     flex_contype,          nflex,         1                    ) \
     X   ( int,     flex_conaffinity,      nflex,         1                    ) \
     X   ( int,     flex_condim,           nflex,         1                    ) \
@@ -329,42 +329,42 @@
     X   ( mjtByte, flex_internal,         nflex,         1                    ) \
     X   ( int,     flex_selfcollide,      nflex,         1                    ) \
     X   ( int,     flex_activelayers,     nflex,         1                    ) \
-    XMJV( int,     flex_dim,              nflex,         1                    ) \
-    XMJV( int,     flex_matid,            nflex,         1                    ) \
-    XMJV( int,     flex_group,            nflex,         1                    ) \
-    XMJV( int,     flex_interp,           nflex,         1                    ) \
-    XMJV( int,     flex_nodeadr,          nflex,         1                    ) \
-    XMJV( int,     flex_nodenum,          nflex,         1                    ) \
-    XMJV( int,     flex_vertadr,          nflex,         1                    ) \
-    XMJV( int,     flex_vertnum,          nflex,         1                    ) \
+    X   ( int,     flex_dim,              nflex,         1                    ) \
+    X   ( int,     flex_matid,            nflex,         1                    ) \
+    X   ( int,     flex_group,            nflex,         1                    ) \
+    X   ( int,     flex_interp,           nflex,         1                    ) \
+    X   ( int,     flex_nodeadr,          nflex,         1                    ) \
+    X   ( int,     flex_nodenum,          nflex,         1                    ) \
+    X   ( int,     flex_vertadr,          nflex,         1                    ) \
+    X   ( int,     flex_vertnum,          nflex,         1                    ) \
     X   ( int,     flex_edgeadr,          nflex,         1                    ) \
     X   ( int,     flex_edgenum,          nflex,         1                    ) \
-    XMJV( int,     flex_elemadr,          nflex,         1                    ) \
-    XMJV( int,     flex_elemnum,          nflex,         1                    ) \
-    XMJV( int,     flex_elemdataadr,      nflex,         1                    ) \
+    X   ( int,     flex_elemadr,          nflex,         1                    ) \
+    X   ( int,     flex_elemnum,          nflex,         1                    ) \
+    X   ( int,     flex_elemdataadr,      nflex,         1                    ) \
     X   ( int,     flex_elemedgeadr,      nflex,         1                    ) \
-    XMJV( int,     flex_shellnum,         nflex,         1                    ) \
-    XMJV( int,     flex_shelldataadr,     nflex,         1                    ) \
+    X   ( int,     flex_shellnum,         nflex,         1                    ) \
+    X   ( int,     flex_shelldataadr,     nflex,         1                    ) \
     X   ( int,     flex_evpairadr,        nflex,         1                    ) \
     X   ( int,     flex_evpairnum,        nflex,         1                    ) \
-    XMJV( int,     flex_texcoordadr,      nflex,         1                    ) \
-    XMJV( int,     flex_nodebodyid,       nflexnode,     1                    ) \
+    X   ( int,     flex_texcoordadr,      nflex,         1                    ) \
+    X   ( int,     flex_nodebodyid,       nflexnode,     1                    ) \
     X   ( int,     flex_vertbodyid,       nflexvert,     1                    ) \
     X   ( int,     flex_edge,             nflexedge,     2                    ) \
     X   ( int,     flex_edgeflap,         nflexedge,     2                    ) \
-    XMJV( int,     flex_elem,             nflexelemdata, 1                    ) \
-    XMJV( int,     flex_elemtexcoord,     nflexelemdata, 1                    ) \
+    X   ( int,     flex_elem,             nflexelemdata, 1                    ) \
+    X   ( int,     flex_elemtexcoord,     nflexelemdata, 1                    ) \
     X   ( int,     flex_elemedge,         nflexelemedge, 1                    ) \
-    XMJV( int,     flex_elemlayer,        nflexelem,     1                    ) \
-    XMJV( int,     flex_shell,            nflexshelldata,1                    ) \
+    X   ( int,     flex_elemlayer,        nflexelem,     1                    ) \
+    X   ( int,     flex_shell,            nflexshelldata,1                    ) \
     X   ( int,     flex_evpair,           nflexevpair,   2                    ) \
     X   ( mjtNum,  flex_vert,             nflexvert,     3                    ) \
     X   ( mjtNum,  flex_vert0,            nflexvert,     3                    ) \
-    XMJV( mjtNum,  flex_node,             nflexnode,     3                    ) \
+    X   ( mjtNum,  flex_node,             nflexnode,     3                    ) \
     X   ( mjtNum,  flex_node0,            nflexnode,     3                    ) \
     X   ( mjtNum,  flexedge_length0,      nflexedge,     1                    ) \
     X   ( mjtNum,  flexedge_invweight0,   nflexedge,     1                    ) \
-    XMJV( mjtNum,  flex_radius,           nflex,         1                    ) \
+    X   ( mjtNum,  flex_radius,           nflex,         1                    ) \
     X   ( mjtNum,  flex_stiffness,        nflexelem,     21                   ) \
     X   ( mjtNum,  flex_bending,          nflexedge,     16                   ) \
     X   ( mjtNum,  flex_damping,          nflex,         1                    ) \
@@ -373,23 +373,23 @@
     X   ( mjtByte, flex_edgeequality,     nflex,         1                    ) \
     X   ( mjtByte, flex_rigid,            nflex,         1                    ) \
     X   ( mjtByte, flexedge_rigid,        nflexedge,     1                    ) \
-    XMJV( mjtByte, flex_centered,         nflex,         1                    ) \
-    XMJV( mjtByte, flex_flatskin,         nflex,         1                    ) \
-    XMJV( int,     flex_bvhadr,           nflex,         1                    ) \
-    XMJV( int,     flex_bvhnum,           nflex,         1                    ) \
-    XMJV( float,   flex_rgba,             nflex,         4                    ) \
-    XMJV( float,   flex_texcoord,         nflextexcoord, 2                    ) \
+    X   ( mjtByte, flex_centered,         nflex,         1                    ) \
+    X   ( mjtByte, flex_flatskin,         nflex,         1                    ) \
+    X   ( int,     flex_bvhadr,           nflex,         1                    ) \
+    X   ( int,     flex_bvhnum,           nflex,         1                    ) \
+    X   ( float,   flex_rgba,             nflex,         4                    ) \
+    X   ( float,   flex_texcoord,         nflextexcoord, 2                    ) \
     X   ( int,     mesh_vertadr,          nmesh,         1                    ) \
     X   ( int,     mesh_vertnum,          nmesh,         1                    ) \
     X   ( int,     mesh_normaladr,        nmesh,         1                    ) \
     X   ( int,     mesh_normalnum,        nmesh,         1                    ) \
-    XMJV( int,     mesh_texcoordadr,      nmesh,         1                    ) \
+    X   ( int,     mesh_texcoordadr,      nmesh,         1                    ) \
     X   ( int,     mesh_texcoordnum,      nmesh,         1                    ) \
     X   ( int,     mesh_faceadr,          nmesh,         1                    ) \
     X   ( int,     mesh_facenum,          nmesh,         1                    ) \
-    XMJV( int,     mesh_bvhadr,           nmesh,         1                    ) \
-    XMJV( int,     mesh_bvhnum,           nmesh,         1                    ) \
-    XMJV( int,     mesh_graphadr,         nmesh,         1                    ) \
+    X   ( int,     mesh_bvhadr,           nmesh,         1                    ) \
+    X   ( int,     mesh_bvhnum,           nmesh,         1                    ) \
+    X   ( int,     mesh_graphadr,         nmesh,         1                    ) \
     X   ( mjtNum,  mesh_scale,            nmesh,         3                    ) \
     X   ( mjtNum,  mesh_pos,              nmesh,         3                    ) \
     X   ( mjtNum,  mesh_quat,             nmesh,         4                    ) \
@@ -400,7 +400,7 @@
     XNV ( int,     mesh_facenormal,       nmeshface,     3                    ) \
     XNV ( int,     mesh_facetexcoord,     nmeshface,     3                    ) \
     XNV ( int,     mesh_graph,            nmeshgraph,    1                    ) \
-    XMJV( int,     mesh_pathadr,          nmesh,         1                    ) \
+    X   ( int,     mesh_pathadr,          nmesh,         1                    ) \
     XNV ( int,     mesh_polynum,          nmesh,         1                    ) \
     XNV ( int,     mesh_polyadr,          nmesh,         1                    ) \
     XNV ( mjtNum,  mesh_polynormal,       nmeshpoly,     3                    ) \
@@ -410,51 +410,51 @@
     XNV ( int,     mesh_polymapadr,       nmeshvert,     1                    ) \
     XNV ( int,     mesh_polymapnum,       nmeshvert,     1                    ) \
     XNV ( int,     mesh_polymap,          nmeshpolymap,  1                    ) \
-    XMJV( int,     skin_matid,            nskin,         1                    ) \
-    XMJV( int,     skin_group,            nskin,         1                    ) \
-    XMJV( float,   skin_rgba,             nskin,         4                    ) \
-    XMJV( float,   skin_inflate,          nskin,         1                    ) \
-    XMJV( int,     skin_vertadr,          nskin,         1                    ) \
-    XMJV( int,     skin_vertnum,          nskin,         1                    ) \
-    XMJV( int,     skin_texcoordadr,      nskin,         1                    ) \
-    XMJV( int,     skin_faceadr,          nskin,         1                    ) \
-    XMJV( int,     skin_facenum,          nskin,         1                    ) \
-    XMJV( int,     skin_boneadr,          nskin,         1                    ) \
-    XMJV( int,     skin_bonenum,          nskin,         1                    ) \
-    XMJV( float,   skin_vert,             nskinvert,     3                    ) \
+    X   ( int,     skin_matid,            nskin,         1                    ) \
+    X   ( int,     skin_group,            nskin,         1                    ) \
+    X   ( float,   skin_rgba,             nskin,         4                    ) \
+    X   ( float,   skin_inflate,          nskin,         1                    ) \
+    X   ( int,     skin_vertadr,          nskin,         1                    ) \
+    X   ( int,     skin_vertnum,          nskin,         1                    ) \
+    X   ( int,     skin_texcoordadr,      nskin,         1                    ) \
+    X   ( int,     skin_faceadr,          nskin,         1                    ) \
+    X   ( int,     skin_facenum,          nskin,         1                    ) \
+    X   ( int,     skin_boneadr,          nskin,         1                    ) \
+    X   ( int,     skin_bonenum,          nskin,         1                    ) \
+    X   ( float,   skin_vert,             nskinvert,     3                    ) \
     X   ( float,   skin_texcoord,         nskintexvert,  2                    ) \
-    XMJV( int,     skin_face,             nskinface,     3                    ) \
-    XMJV( int,     skin_bonevertadr,      nskinbone,     1                    ) \
-    XMJV( int,     skin_bonevertnum,      nskinbone,     1                    ) \
-    XMJV( float,   skin_bonebindpos,      nskinbone,     3                    ) \
-    XMJV( float,   skin_bonebindquat,     nskinbone,     4                    ) \
-    XMJV( int,     skin_bonebodyid,       nskinbone,     1                    ) \
-    XMJV( int,     skin_bonevertid,       nskinbonevert, 1                    ) \
-    XMJV( float,   skin_bonevertweight,   nskinbonevert, 1                    ) \
-    XMJV( int,     skin_pathadr,          nskin,         1                    ) \
+    X   ( int,     skin_face,             nskinface,     3                    ) \
+    X   ( int,     skin_bonevertadr,      nskinbone,     1                    ) \
+    X   ( int,     skin_bonevertnum,      nskinbone,     1                    ) \
+    X   ( float,   skin_bonebindpos,      nskinbone,     3                    ) \
+    X   ( float,   skin_bonebindquat,     nskinbone,     4                    ) \
+    X   ( int,     skin_bonebodyid,       nskinbone,     1                    ) \
+    X   ( int,     skin_bonevertid,       nskinbonevert, 1                    ) \
+    X   ( float,   skin_bonevertweight,   nskinbonevert, 1                    ) \
+    X   ( int,     skin_pathadr,          nskin,         1                    ) \
     X   ( mjtNum,  hfield_size,           nhfield,       4                    ) \
     X   ( int,     hfield_nrow,           nhfield,       1                    ) \
     X   ( int,     hfield_ncol,           nhfield,       1                    ) \
     X   ( int,     hfield_adr,            nhfield,       1                    ) \
     XNV ( float,   hfield_data,           nhfielddata,   1                    ) \
-    XMJV( int,     hfield_pathadr,        nhfield,       1                    ) \
+    X   ( int,     hfield_pathadr,        nhfield,       1                    ) \
     X   ( int,     tex_type,              ntex,          1                    ) \
     X   ( int,     tex_height,            ntex,          1                    ) \
     X   ( int,     tex_width,             ntex,          1                    ) \
     X   ( int,     tex_nchannel,          ntex,          1                    ) \
     X   ( int,     tex_adr,               ntex,          1                    ) \
     XNV ( mjtByte, tex_data,              ntexdata,      1                    ) \
-    XMJV( int,     tex_pathadr,           ntex,          1                    ) \
-    XMJV( int,     mat_texid,             nmat,          mjNTEXROLE           ) \
-    XMJV( mjtByte, mat_texuniform,        nmat,          1                    ) \
-    XMJV( float,   mat_texrepeat,         nmat,          2                    ) \
-    XMJV( float,   mat_emission,          nmat,          1                    ) \
-    XMJV( float,   mat_specular,          nmat,          1                    ) \
-    XMJV( float,   mat_shininess,         nmat,          1                    ) \
-    XMJV( float,   mat_reflectance,       nmat,          1                    ) \
-    XMJV( float,   mat_metallic,          nmat,          1                    ) \
-    XMJV( float,   mat_roughness,         nmat,          1                    ) \
-    XMJV( float,   mat_rgba,              nmat,          4                    ) \
+    X   ( int,     tex_pathadr,           ntex,          1                    ) \
+    X   ( int,     mat_texid,             nmat,          mjNTEXROLE           ) \
+    X   ( mjtByte, mat_texuniform,        nmat,          1                    ) \
+    X   ( float,   mat_texrepeat,         nmat,          2                    ) \
+    X   ( float,   mat_emission,          nmat,          1                    ) \
+    X   ( float,   mat_specular,          nmat,          1                    ) \
+    X   ( float,   mat_shininess,         nmat,          1                    ) \
+    X   ( float,   mat_reflectance,       nmat,          1                    ) \
+    X   ( float,   mat_metallic,          nmat,          1                    ) \
+    X   ( float,   mat_roughness,         nmat,          1                    ) \
+    X   ( float,   mat_rgba,              nmat,          4                    ) \
     X   ( int,     pair_dim,              npair,         1                    ) \
     X   ( int,     pair_geom1,            npair,         1                    ) \
     X   ( int,     pair_geom2,            npair,         1                    ) \
@@ -466,74 +466,74 @@
     X   ( mjtNum,  pair_gap,              npair,         1                    ) \
     X   ( mjtNum,  pair_friction,         npair,         5                    ) \
     X   ( int,     exclude_signature,     nexclude,      1                    ) \
-    XMJV( int,     eq_type,               neq,           1                    ) \
-    XMJV( int,     eq_obj1id,             neq,           1                    ) \
-    XMJV( int,     eq_obj2id,             neq,           1                    ) \
-    XMJV( int,     eq_objtype,            neq,           1                    ) \
+    X   ( int,     eq_type,               neq,           1                    ) \
+    X   ( int,     eq_obj1id,             neq,           1                    ) \
+    X   ( int,     eq_obj2id,             neq,           1                    ) \
+    X   ( int,     eq_objtype,            neq,           1                    ) \
     X   ( mjtByte, eq_active0,            neq,           1                    ) \
     X   ( mjtNum,  eq_solref,             neq,           mjNREF               ) \
     X   ( mjtNum,  eq_solimp,             neq,           mjNIMP               ) \
-    XMJV( mjtNum,  eq_data,               neq,           mjNEQDATA            ) \
+    X   ( mjtNum,  eq_data,               neq,           mjNEQDATA            ) \
     X   ( int,     tendon_adr,            ntendon,       1                    ) \
-    XMJV( int,     tendon_num,            ntendon,       1                    ) \
-    XMJV( int,     tendon_matid,          ntendon,       1                    ) \
-    XMJV( int,     tendon_group,          ntendon,       1                    ) \
-    XMJV( mjtByte, tendon_limited,        ntendon,       1                    ) \
-    XMJV( mjtByte, tendon_actfrclimited,  ntendon,       1                    ) \
-    XMJV( mjtNum,  tendon_width,          ntendon,       1                    ) \
+    X   ( int,     tendon_num,            ntendon,       1                    ) \
+    X   ( int,     tendon_matid,          ntendon,       1                    ) \
+    X   ( int,     tendon_group,          ntendon,       1                    ) \
+    X   ( mjtByte, tendon_limited,        ntendon,       1                    ) \
+    X   ( mjtByte, tendon_actfrclimited,  ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_width,          ntendon,       1                    ) \
     X   ( mjtNum,  tendon_solref_lim,     ntendon,       mjNREF               ) \
     X   ( mjtNum,  tendon_solimp_lim,     ntendon,       mjNIMP               ) \
     X   ( mjtNum,  tendon_solref_fri,     ntendon,       mjNREF               ) \
     X   ( mjtNum,  tendon_solimp_fri,     ntendon,       mjNIMP               ) \
-    XMJV( mjtNum,  tendon_range,          ntendon,       2                    ) \
-    XMJV( mjtNum,  tendon_actfrcrange,    ntendon,       2                    ) \
+    X   ( mjtNum,  tendon_range,          ntendon,       2                    ) \
+    X   ( mjtNum,  tendon_actfrcrange,    ntendon,       2                    ) \
     X   ( mjtNum,  tendon_margin,         ntendon,       1                    ) \
-    XMJV( mjtNum,  tendon_stiffness,      ntendon,       1                    ) \
-    XMJV( mjtNum,  tendon_damping,        ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_stiffness,      ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_damping,        ntendon,       1                    ) \
     X   ( mjtNum,  tendon_armature,       ntendon,       1                    ) \
-    XMJV( mjtNum,  tendon_frictionloss,   ntendon,       1                    ) \
-    XMJV( mjtNum,  tendon_lengthspring,   ntendon,       2                    ) \
+    X   ( mjtNum,  tendon_frictionloss,   ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_lengthspring,   ntendon,       2                    ) \
     X   ( mjtNum,  tendon_length0,        ntendon,       1                    ) \
     X   ( mjtNum,  tendon_invweight0,     ntendon,       1                    ) \
     X   ( mjtNum,  tendon_user,           ntendon,       MJ_M(nuser_tendon)   ) \
-    XMJV( float,   tendon_rgba,           ntendon,       4                    ) \
+    X   ( float,   tendon_rgba,           ntendon,       4                    ) \
     X   ( int,     wrap_type,             nwrap,         1                    ) \
     X   ( int,     wrap_objid,            nwrap,         1                    ) \
     X   ( mjtNum,  wrap_prm,              nwrap,         1                    ) \
-    XMJV( int,     actuator_trntype,      nu,            1                    ) \
-    XMJV( int,     actuator_dyntype,      nu,            1                    ) \
+    X   ( int,     actuator_trntype,      nu,            1                    ) \
+    X   ( int,     actuator_dyntype,      nu,            1                    ) \
     X   ( int,     actuator_gaintype,     nu,            1                    ) \
     X   ( int,     actuator_biastype,     nu,            1                    ) \
-    XMJV( int,     actuator_trnid,        nu,            2                    ) \
-    XMJV( int,     actuator_actadr,       nu,            1                    ) \
-    XMJV( int,     actuator_actnum,       nu,            1                    ) \
-    XMJV( int,     actuator_group,        nu,            1                    ) \
-    XMJV( mjtByte, actuator_ctrllimited,  nu,            1                    ) \
+    X   ( int,     actuator_trnid,        nu,            2                    ) \
+    X   ( int,     actuator_actadr,       nu,            1                    ) \
+    X   ( int,     actuator_actnum,       nu,            1                    ) \
+    X   ( int,     actuator_group,        nu,            1                    ) \
+    X   ( mjtByte, actuator_ctrllimited,  nu,            1                    ) \
     X   ( mjtByte, actuator_forcelimited, nu,            1                    ) \
-    XMJV( mjtByte, actuator_actlimited,   nu,            1                    ) \
+    X   ( mjtByte, actuator_actlimited,   nu,            1                    ) \
     X   ( mjtNum,  actuator_dynprm,       nu,            mjNDYN               ) \
     X   ( mjtNum,  actuator_gainprm,      nu,            mjNGAIN              ) \
     X   ( mjtNum,  actuator_biasprm,      nu,            mjNBIAS              ) \
     X   ( mjtByte, actuator_actearly,     nu,            1                    ) \
-    XMJV( mjtNum,  actuator_ctrlrange,    nu,            2                    ) \
+    X   ( mjtNum,  actuator_ctrlrange,    nu,            2                    ) \
     X   ( mjtNum,  actuator_forcerange,   nu,            2                    ) \
-    XMJV( mjtNum,  actuator_actrange,     nu,            2                    ) \
+    X   ( mjtNum,  actuator_actrange,     nu,            2                    ) \
     X   ( mjtNum,  actuator_gear,         nu,            6                    ) \
-    XMJV( mjtNum,  actuator_cranklength,  nu,            1                    ) \
+    X   ( mjtNum,  actuator_cranklength,  nu,            1                    ) \
     X   ( mjtNum,  actuator_acc0,         nu,            1                    ) \
     X   ( mjtNum,  actuator_length0,      nu,            1                    ) \
     X   ( mjtNum,  actuator_lengthrange,  nu,            2                    ) \
     X   ( mjtNum,  actuator_user,         nu,            MJ_M(nuser_actuator) ) \
     X   ( int,     actuator_plugin,       nu,            1                    ) \
-    XMJV( int,     sensor_type,           nsensor,       1                    ) \
+    X   ( int,     sensor_type,           nsensor,       1                    ) \
     X   ( int,     sensor_datatype,       nsensor,       1                    ) \
     X   ( int,     sensor_needstage,      nsensor,       1                    ) \
     X   ( int,     sensor_objtype,        nsensor,       1                    ) \
-    XMJV( int,     sensor_objid,          nsensor,       1                    ) \
+    X   ( int,     sensor_objid,          nsensor,       1                    ) \
     X   ( int,     sensor_reftype,        nsensor,       1                    ) \
     X   ( int,     sensor_refid,          nsensor,       1                    ) \
     X   ( int,     sensor_dim,            nsensor,       1                    ) \
-    XMJV( int,     sensor_adr,            nsensor,       1                    ) \
+    X   ( int,     sensor_adr,            nsensor,       1                    ) \
     X   ( mjtNum,  sensor_cutoff,         nsensor,       1                    ) \
     X   ( mjtNum,  sensor_noise,          nsensor,       1                    ) \
     X   ( mjtNum,  sensor_user,           nsensor,       MJ_M(nuser_sensor)   ) \
@@ -561,12 +561,12 @@
     X   ( mjtNum,  key_mpos,              nkey,          MJ_M(nmocap)*3       ) \
     X   ( mjtNum,  key_mquat,             nkey,          MJ_M(nmocap)*4       ) \
     X   ( mjtNum,  key_ctrl,              nkey,          MJ_M(nu)             ) \
-    XMJV( int,     name_bodyadr,          nbody,         1                    ) \
-    XMJV( int,     name_jntadr,           njnt,          1                    ) \
-    XMJV( int,     name_geomadr,          ngeom,         1                    ) \
-    XMJV( int,     name_siteadr,          nsite,         1                    ) \
-    XMJV( int,     name_camadr,           ncam,          1                    ) \
-    XMJV( int,     name_lightadr,         nlight,        1                    ) \
+    X   ( int,     name_bodyadr,          nbody,         1                    ) \
+    X   ( int,     name_jntadr,           njnt,          1                    ) \
+    X   ( int,     name_geomadr,          ngeom,         1                    ) \
+    X   ( int,     name_siteadr,          nsite,         1                    ) \
+    X   ( int,     name_camadr,           ncam,          1                    ) \
+    X   ( int,     name_lightadr,         nlight,        1                    ) \
     X   ( int,     name_flexadr,          nflex,         1                    ) \
     X   ( int,     name_meshadr,          nmesh,         1                    ) \
     X   ( int,     name_skinadr,          nskin,         1                    ) \
@@ -575,18 +575,18 @@
     X   ( int,     name_matadr,           nmat,          1                    ) \
     X   ( int,     name_pairadr,          npair,         1                    ) \
     X   ( int,     name_excludeadr,       nexclude,      1                    ) \
-    XMJV( int,     name_eqadr,            neq,           1                    ) \
-    XMJV( int,     name_tendonadr,        ntendon,       1                    ) \
-    XMJV( int,     name_actuatoradr,      nu,            1                    ) \
+    X   ( int,     name_eqadr,            neq,           1                    ) \
+    X   ( int,     name_tendonadr,        ntendon,       1                    ) \
+    X   ( int,     name_actuatoradr,      nu,            1                    ) \
     X   ( int,     name_sensoradr,        nsensor,       1                    ) \
     X   ( int,     name_numericadr,       nnumeric,      1                    ) \
     X   ( int,     name_textadr,          ntext,         1                    ) \
     X   ( int,     name_tupleadr,         ntuple,        1                    ) \
     X   ( int,     name_keyadr,           nkey,          1                    ) \
     X   ( int,     name_pluginadr,        nplugin,       1                    ) \
-    XMJV( char,    names,                 nnames,        1                    ) \
+    X   ( char,    names,                 nnames,        1                    ) \
     X   ( int,     names_map,             nnames_map,    1                    ) \
-    XMJV( char,    paths,                 npaths,        1                    ) \
+    X   ( char,    paths,                 npaths,        1                    ) \
 
 //-------------------------------- mjData ----------------------------------------------------------
 
@@ -596,60 +596,60 @@
 
 
 // pointer fields of mjData
-// XMJV means that the field is required to construct mjvScene
-// (by default we define XMJV to be the same as X)
+// XNV means that the field is not required to construct mjvScene
+// (by default we define XNV to be the same as X)
 #define MJDATA_POINTERS                                            \
     X   ( mjtNum,    qpos,              nq,          1           ) \
     X   ( mjtNum,    qvel,              nv,          1           ) \
-    XMJV( mjtNum,    act,               na,          1           ) \
+    X   ( mjtNum,    act,               na,          1           ) \
     X   ( mjtNum,    qacc_warmstart,    nv,          1           ) \
     X   ( mjtNum,    plugin_state,      npluginstate, 1          ) \
-    XMJV( mjtNum,    ctrl,              nu,          1           ) \
+    X   ( mjtNum,    ctrl,              nu,          1           ) \
     X   ( mjtNum,    qfrc_applied,      nv,          1           ) \
-    XMJV( mjtNum,    xfrc_applied,      nbody,       6           ) \
-    XMJV( mjtByte,   eq_active,         neq,         1           ) \
+    X   ( mjtNum,    xfrc_applied,      nbody,       6           ) \
+    X   ( mjtByte,   eq_active,         neq,         1           ) \
     X   ( mjtNum,    mocap_pos,         nmocap,      3           ) \
     X   ( mjtNum,    mocap_quat,        nmocap,      4           ) \
     X   ( mjtNum,    qacc,              nv,          1           ) \
     X   ( mjtNum,    act_dot,           na,          1           ) \
     X   ( mjtNum,    userdata,          nuserdata,   1           ) \
-    XMJV( mjtNum,    sensordata,        nsensordata, 1           ) \
+    X   ( mjtNum,    sensordata,        nsensordata, 1           ) \
     X   ( int,       plugin,            nplugin,     1           ) \
     X   ( uintptr_t, plugin_data,       nplugin,     1           ) \
-    XMJV( mjtNum,    xpos,              nbody,       3           ) \
-    XMJV( mjtNum,    xquat,             nbody,       4           ) \
-    XMJV( mjtNum,    xmat,              nbody,       9           ) \
-    XMJV( mjtNum,    xipos,             nbody,       3           ) \
-    XMJV( mjtNum,    ximat,             nbody,       9           ) \
-    XMJV( mjtNum,    xanchor,           njnt,        3           ) \
-    XMJV( mjtNum,    xaxis,             njnt,        3           ) \
-    XMJV( mjtNum,    geom_xpos,         ngeom,       3           ) \
-    XMJV( mjtNum,    geom_xmat,         ngeom,       9           ) \
-    XMJV( mjtNum,    site_xpos,         nsite,       3           ) \
-    XMJV( mjtNum,    site_xmat,         nsite,       9           ) \
-    XMJV( mjtNum,    cam_xpos,          ncam,        3           ) \
-    XMJV( mjtNum,    cam_xmat,          ncam,        9           ) \
-    XMJV( mjtNum,    light_xpos,        nlight,      3           ) \
-    XMJV( mjtNum,    light_xdir,        nlight,      3           ) \
-    XMJV( mjtNum,    subtree_com,       nbody,       3           ) \
+    X   ( mjtNum,    xpos,              nbody,       3           ) \
+    X   ( mjtNum,    xquat,             nbody,       4           ) \
+    X   ( mjtNum,    xmat,              nbody,       9           ) \
+    X   ( mjtNum,    xipos,             nbody,       3           ) \
+    X   ( mjtNum,    ximat,             nbody,       9           ) \
+    X   ( mjtNum,    xanchor,           njnt,        3           ) \
+    X   ( mjtNum,    xaxis,             njnt,        3           ) \
+    X   ( mjtNum,    geom_xpos,         ngeom,       3           ) \
+    X   ( mjtNum,    geom_xmat,         ngeom,       9           ) \
+    X   ( mjtNum,    site_xpos,         nsite,       3           ) \
+    X   ( mjtNum,    site_xmat,         nsite,       9           ) \
+    X   ( mjtNum,    cam_xpos,          ncam,        3           ) \
+    X   ( mjtNum,    cam_xmat,          ncam,        9           ) \
+    X   ( mjtNum,    light_xpos,        nlight,      3           ) \
+    X   ( mjtNum,    light_xdir,        nlight,      3           ) \
+    X   ( mjtNum,    subtree_com,       nbody,       3           ) \
     X   ( mjtNum,    cdof,              nv,          6           ) \
     X   ( mjtNum,    cinert,            nbody,       10          ) \
-    XMJV( mjtNum,    flexvert_xpos,     nflexvert,   3           ) \
+    X   ( mjtNum,    flexvert_xpos,     nflexvert,   3           ) \
     X   ( mjtNum,    flexelem_aabb,     nflexelem,   6           ) \
     X   ( int,       flexedge_J_rownnz, nflexedge,   1           ) \
     X   ( int,       flexedge_J_rowadr, nflexedge,   1           ) \
     X   ( int,       flexedge_J_colind, nflexedge,   MJ_M(nv)    ) \
     X   ( mjtNum,    flexedge_J,        nflexedge,   MJ_M(nv)    ) \
     X   ( mjtNum,    flexedge_length,   nflexedge,   1           ) \
-    XMJV( int,       ten_wrapadr,       ntendon,     1           ) \
-    XMJV( int,       ten_wrapnum,       ntendon,     1           ) \
+    X   ( int,       ten_wrapadr,       ntendon,     1           ) \
+    X   ( int,       ten_wrapnum,       ntendon,     1           ) \
     X   ( int,       ten_J_rownnz,      ntendon,     1           ) \
     X   ( int,       ten_J_rowadr,      ntendon,     1           ) \
     X   ( int,       ten_J_colind,      ntendon,     MJ_M(nv)    ) \
-    XMJV( mjtNum,    ten_length,        ntendon,     1           ) \
+    X   ( mjtNum,    ten_length,        ntendon,     1           ) \
     X   ( mjtNum,    ten_J,             ntendon,     MJ_M(nv)    ) \
-    XMJV( int,       wrap_obj,          nwrap,       2           ) \
-    XMJV( mjtNum,    wrap_xpos,         nwrap,       6           ) \
+    X   ( int,       wrap_obj,          nwrap,       2           ) \
+    X   ( mjtNum,    wrap_xpos,         nwrap,       6           ) \
     X   ( mjtNum,    actuator_length,   nu,          1           ) \
     X   ( int,       moment_rownnz,     nu,          1           ) \
     X   ( int,       moment_rowadr,     nu,          1           ) \
@@ -660,8 +660,8 @@
     XNV ( mjtNum,    M,                 nC,          1           ) \
     XNV ( mjtNum,    qLD,               nC,          1           ) \
     X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
-    XMJV( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
-    XMJV( mjtByte,   bvh_active,        nbvh,        1           ) \
+    X   ( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
+    X   ( mjtByte,   bvh_active,        nbvh,        1           ) \
     X   ( mjtNum,    flexedge_velocity, nflexedge,   1           ) \
     X   ( mjtNum,    ten_velocity,      ntendon,     1           ) \
     X   ( mjtNum,    actuator_velocity, nu,          1           ) \
@@ -834,12 +834,6 @@
     X( mjtNum,         solver_fwdinv,      2,            1         ) \
     X( mjtNum,         energy,             2,            1         )
 
-
-// alias XMJV to be the same as X
-// to obtain only X macros for fields that are relevant for mjvScene creation,
-// redefine X to expand to nothing, and XMJV to do what's required
-#define XMJV X
-
 // alias XNV to be the same as X
 // to obtain only X macros for fields that are relevant for mjvScene creation,
 // redefine XNV to expand to nothing
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 8d8cb8c2..6c715427 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -625,20 +625,10 @@ MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum fo
 MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
                           const mjvScene* scn, mjvCamera* cam);
 
-// Move camera with mouse given a scene state; action is mjtMouse.
-MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
-                                   mjtNum reldx, mjtNum reldy,
-                                   const mjvScene* scn, mjvCamera* cam);
-
 // Move perturb object with mouse; action is mjtMouse.
 MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
                            mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
 
-// Move perturb object with mouse given a scene state; action is mjtMouse.
-MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
-                                    mjtNum reldx, mjtNum reldy,
-                                    const mjvScene* scn, mjvPerturb* pert);
-
 // Move model with mouse; action is mjtMouse.
 MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
                          const mjtNum roomup[3], mjvScene* scn);
@@ -695,28 +685,9 @@ MJAPI void mjv_freeScene(mjvScene* scn);
 MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
                            const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
 
-// Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
-MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
-                                   const mjvPerturb* pert, mjvCamera* cam, int catmask,
-                                   mjvScene* scn);
-
 // Copy mjModel, skip large arrays not required for abstract visualization.
 MJAPI void mjv_copyModel(mjModel* dest, const mjModel* src);
 
-// Set default scene state.
-MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);
-
-// Allocate resources and initialize a scene state object.
-MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
-                              mjvSceneState* scnstate, int maxgeom);
-
-// Free scene state.
-MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
-
-// Update a scene state from model and data.
-MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
-                                mjvSceneState* scnstate);
-
 // Add geoms from selected categories.
 MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
                         const mjvPerturb* pert, int catmask, mjvScene* scn);
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 1f495c03..cf85a819 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -4011,44 +4011,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Move camera with mouse; action is mjtMouse.',
      )),
-    ('mjv_moveCameraFromState',
-     FunctionDecl(
-         name='mjv_moveCameraFromState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='action',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='reldx',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='reldy',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-         ),
-         doc='Move camera with mouse given a scene state; action is mjtMouse.',
-     )),
     ('mjv_movePerturb',
      FunctionDecl(
          name='mjv_movePerturb',
@@ -4093,44 +4055,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Move perturb object with mouse; action is mjtMouse.',
      )),
-    ('mjv_movePerturbFromState',
-     FunctionDecl(
-         name='mjv_movePerturbFromState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='action',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='reldx',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='reldy',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb'),
-                 ),
-             ),
-         ),
-         doc='Move perturb object with mouse given a scene state; action is mjtMouse.',  # pylint: disable=line-too-long
-     )),
     ('mjv_moveModel',
      FunctionDecl(
          name='mjv_moveModel',
@@ -4560,48 +4484,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Update entire scene given model state.',
      )),
-    ('mjv_updateSceneFromState',
-     FunctionDecl(
-         name='mjv_updateSceneFromState',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvOption', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='catmask',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.',  # pylint: disable=line-too-long
-     )),
     ('mjv_copyModel',
      FunctionDecl(
          name='mjv_copyModel',
@@ -4622,96 +4504,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Copy mjModel, skip large arrays not required for abstract visualization.',  # pylint: disable=line-too-long
      )),
-    ('mjv_defaultSceneState',
-     FunctionDecl(
-         name='mjv_defaultSceneState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState'),
-                 ),
-             ),
-         ),
-         doc='Set default scene state.',
-     )),
-    ('mjv_makeSceneState',
-     FunctionDecl(
-         name='mjv_makeSceneState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='maxgeom',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Allocate resources and initialize a scene state object.',
-     )),
-    ('mjv_freeSceneState',
-     FunctionDecl(
-         name='mjv_freeSceneState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState'),
-                 ),
-             ),
-         ),
-         doc='Free scene state.',
-     )),
-    ('mjv_updateSceneState',
-     FunctionDecl(
-         name='mjv_updateSceneState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvOption', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scnstate',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvSceneState'),
-                 ),
-             ),
-         ),
-         doc='Update a scene state from model and data.',
-     )),
     ('mjv_addGeoms',
      FunctionDecl(
          name='mjv_addGeoms',
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 4aac02a9..379cdc84 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -7345,1651 +7345,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
-    ('mjvSceneState',
-     StructDecl(
-         name='mjvSceneState',
-         declname='struct mjvSceneState_',
-         fields=(
-             StructFieldDecl(
-                 name='nbuffer',
-                 type=ValueType(name='int'),
-                 doc='size of the buffer in bytes',
-             ),
-             StructFieldDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='heap-allocated memory for all arrays in this struct',
-             ),
-             StructFieldDecl(
-                 name='maxgeom',
-                 type=ValueType(name='int'),
-                 doc='maximum number of mjvGeom supported by this state object',
-             ),
-             StructFieldDecl(
-                 name='scratch',
-                 type=ValueType(name='mjvScene'),
-                 doc='scratch space for vis geoms inserted by the user and plugins',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='model',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='nv',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nu',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='na',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nbody',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nbvh',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nbvhstatic',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='njnt',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ngeom',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nsite',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ncam',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nlight',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nmesh',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nskin',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nflex',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nflexvert',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nflextexcoord',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nskinvert',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nskinface',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nskinbone',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nskinbonevert',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nmat',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='neq',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ntendon',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ntree',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nwrap',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nsensor',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nnames',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='npaths',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nsensordata',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='narena',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='opt',
-                             type=ValueType(name='mjOption'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='vis',
-                             type=ValueType(name='mjVisual'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='stat',
-                             type=ValueType(name='mjStatistic'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_parentid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_rootid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_weldid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_mocapid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_jntnum',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_jntadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_dofnum',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_dofadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_geomnum',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_geomadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_iquat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_mass',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_inertia',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_bvhadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='body_bvhnum',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='bvh_depth',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='bvh_child',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='bvh_nodeid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='bvh_aabb',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='jnt_type',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='jnt_bodyid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='jnt_group',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_type',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_bodyid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_contype',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_conaffinity',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_dataid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_matid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_group',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_size',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_aabb',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_rbound',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_rgba',
-                             type=PointerType(
-                                 inner_type=ValueType(name='float'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_type',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_bodyid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_matid',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_group',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_size',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_rgba',
-                             type=PointerType(
-                                 inner_type=ValueType(name='float'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='cam_orthographic',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='cam_fovy',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
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-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='data',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='warning',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='mjWarningStat'),
-                                 extents=(8,),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nefc',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ncon',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='nisland',
-                             type=ValueType(name='int'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='time',
-                             type=ValueType(name='mjtNum'),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='act',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ctrl',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xfrc_applied',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='eq_active',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtByte'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='sensordata',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xquat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xmat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xipos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ximat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xanchor',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='xaxis',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='geom_xmat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='site_xmat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='cam_xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='cam_xmat',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='light_xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='light_xdir',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='subtree_com',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ten_wrapadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ten_wrapnum',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='wrap_obj',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='ten_length',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='wrap_xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='bvh_aabb_dyn',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='bvh_active',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtByte'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='island_dofadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='dof_island',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='efc_island',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='tendon_efcadr',
-                             type=PointerType(
-                                 inner_type=ValueType(name='int'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='flexvert_xpos',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='contact',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjContact'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='efc_force',
-                             type=PointerType(
-                                 inner_type=ValueType(name='mjtNum'),
-                             ),
-                             doc='',
-                         ),
-                         StructFieldDecl(
-                             name='arena',
-                             type=PointerType(
-                                 inner_type=ValueType(name='void'),
-                             ),
-                             doc='',
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-         ),
-     )),
     ('mjSDF',
      StructDecl(
          name='mjSDF',
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index bd255ce3..77db1a04 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -689,7 +689,7 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
 
 // make physics section of UI
 void MakePhysicsSection(mj::Simulate* sim) {
-  mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
+  mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
   mjuiDef defPhysics[] = {
     {mjITEM_SECTION,   "Physics",       mjPRESERVE, nullptr,          "AP"},
     {mjITEM_SELECT,    "Integrator",    2, &(opt->integrator),        "Euler\nRK4\nimplicit\nimplicitfast"},
@@ -873,8 +873,8 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
 
 // make visualization section of UI
 void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
-  mjStatistic* stat = sim->is_passive_ ? &sim->scnstate_.model.stat : &sim->m_->stat;
-  mjVisual* vis = sim->is_passive_ ? &sim->scnstate_.model.vis : &sim->m_->vis;
+  mjStatistic* stat = sim->is_passive_ ? &sim->m_passive_->stat : &sim->m_->stat;
+  mjVisual* vis = sim->is_passive_ ? &sim->m_passive_->vis : &sim->m_->vis;
 
   mjuiDef defVisualization[] = {
     {mjITEM_SECTION,   "Visualization", mjPRESERVE, nullptr, "AV"},
@@ -1503,7 +1503,7 @@ void UiEvent(mjuiState* state) {
 
     // physics section
     else if (it && it->sectionid==SECT_PHYSICS && sim->m_) {
-      mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
+      mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
 
       // update disable flags in mjOption
       opt->disableflags = 0;
@@ -1765,15 +1765,14 @@ void UiEvent(mjuiState* state) {
     return;
   }
 
+  // local pointers used below
+  mjModel* model = sim->is_passive_ ? sim->m_passive_ : sim->m_;
+  mjData* data = sim->is_passive_ ? sim->d_passive_ : sim->d_;
+
   // 3D scroll
-  if (state->type==mjEVENT_SCROLL && state->mouserect==3) {
+  if (state->type==mjEVENT_SCROLL && state->mouserect==3 && model) {
     // emulate vertical mouse motion = 2% of window height
-    if (sim->m_ && !sim->is_passive_) {
-      mjv_moveCamera(sim->m_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
-    } else {
-      mjv_moveCameraFromState(
-          &sim->scnstate_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
-    }
+    mjv_moveCamera(model, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
     return;
   }
 
@@ -1829,25 +1828,11 @@ void UiEvent(mjuiState* state) {
     // move perturb or camera
     mjrRect r = state->rect[3];
     if (sim->pert.active) {
-      if (!sim->is_passive_) {
-        mjv_movePerturb(
-            sim->m_, sim->d_, action, state->dx / r.height, -state->dy / r.height,
-            &sim->scn, &sim->pert);
-      } else {
-        mjv_movePerturbFromState(
-            &sim->scnstate_, action, state->dx / r.height, -state->dy / r.height,
-            &sim->scn, &sim->pert);
-      }
+      mjv_movePerturb(model, data, action, state->dx / r.height, -state->dy / r.height,
+                      &sim->scn, &sim->pert);
     } else {
-      if (!sim->is_passive_) {
-        mjv_moveCamera(
-            sim->m_, action, state->dx / r.height, -state->dy / r.height,
-            &sim->scn, &sim->cam);
-      } else {
-        mjv_moveCameraFromState(
-            &sim->scnstate_, action, state->dx / r.height, -state->dy / r.height,
-            &sim->scn, &sim->cam);
-      }
+      mjv_moveCamera(model, action, state->dx / r.height, -state->dy / r.height,
+                     &sim->scn, &sim->cam);
     }
     return;
   }
@@ -1881,10 +1866,11 @@ Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
       platform_ui(std::move(platform_ui)),
       uistate(this->platform_ui->state()) {
   mjv_defaultScene(&scn);
-  mjv_defaultSceneState(&scnstate_);
 }
 
-// synchronize model and data
+
+//------------------------- Synchronize render and physics threads ---------------------------------
+
 // operations which require holding the mutex, prevents racing with physics thread
 void Simulate::Sync() {
   MutexLock lock(this->mtx);
@@ -1947,10 +1933,10 @@ void Simulate::Sync() {
 
   if (is_passive_) {
     // synchronize m_->opt with changes made via the UI
-#define X(name)                                                  \
-  if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) { \
-    pending_.ui_update_physics = true;                           \
-    Copy(m_->opt.name, scnstate_.model.opt.name);                \
+#define X(name)                                              \
+  if (IsDifferent(m_passive_->opt.name, mjopt_prev_.name)) { \
+    pending_.ui_update_physics = true;                       \
+    Copy(m_->opt.name, m_passive_->opt.name);                \
   }
 
     X(timestep);
@@ -1984,9 +1970,9 @@ void Simulate::Sync() {
   #undef X
 
     // synchronize number of mjWARN_VGEOMFULL warnings
-    if (scnstate_.data.warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
+    if (d_passive_->warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
       d_->warning[mjWARN_VGEOMFULL].number +=
-          scnstate_.data.warning[mjWARN_VGEOMFULL].number - warn_vgeomfull_prev_;
+          d_passive_->warning[mjWARN_VGEOMFULL].number - warn_vgeomfull_prev_;
     }
   }
 
@@ -2135,25 +2121,19 @@ void Simulate::Sync() {
     pending_.select = false;
   }
 
-  // update scene
+  // update scene or sync data from user in passive mode
   if (!is_passive_) {
     mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
   } else {
-    mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
+    mjv_copyModel(m_passive_, m_);
+    mjv_copyData(d_passive_, m_passive_, d_);
 
-    // append geoms from user_scn to scnstate_ scratch space
+    // append geoms from user_scn to scratch space
     if (user_scn) {
-      int ngeom = user_scn->ngeom;
-      int maxgeom = scnstate_.scratch.maxgeom - scnstate_.scratch.ngeom;
-      if (ngeom > maxgeom) {
-        mj_warning(d_, mjWARN_VGEOMFULL, scnstate_.scratch.maxgeom);
-        ngeom = maxgeom;
-      }
-      if (ngeom > 0) {
-        std::memcpy(scnstate_.scratch.geoms + scnstate_.scratch.ngeom,
-                    user_scn->geoms,
-                    sizeof(mjvGeom) * ngeom);
-        scnstate_.scratch.ngeom += ngeom;
+      user_scn_geoms_.clear();
+      user_scn_geoms_.reserve(user_scn->ngeom);
+      for (int i = 0; i < user_scn->ngeom; ++i) {
+        user_scn_geoms_.push_back(user_scn->geoms[i]);
       }
     }
 
@@ -2169,8 +2149,8 @@ void Simulate::Sync() {
       Copy(user_scn_flags_prev_, user_scn->flags);
     }
 
-    mjopt_prev_ = scnstate_.model.opt;
-    warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
+    mjopt_prev_ = m_passive_->opt;
+    warn_vgeomfull_prev_ = d_passive_->warning[mjWARN_VGEOMFULL].number;
   }
 
   // update settings
@@ -2329,15 +2309,8 @@ void Simulate::LoadOnRenderThread() {
     }
   }
 
-  // re-create scene and context
+  // re-create scene
   mjv_makeScene(this->m_, &this->scn, kMaxGeom);
-  if (this->is_passive_) {
-    mjopt_prev_ = m_->opt;
-    opt_prev_ = opt;
-    cam_prev_ = cam;
-    warn_vgeomfull_prev_ = d_->warning[mjWARN_VGEOMFULL].number;
-    mjv_makeSceneState(this->m_, this->d_, &this->scnstate_, kMaxGeom);
-  }
 
   this->platform_ui->RefreshMjrContext(this->m_, 50*(this->font+1));
   UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
@@ -2366,12 +2339,18 @@ void Simulate::LoadOnRenderThread() {
     mju::strcpy_arr(this->previous_filename, this->filename);
   }
 
-  // update scene
+  // update scene in managed mode, in passive mode copy data from user (update in RenderLoop)
   if (!is_passive_) {
-    mjv_updateScene(this->m_, this->d_,
-                    &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
+    mjv_updateScene(this->m_, this->d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
   } else {
-    mjv_updateSceneState(this->m_, this->d_, &this->opt, &this->scnstate_);
+    mjopt_prev_ = m_->opt;
+    opt_prev_ = opt;
+    cam_prev_ = cam;
+    warn_vgeomfull_prev_ = d_->warning[mjWARN_VGEOMFULL].number;
+
+    // full copy on init
+    m_passive_ = mj_copyModel(nullptr, m_);
+    d_passive_ = mj_copyData(nullptr, m_passive_, d_);
   }
 
   // set window title to model name
@@ -2793,11 +2772,22 @@ void Simulate::RenderLoop() {
       }
 
       // update scene, doing a full sync if in fully managed mode
-      if (!this->is_passive_) {
+      if (!is_passive_) {
         Sync();
-      } else {
-        scnstate_.data.warning[mjWARN_VGEOMFULL].number += mjv_updateSceneFromState(
-            &scnstate_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
+      } else if (m_passive_ && d_passive_) {
+        // the user has called Sync() in their code
+        mjv_updateScene(m_passive_, d_passive_,
+                        &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
+
+        // add user geoms to scene
+        int nusergeom = user_scn_geoms_.size();
+        int ngeom = std::min(nusergeom, this->scn.maxgeom - this->scn.ngeom);
+        if (ngeom < nusergeom) {
+          mj_warning(d_passive_, mjWARN_VGEOMFULL, this->scn.maxgeom);
+        }
+        std::memcpy(this->scn.geoms + this->scn.ngeom, user_scn_geoms_.data(),
+                    ngeom * sizeof(mjvGeom));
+        this->scn.ngeom += ngeom;
       }
     }  // MutexLock (unblocks simulation thread)
 
@@ -2818,7 +2808,8 @@ void Simulate::RenderLoop() {
   const MutexLock lock(this->mtx);
   mjv_freeScene(&this->scn);
   if (is_passive_) {
-    mjv_freeSceneState(&scnstate_);
+    mj_deleteData(d_passive_);
+    mj_deleteModel(m_passive_);
   }
 
   this->exitrequest.store(2);
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 717d1871..7e20d3c5 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -130,7 +130,12 @@ class Simulate {
   std::vector<mjtNum> ctrl_;
   std::vector<mjtNum> ctrl_prev_;
 
-  mjvSceneState scnstate_;
+  // in passive mode the user owns m_ and d_, these "passive" instances are
+  // owned by Simulate, updated from the user by the Sync() method
+  mjModel* m_passive_;
+  mjData* d_passive_;
+  std::vector<mjvGeom> user_scn_geoms_;
+
   mjOption mjopt_prev_;
   mjvOption opt_prev_;
   mjvCamera cam_prev_;
diff --git a/src/engine/CMakeLists.txt b/src/engine/CMakeLists.txt
index 8957c4c6..ea4b2dd6 100644
--- a/src/engine/CMakeLists.txt
+++ b/src/engine/CMakeLists.txt
@@ -83,8 +83,6 @@ set(MUJOCO_ENGINE_SRCS
     engine_vis_init.h
     engine_vis_interact.c
     engine_vis_interact.h
-    engine_vis_state.c
-    engine_vis_state.h
     engine_vis_visualize.c
     engine_vis_visualize.h
 )
diff --git a/src/engine/engine_vis_state.c b/src/engine/engine_vis_state.c
deleted file mode 100644
index ff305f05..00000000
--- a/src/engine/engine_vis_state.c
+++ /dev/null
@@ -1,409 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_vis_state.h"
-
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mjxmacro.h>
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_vis_init.h"
-#include "engine/engine_vis_interact.h"
-#include "engine/engine_vis_visualize.h"
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
-
-// this source file needs to treat XMJV differently from other X macros
-#undef XMJV
-
-
-
-// round size up to multiples of 64-byte cache lines
-static inline size_t roundUpToCacheLine(size_t n) {
-  return 64 * ((n / 64) + (n % 64 ? 1 : 0));
-}
-
-
-
-// set default scene
-void mjv_defaultSceneState(mjvSceneState* scnstate) {
-  memset(scnstate, 0, sizeof(mjvSceneState));
-  mjv_defaultScene(&scnstate->scratch);
-}
-
-
-
-// allocate and init scene state
-void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnstate, int maxgeom) {
-  mjv_freeScene(&scnstate->scratch);
-  mju_free(scnstate->buffer);
-
-#ifdef MEMORY_SANITIZER
-  __msan_allocated_memory(scnstate, sizeof(mjvSceneState));
-  mjv_defaultScene(&scnstate->scratch);
-#endif
-
-  scnstate->nbuffer = 0;
-  scnstate->maxgeom = maxgeom;
-
-#define X(var)
-#define XMJV(var) scnstate->model.var = m->var;
-  MJMODEL_INTS
-#undef XMJV
-#undef X
-
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) \
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(dtype) * m->dim0 * dim1);
-  MJMODEL_POINTERS
-#undef XMJV
-#undef X
-
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) \
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(dtype) * m->dim0 * dim1);
-  MJDATA_POINTERS
-#undef XMJV
-#undef X
-
-  // create an arena in the scnstate, to allow visualization code to use the stack.
-  // TODO: Consider allocating way less than narena, since stack allocations in
-  // visualization code are much smaller than the arena space required by the model,
-  // typically.
-  scnstate->nbuffer += roundUpToCacheLine(m->narena);
-  // buffer space required for contacts
-  int condimmax = mj_isPyramidal(m) ? 10 : 6;
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->contact) * maxgeom);
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->efc_force) * maxgeom * condimmax);
-
-  // buffer space required for islands
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->island_dofadr) * m->ntree);
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->dof_island) * m->nv);
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->efc_island) * maxgeom * condimmax);
-  scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->tendon_efcadr) * m->ntendon);
-
-  scnstate->buffer = mju_malloc(scnstate->nbuffer);
-
-  char* ptr = scnstate->buffer;
-
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) \
-  scnstate->model.var = (dtype*)ptr; \
-  ptr += roundUpToCacheLine(sizeof(dtype) * m->dim0 * dim1);
-  MJMODEL_POINTERS
-#undef XMJV
-#undef X
-
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) \
-  scnstate->data.var = (dtype*)ptr;  \
-  ptr += roundUpToCacheLine(sizeof(dtype) * m->dim0 * dim1);
-  MJDATA_POINTERS
-#undef XMJV
-#undef X
-
-  scnstate->model.narena = m->narena;
-  scnstate->data.arena = (void*)ptr;
-  ptr += roundUpToCacheLine(m->narena);
-
-  scnstate->data.contact = (mjContact*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.contact) * scnstate->maxgeom);
-
-  scnstate->data.efc_force = (mjtNum*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.efc_force) * scnstate->maxgeom * condimmax);
-
-  scnstate->data.island_dofadr = (int*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.island_dofadr) * scnstate->model.ntree);
-
-  scnstate->data.dof_island = (int*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.dof_island) * scnstate->model.nv);
-
-  scnstate->data.efc_island = (int*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.efc_island) * scnstate->maxgeom * condimmax);
-
-  scnstate->data.tendon_efcadr = (int*)ptr;
-  ptr += roundUpToCacheLine(sizeof(*scnstate->data.tendon_efcadr) * m->ntendon);
-
-  // should not occur
-  if (ptr - (char*)scnstate->buffer != scnstate->nbuffer) {
-    mjERROR("mjvSceneState buffer is not fully used");
-  }
-
-  mjv_makeScene(m, &scnstate->scratch, maxgeom);
-}
-
-
-
-// free scene state
-void mjv_freeSceneState(mjvSceneState* scnstate) {
-  mjv_freeScene(&scnstate->scratch);
-  mju_free(scnstate->buffer);
-  mjv_defaultSceneState(scnstate);
-}
-
-
-
-// shallow copy scene state into model and data for use with mjv functions
-void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData* d) {
-  if (m) {
-    memset(m, 0, sizeof(mjModel));
-
-#ifdef MEMORY_SANITIZER
-    // Tell msan to treat the entire buffer as uninitialized
-    __msan_allocated_memory(m, sizeof(mjModel));
-#endif
-
-#define X(var)
-#define XMJV(var) m->var = scnstate->model.var;
-    MJMODEL_INTS
-#undef XMJV
-#undef X
-
-    m->opt = scnstate->model.opt;
-    m->vis = scnstate->model.vis;
-    m->stat = scnstate->model.stat;
-    m->narena = scnstate->model.narena;
-
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) m->var = scnstate->model.var;
-    MJMODEL_POINTERS
-#undef XMJV
-#undef X
-  }
-
-  if (d) {
-    memset(d, 0, sizeof(mjData));
-
-#ifdef MEMORY_SANITIZER
-    // Tell msan to treat the entire buffer as uninitialized
-    __msan_allocated_memory(d, sizeof(mjData));
-#endif
-
-    memcpy(d->warning, scnstate->data.warning, sizeof(d->warning));
-    d->threadpool = 0;
-    d->nefc = scnstate->data.nefc;
-    d->ncon = scnstate->data.ncon;
-    d->nisland = scnstate->data.nisland;
-    d->time = scnstate->data.time;
-    d->narena = scnstate->model.narena;
-    d->arena = scnstate->data.arena;
-    d->parena = 0;
-    d->pbase = 0;
-    d->pstack = 0;
-
-  #define X(dtype, var, dim0, dim1)
-  #define XMJV(dtype, var, dim0, dim1) d->var = scnstate->data.var;
-    MJDATA_POINTERS
-  #undef XMJV
-  #undef X
-
-    d->contact = scnstate->data.contact;
-    d->efc_force = scnstate->data.efc_force;
-    d->island_dofadr = scnstate->data.island_dofadr;
-    d->dof_island = scnstate->data.dof_island;
-    d->efc_island = scnstate->data.efc_island;
-    d->tendon_efcadr = scnstate->data.tendon_efcadr;
-  }
-}
-
-
-
-// update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings
-int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
-                             const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
-  // shallow-copy scnstate pointers into mjModel and mjData
-  mjModel m;
-  mjData d;
-  mjv_assignFromSceneState(scnstate, &m, &d);
-
-  // save the number of mjWARN_VGEOMFULL warnings before the scene update
-  int warning_start = d.warning[mjWARN_VGEOMFULL].number;
-
-  // copy mjvGeoms added by plugins
-  int nplugingeom = scnstate->scratch.ngeom;
-  if (nplugingeom > scn->maxgeom) {
-    mj_warning(&d, mjWARN_VGEOMFULL, scn->maxgeom);
-    scn->ngeom = scn->maxgeom;
-  } else {
-    scn->ngeom = nplugingeom;
-  }
-  memcpy(scn->geoms, scnstate->scratch.geoms, sizeof(mjvGeom) * scn->ngeom);
-
-  // add all categories
-  mjv_addGeoms(&m, &d, opt, pert, catmask, scn);
-
-  // update camera
-  mjv_updateCamera(&m, &d, cam, scn);
-
-  // add lights
-  mjv_makeLights(&m, &d, scn);
-
-  // update flexes
-  if (opt->flags[mjVIS_FLEXVERT] || opt->flags[mjVIS_FLEXEDGE] ||
-      opt->flags[mjVIS_FLEXFACE] || opt->flags[mjVIS_FLEXSKIN]) {
-    mjv_updateActiveFlex(&m, &d, scn, opt);
-  }
-
-  // update skins
-  if (opt->flags[mjVIS_SKIN]) {
-    mjv_updateActiveSkin(&m, &d, scn, opt);
-  }
-
-  // return the number of new mjWARN_VGEOMFULL warnings generated
-  return d.warning[mjWARN_VGEOMFULL].number - warning_start;
-}
-
-
-
-// update a scene state from model and data
-void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
-                          mjvSceneState* scnstate) {
-  // Check that mjModel sizes haven't changed.
-#define X(var)
-#define XMJV(var)                                                          \
-  if (scnstate->model.var != m->var) {                                     \
-    mjERROR("m->%s changed: %d vs %d", #var, scnstate->model.var, m->var); \
-  }
-  MJMODEL_INTS
-#undef XMJV
-#undef X
-
-  // Update plugin visualization cache.
-  scnstate->scratch.ngeom = 0;
-  if (m->nplugin) {
-    const int nslot = mjp_pluginCount();
-    // iterate over plugins, call visualize if defined
-    for (int i=0; i < m->nplugin; i++) {
-      const int slot = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-      if (!plugin) {
-        mjERROR("invalid plugin slot: %d", slot);
-      }
-      if (plugin->visualize) {
-        plugin->visualize(m, d, opt, &scnstate->scratch, i);
-      }
-    }
-  }
-
-  // Copy variable-sized arrays in mjModel.
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) \
-  memcpy(scnstate->model.var, m->var, sizeof(dtype) * m->dim0 * dim1);
-  MJMODEL_POINTERS
-#undef XMJV
-#undef X
-
-  scnstate->model.opt = m->opt;
-  scnstate->model.vis = m->vis;
-  scnstate->model.stat = m->stat;
-
-  // Copy mjData variables.
-  memcpy(scnstate->data.warning, d->warning, sizeof(d->warning));
-  scnstate->data.time = d->time;
-
-  // Copy variable-sized arrays in mjData.
-#define X(dtype, var, dim0, dim1)
-#define XMJV(dtype, var, dim0, dim1) \
-  memcpy(scnstate->data.var, d->var, sizeof(dtype) * m->dim0 * dim1);
-  MJDATA_POINTERS
-#undef XMJV
-#undef X
-
-  // Copy contacts.
-  {
-    if (d->ncon > scnstate->maxgeom) {
-      mj_warning(d, mjWARN_VGEOMFULL, scnstate->maxgeom);
-      scnstate->data.ncon = scnstate->maxgeom;
-    } else {
-      scnstate->data.ncon = d->ncon;
-    }
-    memcpy(scnstate->data.contact, d->contact, sizeof(*d->contact) * scnstate->data.ncon);
-  }
-
-  // Copy only the entries in efc_force and efc_island that correspond to contacts.
-  {
-    scnstate->data.nefc = 0;
-    for (int i = 0; i < scnstate->data.ncon; ++i) {
-      const mjContact* con = &d->contact[i];
-      scnstate->data.nefc += con->dim;
-    }
-    scnstate->data.nefc += scnstate->model.ntendon;
-
-    int efc_address = 0;
-    int ispyramid = mj_isPyramidal(m);
-    for (int i = 0; i < scnstate->data.ncon; ++i) {
-      mjContact* con = &scnstate->data.contact[i];
-      int dim = con->dim;
-      if (ispyramid && dim > 1){
-        dim = 2*(dim - 1);
-      }
-      for (int j = 0; j < dim; ++j) {
-        scnstate->data.efc_force[efc_address + j] = d->efc_force[con->efc_address + j];
-        if (d->nisland) {
-          scnstate->data.efc_island[efc_address + j] = d->efc_island[con->efc_address + j];
-        }
-      }
-      con->efc_address = efc_address;
-      efc_address += dim;
-    }
-    if (d->nisland) {
-      for (int i = 0; i < scnstate->model.ntendon; ++i) {
-        int efcadr = d->tendon_efcadr[i];
-        if (efcadr != -1) {
-          scnstate->data.efc_island[efcadr] = d->efc_island[efcadr];
-        }
-      }
-    }
-  }
-
-  // Copy island data.
-  scnstate->data.nisland = d->nisland;
-  if (d->nisland) {
-    memcpy(scnstate->data.island_dofadr, d->island_dofadr, sizeof(*d->island_dofadr) * d->nisland);
-    memcpy(scnstate->data.dof_island, d->dof_island, sizeof(*d->dof_island) * m->nv);
-    memcpy(scnstate->data.tendon_efcadr, d->tendon_efcadr, sizeof(*d->tendon_efcadr) * m->ntendon);
-  }
-}
-
-
-
-// move camera with mouse given a scene state; action is mjtMouse
-void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
-                             mjtNum reldx, mjtNum reldy,
-                             const mjvScene* scn, mjvCamera* cam) {
-  mjModel m;
-  mjv_assignFromSceneState(scnstate, &m, NULL);
-  mjv_moveCamera(&m, action, reldx, reldy, scn, cam);
-}
-
-
-
-// move perturb object with mouse given a scene state; action is mjtMouse
-void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
-                              mjtNum reldx, mjtNum reldy,
-                              const mjvScene* scn, mjvPerturb* pert) {
-  mjModel m;
-  mjData d;
-  mjv_assignFromSceneState(scnstate, &m, &d);
-  mjv_movePerturb(&m, &d, action, reldx, reldy, scn, pert);
-}
diff --git a/src/engine/engine_vis_state.h b/src/engine/engine_vis_state.h
deleted file mode 100644
index 7e1abfbe..00000000
--- a/src/engine/engine_vis_state.h
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_STATE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_VIS_STATE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtnum.h>
-#include <mujoco/mjvisualize.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-// set default scene state
-MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);
-
-// allocate and init scene state
-MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
-                              mjvSceneState* scnstate, int maxgeom);
-
-// free scene state
-MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
-
-// shallow copy scene state into model and data for use with mjv functions
-void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData* d);
-
-// update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings
-MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
-                                   const mjvPerturb* pert, mjvCamera* cam, int catmask,
-                                   mjvScene* scn);
-
-// update a scene state from model and data
-MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
-                                mjvSceneState* scnstate);
-
-// move camera with mouse given a scene state; action is mjtMouse
-MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
-                                   mjtNum reldx, mjtNum reldy,
-                                   const mjvScene* scn, mjvCamera* cam);
-
-// move perturb object with mouse given a scene state; action is mjtMouse
-MJAPI void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
-                                    mjtNum reldx, mjtNum reldy,
-                                    const mjvScene* scn, mjvPerturb* pert);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_VIS_STATE_H_
diff --git a/test/engine/CMakeLists.txt b/test/engine/CMakeLists.txt
index 2acdc4b9..1884ae05 100644
--- a/test/engine/CMakeLists.txt
+++ b/test/engine/CMakeLists.txt
@@ -67,11 +67,4 @@ mujoco_test(engine_util_solve_test)
 
 mujoco_test(engine_util_spatial_test)
 
-mujoco_test(
-  engine_vis_state_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
-
 mujoco_test(engine_vis_visualize_test)
diff --git a/test/engine/engine_vis_state_test.cc b/test/engine/engine_vis_state_test.cc
deleted file mode 100644
index 6fefde47..00000000
--- a/test/engine/engine_vis_state_test.cc
+++ /dev/null
@@ -1,123 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstring>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-using MjvSceneStateTest = MujocoTest;
-
-constexpr int kMaxGeom = 10000;
-
-static const char* const kHammockPath =
-    "engine/testdata/hammock/hammock.xml";
-static const char* const kTendonPath =
-    "engine/testdata/island/tendon_wrap.xml";
-static const char* const kFrustumPath =
-    "engine/testdata/vis_visualize/frustum.xml";
-static const char* const kFlex = "testdata/flex.xml";
-static const char* const kModelPath = "testdata/model.xml";
-
-#define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
-
-TEST_F(MjvSceneStateTest, CanUpdateFromState) {
-  for (const char* path :
-       {kHammockPath, kTendonPath, kModelPath, kFrustumPath, kFlex}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-    ASSERT_THAT(model, NotNull()) << "Failed to load model from " << path;
-    mjData* data = mj_makeData(model);
-
-    while (data->time < 2) {
-      mj_step(model, data);
-    }
-
-    mjvScene scn1;
-    mjv_defaultScene(&scn1);
-    mjv_makeScene(model, &scn1, kMaxGeom);
-
-    mjvOption opt;
-    mjv_defaultOption(&opt);
-
-    mjvPerturb pert;
-    mjv_defaultPerturb(&pert);
-
-    mjvCamera cam;
-    mjv_defaultFreeCamera(model, &cam);
-
-    // Enable all flags to exercise all code paths
-    for (int i = 0; i < mjNVISFLAG; ++i) {
-      opt.flags[i] = 1;
-    }
-
-    mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn1);
-    EXPECT_GT(scn1.ngeom, 0);
-    if (model->nskin) EXPECT_GT(scn1.nskin, 0);
-    EXPECT_GT(scn1.nlight, 0);
-
-    mjvSceneState scnstate;
-    mjv_defaultSceneState(&scnstate);
-    mjv_makeSceneState(model, data, &scnstate, kMaxGeom);
-    mjv_updateSceneState(model, data, &opt, &scnstate);
-
-    mjvScene scn2;
-    mjv_defaultScene(&scn2);
-    mjv_makeScene(model, &scn2, kMaxGeom);
-    mjv_updateSceneFromState(&scnstate, &opt, &pert, &cam, mjCAT_ALL, &scn2);
-
-    EXPECT_EQ(scn1.ngeom, scn2.ngeom);
-    for (int i = 0; i < scn1.ngeom; ++i) {
-      EXPECT_ZERO(std::memcmp(&scn1.geoms[i], &scn2.geoms[i], sizeof(mjvGeom)));
-    }
-    // NB: scn->geomorder is a scratch space for use by mjr_render, so we don't
-    // need to compare them here.
-
-    EXPECT_LE(scn1.nskin, scn2.nskin);
-    EXPECT_ZERO(std::memcmp(scn1.skinfacenum, scn2.skinfacenum,
-                          sizeof(*scn2.skinfacenum) * scn2.nskin));
-    EXPECT_ZERO(std::memcmp(scn1.skinvertadr, scn2.skinvertadr,
-                          sizeof(*scn2.skinvertadr) * scn2.nskin));
-    EXPECT_ZERO(std::memcmp(scn1.skinvertnum, scn2.skinvertnum,
-                          sizeof(*scn2.skinvertnum) * scn2.nskin));
-    EXPECT_ZERO(std::memcmp(scn1.skinvert, scn2.skinvert,
-                          sizeof(*scn2.skinvert) * scn2.nskin));
-    EXPECT_ZERO(std::memcmp(scn1.skinnormal, scn2.skinnormal,
-                          sizeof(*scn2.skinnormal) * scn2.nskin));
-
-    auto scn1_cmp_begin = reinterpret_cast<char*>(&scn1.nlight);
-    auto scn2_cmp_begin = reinterpret_cast<char*>(&scn2.nlight);
-    auto cmp_bytes =
-        sizeof(mjvScene) - (scn2_cmp_begin - reinterpret_cast<char*>(&scn2));
-    EXPECT_ZERO(std::memcmp(scn1_cmp_begin, scn2_cmp_begin, cmp_bytes));
-
-    mjv_freeScene(&scn1);
-    mjv_freeScene(&scn2);
-    mjv_freeSceneState(&scnstate);
-
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index cdeeca54..dc7b8078 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -6276,270 +6276,6 @@ public unsafe struct mjvFigure_ {
   public fixed int yaxispixel[2];
   public fixed float xaxisdata[2];
   public fixed float yaxisdata[2];
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct model {
-  public int nv;
-  public int nu;
-  public int na;
-  public int nbody;
-  public int nbvh;
-  public int nbvhstatic;
-  public int njnt;
-  public int ngeom;
-  public int nsite;
-  public int ncam;
-  public int nlight;
-  public int nmesh;
-  public int nskin;
-  public int nflex;
-  public int nflexvert;
-  public int nflextexcoord;
-  public int nskinvert;
-  public int nskinface;
-  public int nskinbone;
-  public int nskinbonevert;
-  public int nmat;
-  public int neq;
-  public int ntendon;
-  public int ntree;
-  public int nwrap;
-  public int nsensor;
-  public int nnames;
-  public int npaths;
-  public int nsensordata;
-  public int narena;
-  public mjOption_ opt;
-  public mjVisual_ vis;
-  public mjStatistic_ stat;
-  public int* body_parentid;
-  public int* body_rootid;
-  public int* body_weldid;
-  public int* body_mocapid;
-  public int* body_jntnum;
-  public int* body_jntadr;
-  public int* body_dofnum;
-  public int* body_dofadr;
-  public int* body_geomnum;
-  public int* body_geomadr;
-  public double* body_iquat;
-  public double* body_mass;
-  public double* body_inertia;
-  public int* body_bvhadr;
-  public int* body_bvhnum;
-  public int* bvh_depth;
-  public int* bvh_child;
-  public int* bvh_nodeid;
-  public double* bvh_aabb;
-  public int* jnt_type;
-  public int* jnt_bodyid;
-  public int* jnt_group;
-  public int* geom_type;
-  public int* geom_bodyid;
-  public int* geom_contype;
-  public int* geom_conaffinity;
-  public int* geom_dataid;
-  public int* geom_matid;
-  public int* geom_group;
-  public double* geom_size;
-  public double* geom_aabb;
-  public double* geom_rbound;
-  public float* geom_rgba;
-  public int* site_type;
-  public int* site_bodyid;
-  public int* site_matid;
-  public int* site_group;
-  public double* site_size;
-  public float* site_rgba;
-  public int* cam_orthographic;
-  public double* cam_fovy;
-  public double* cam_ipd;
-  public int* cam_resolution;
-  public float* cam_sensorsize;
-  public float* cam_intrinsic;
-  public byte* light_directional;
-  public byte* light_castshadow;
-  public float* light_bulbradius;
-  public float* light_intensity;
-  public float* light_range;
-  public byte* light_active;
-  public float* light_attenuation;
-  public float* light_cutoff;
-  public float* light_exponent;
-  public float* light_ambient;
-  public float* light_diffuse;
-  public float* light_specular;
-  public byte* flex_flatskin;
-  public int* flex_dim;
-  public int* flex_matid;
-  public int* flex_group;
-  public int* flex_interp;
-  public int* flex_nodeadr;
-  public int* flex_nodenum;
-  public int* flex_nodebodyid;
-  public int* flex_vertadr;
-  public int* flex_vertnum;
-  public int* flex_elem;
-  public int* flex_elemtexcoord;
-  public int* flex_elemlayer;
-  public int* flex_elemadr;
-  public int* flex_elemnum;
-  public int* flex_elemdataadr;
-  public int* flex_shell;
-  public int* flex_shellnum;
-  public int* flex_shelldataadr;
-  public int* flex_texcoordadr;
-  public int* flex_bvhadr;
-  public int* flex_bvhnum;
-  public byte* flex_centered;
-  public double* flex_node;
-  public double* flex_radius;
-  public float* flex_rgba;
-  public float* flex_texcoord;
-  public int* hfield_pathadr;
-  public int* mesh_bvhadr;
-  public int* mesh_bvhnum;
-  public int* mesh_texcoordadr;
-  public int* mesh_graphadr;
-  public int* mesh_pathadr;
-  public int* skin_matid;
-  public int* skin_group;
-  public float* skin_rgba;
-  public float* skin_inflate;
-  public int* skin_vertadr;
-  public int* skin_vertnum;
-  public int* skin_texcoordadr;
-  public int* skin_faceadr;
-  public int* skin_facenum;
-  public int* skin_boneadr;
-  public int* skin_bonenum;
-  public float* skin_vert;
-  public int* skin_face;
-  public int* skin_bonevertadr;
-  public int* skin_bonevertnum;
-  public float* skin_bonebindpos;
-  public float* skin_bonebindquat;
-  public int* skin_bonebodyid;
-  public int* skin_bonevertid;
-  public float* skin_bonevertweight;
-  public int* skin_pathadr;
-  public int* tex_pathadr;
-  public int* mat_texid;
-  public byte* mat_texuniform;
-  public float* mat_texrepeat;
-  public float* mat_emission;
-  public float* mat_specular;
-  public float* mat_shininess;
-  public float* mat_reflectance;
-  public float* mat_metallic;
-  public float* mat_roughness;
-  public float* mat_rgba;
-  public int* eq_type;
-  public int* eq_obj1id;
-  public int* eq_obj2id;
-  public int* eq_objtype;
-  public double* eq_data;
-  public int* tendon_num;
-  public int* tendon_matid;
-  public int* tendon_group;
-  public byte* tendon_limited;
-  public byte* tendon_actfrclimited;
-  public double* tendon_width;
-  public double* tendon_range;
-  public double* tendon_actfrcrange;
-  public double* tendon_stiffness;
-  public double* tendon_damping;
-  public double* tendon_frictionloss;
-  public double* tendon_lengthspring;
-  public float* tendon_rgba;
-  public int* actuator_trntype;
-  public int* actuator_dyntype;
-  public int* actuator_trnid;
-  public int* actuator_actadr;
-  public int* actuator_actnum;
-  public int* actuator_group;
-  public byte* actuator_ctrllimited;
-  public byte* actuator_actlimited;
-  public double* actuator_ctrlrange;
-  public double* actuator_actrange;
-  public double* actuator_cranklength;
-  public int* sensor_type;
-  public int* sensor_objid;
-  public int* sensor_adr;
-  public int* name_bodyadr;
-  public int* name_jntadr;
-  public int* name_geomadr;
-  public int* name_siteadr;
-  public int* name_camadr;
-  public int* name_lightadr;
-  public int* name_eqadr;
-  public int* name_tendonadr;
-  public int* name_actuatoradr;
-  public char* names;
-  public char* paths;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct data {
-  public mjWarningStat_ warning0;
-  public mjWarningStat_ warning1;
-  public mjWarningStat_ warning2;
-  public mjWarningStat_ warning3;
-  public mjWarningStat_ warning4;
-  public mjWarningStat_ warning5;
-  public mjWarningStat_ warning6;
-  public mjWarningStat_ warning7;
-  public int nefc;
-  public int ncon;
-  public int nisland;
-  public double time;
-  public double* act;
-  public double* ctrl;
-  public double* xfrc_applied;
-  public byte* eq_active;
-  public double* sensordata;
-  public double* xpos;
-  public double* xquat;
-  public double* xmat;
-  public double* xipos;
-  public double* ximat;
-  public double* xanchor;
-  public double* xaxis;
-  public double* geom_xpos;
-  public double* geom_xmat;
-  public double* site_xpos;
-  public double* site_xmat;
-  public double* cam_xpos;
-  public double* cam_xmat;
-  public double* light_xpos;
-  public double* light_xdir;
-  public double* subtree_com;
-  public int* ten_wrapadr;
-  public int* ten_wrapnum;
-  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* dof_island;
-  public int* efc_island;
-  public int* tendon_efcadr;
-  public double* flexvert_xpos;
-  public mjContact_* contact;
-  public double* efc_force;
-  public void* arena;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvSceneState_ {
-  public int nbuffer;
-  public void* buffer;
-  public int maxgeom;
-  public mjvScene_ scratch;
-  public model model;
-  public data data;
 }public struct mjuiItem_ {}public struct mjfItemEnable {}
 
 // ----------------------------Function declarations----------------------------
@@ -6979,15 +6715,9 @@ public static unsafe extern void mjv_alignToCamera(double* res, double* vec, dou
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_moveCameraFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvCamera_* cam);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_movePerturb(mjModel_* m, mjData_* d, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_movePerturbFromState(mjvSceneState_* scnstate, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_moveModel(mjModel_* m, int action, double reldx, double reldy, double* roomup, mjvScene_* scn);
 
@@ -7030,24 +6760,9 @@ public static unsafe extern void mjv_freeScene(mjvScene_* scn);
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_updateScene(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mjv_updateSceneFromState(mjvSceneState_* scnstate, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_copyModel(mjModel_* dest, mjModel_* src);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultSceneState(mjvSceneState_* scnstate);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_makeSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate, int maxgeom);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_freeSceneState(mjvSceneState_* scnstate);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvOption_* opt, mjvSceneState_* scnstate);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);
 

From 45fc15b8447b56d3e6f12d3a158e2bc0d4d30dc8 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 19 May 2025 10:13:20 -0700
Subject: [PATCH 149/191] Speed up sparse supernode detection by combining it
 with transposition.

PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
---
 src/engine/engine_core_constraint.c           |  8 +--
 src/engine/engine_solver.c                    |  2 +-
 src/engine/engine_util_sparse.c               | 40 +++++++++++---
 src/engine/engine_util_sparse.h               |  4 +-
 .../engine_util_sparse_benchmark_test.cc      | 44 ++++++++++++---
 test/engine/engine_util_sparse_test.cc        | 53 ++++++++++++++-----
 6 files changed, 115 insertions(+), 36 deletions(-)

diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 1a60b6e6..3e625f49 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -1996,7 +1996,7 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
   if (mj_isSparse(m)) {
     // transpose
     mju_transposeSparse(d->efc_JT, d->efc_J, d->nefc, m->nv,
-                        d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,
+                        d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
                         d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
 
 
@@ -2010,10 +2010,6 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
     __msan_allocated_memory(d->efc_J_rowsuper, d->nefc);
   #endif  // MEMORY_SANITIZER
 #endif  // mjUSEAVX
-
-    // supernodes of JT
-    mju_superSparse(m->nv, d->efc_JT_rowsuper,
-                    d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind);
   }
 
   // compute diagApprox
@@ -2182,7 +2178,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
     int* BT_colind = mjSTACKALLOC(d, nB, int);
     mjtNum* BT = mjSTACKALLOC(d, nB, mjtNum);
     mju_transposeSparse(BT, B, nefc, nv,
-                        BT_rownnz, BT_rowadr, BT_colind,
+                        BT_rownnz, BT_rowadr, BT_colind, NULL,
                         B_rownnz, B_rowadr, B_colind);
 
     // allocate AR row nonzeros and addresses on arena
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 37b83024..635fa6af 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1572,7 +1572,7 @@ static void MakeHessian(mjData* d, mjCGContext* ctx) {
     int* HT_rowadr = mjSTACKALLOC(d, nv, int);
     int* HT_colind = mjSTACKALLOC(d, ctx->nH, int);
     mju_transposeSparse(NULL, NULL, nv, nv,
-                        HT_rownnz, HT_rowadr, HT_colind,
+                        HT_rownnz, HT_rowadr, HT_colind, NULL,
                         ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind);
 
     // count total and row non-zeros of reverse-Cholesky factor L
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index 44dddb92..c9cf3bab 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -531,9 +531,9 @@ int mju_compressSparse(mjtNum* mat, int nr, int nc, int* rownnz, int* rowadr, in
 
 
 
-// transpose sparse matrix
+// transpose sparse matrix, optionally compute row supernodes
 void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                         int* res_rownnz, int* res_rowadr, int* res_colind,
+                         int* res_rownnz, int* res_rowadr, int* res_colind, int* res_rowsuper,
                          const int* rownnz, const int* rowadr, const int* colind) {
   // clear number of non-zeros for each row of transposed
   mju_zeroInt(res_rownnz, nc);
@@ -547,22 +547,40 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
     }
   }
 
+  // init res_rowsuper
+  if (res_rowsuper) {
+    for (int i = 0; i < nc - 1; i++) {
+      res_rowsuper[i] = (res_rownnz[i] == res_rownnz[i + 1]);
+    }
+    res_rowsuper[nc - 1] = 0;
+  }
+
   // compute the row addresses for the transposed matrix
   res_rowadr[0] = 0;
   for (int i = 1; i < nc; i++) {
     res_rowadr[i] = res_rowadr[i-1] + res_rownnz[i-1];
   }
 
-  // iterate through each non-zero entry of mat
+  // iterate through each row (column) of mat (res)
   for (int r = 0; r < nr; r++) {
+    int c_prev = -1;
     int start = rowadr[r];
     int end = start + rownnz[r];
     for (int i = start; i < end; i++) {
       // swap rows with columns and increment res_rowadr
-      int c = res_rowadr[colind[i]]++;
-      res_colind[c] = r;
+      int c = colind[i];
+      int adr = res_rowadr[c]++;
+      res_colind[adr] = r;
       if (res) {
-        res[c] = mat[i];
+        res[adr] = mat[i];
+      }
+
+      // mark non-supernodes
+      if (res_rowsuper) {
+        if (c > 0 && c != c_prev + 1 && res_rowsuper[c - 1]) {
+          res_rowsuper[c - 1] = 0;
+        }
+        c_prev = c;
       }
     }
   }
@@ -571,8 +589,16 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
   for (int i = nc-1; i > 0; i--) {
     res_rowadr[i] = res_rowadr[i-1];
   }
-
   res_rowadr[0] = 0;
+
+  // accumulate supernodes
+  if (res_rowsuper) {
+    for (int i = nc - 2; i >= 0; i--) {
+      if (res_rowsuper[i]) {
+        res_rowsuper[i] += res_rowsuper[i + 1];
+      }
+    }
+  }
 }
 
 
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index 33f65513..f6c2f7c2 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -91,9 +91,9 @@ int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum s
 int mju_addChains(int* res, int n, int NV1, int NV2,
                   const int* chain1, const int* chain2);
 
-// transpose sparse matrix
+// transpose sparse matrix, optionally compute row supernodes
 MJAPI void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                               int* res_rownnz, int* res_rowadr, int* res_colind,
+                               int* res_rownnz, int* res_rowadr, int* res_colind, int* res_rowsuper,
                                const int* rownnz, const int* rowadr, const int* colind);
 
 // construct row supernodes
diff --git a/test/benchmark/engine_util_sparse_benchmark_test.cc b/test/benchmark/engine_util_sparse_benchmark_test.cc
index 6a1b3835..82a04a3f 100644
--- a/test/benchmark/engine_util_sparse_benchmark_test.cc
+++ b/test/benchmark/engine_util_sparse_benchmark_test.cc
@@ -152,8 +152,8 @@ void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
 // transpose sparse matrix (uncompressed)
 void ABSL_ATTRIBUTE_NOINLINE transposeSparse_baseline(
     mjtNum* res, const mjtNum* mat, int nr, int nc, int* res_rownnz,
-    int* res_rowadr, int* res_colind, const int* rownnz, const int* rowadr,
-    const int* colind) {
+    int* res_rowadr, int* res_colind, int* res_rowsuper,
+    const int* rownnz, const int* rowadr, const int* colind) {
   memset(res_rownnz, 0, nc * sizeof(int));
   for (int rt = 0; rt < nc; rt++) {
     res_rowadr[rt] = rt * nr;
@@ -497,7 +497,14 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_combineSparse_old(
 }
 BENCHMARK(BM_combineSparse_old);
 
-static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
+enum class Supernode {
+  None,
+  PostProcess,
+  Inline
+};
+
+static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func,
+                               Supernode super) {
   static mjModel* m = LoadModelFromPath("humanoid/humanoid100.xml");
 
   // force use of sparse matrices
@@ -516,12 +523,19 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
   mjtNum* res = mj_stackAllocNum(d, m->nv * d->nefc);
   int* res_rownnz = mj_stackAllocInt(d, m->nv);
   int* res_rowadr = mj_stackAllocInt(d, m->nv);
+  int* res_rowsuper = mj_stackAllocInt(d, m->nv);
   int* res_colind = mj_stackAllocInt(d, m->nv * d->nefc);
 
   // time benchmark
   for (auto s : state) {
-    func(res, d->efc_J, d->nefc, m->nv, res_rownnz, res_rowadr, res_colind,
+    int* rowsuper = (super == Supernode::Inline) ? res_rowsuper : nullptr;
+    func(res, d->efc_J, d->nefc, m->nv,
+         res_rownnz, res_rowadr, res_colind, rowsuper,
          d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
+    if (super == Supernode::PostProcess) {
+      mju_superSparse(m->nv, res_rowsuper,
+                      res_rownnz, res_rowadr, res_colind);
+    }
   }
 
   mj_freeStack(d);
@@ -529,19 +543,33 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
   state.SetItemsProcessed(state.iterations());
 }
 
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+BM_transposeSparse_old(benchmark::State& state) {
+  MujocoErrorTestGuard guard;
+  BM_transposeSparse(state, &transposeSparse_baseline, Supernode::None);
+}
+BENCHMARK(BM_transposeSparse_old);
+
 void ABSL_ATTRIBUTE_NO_TAIL_CALL
 BM_transposeSparse_new(benchmark::State& state) {
   MujocoErrorTestGuard guard;
-  BM_transposeSparse(state, &mju_transposeSparse);
+  BM_transposeSparse(state, &mju_transposeSparse, Supernode::None);
 }
 BENCHMARK(BM_transposeSparse_new);
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_old(benchmark::State& state) {
+BM_transposeSparse_superpost(benchmark::State& state) {
   MujocoErrorTestGuard guard;
-  BM_transposeSparse(state, &transposeSparse_baseline);
+  BM_transposeSparse(state, &mju_transposeSparse, Supernode::PostProcess);
 }
-BENCHMARK(BM_transposeSparse_old);
+BENCHMARK(BM_transposeSparse_superpost);
+
+void ABSL_ATTRIBUTE_NO_TAIL_CALL
+BM_transposeSparse_superinline(benchmark::State& state) {
+  MujocoErrorTestGuard guard;
+  BM_transposeSparse(state, &mju_transposeSparse, Supernode::Inline);
+}
+BENCHMARK(BM_transposeSparse_superinline);
 
 static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
   static mjModel* m =
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
index edbd2558..36cbda57 100644
--- a/test/engine/engine_util_sparse_test.cc
+++ b/test/engine/engine_util_sparse_test.cc
@@ -173,8 +173,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose3by3) {
   int rownnzT[] = {0, 0, 0};
   int rowadrT[] = {0, 0, 0};
 
-  mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rownnz,
-                      rowadr, colind);
+  mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, nullptr,
+                      rownnz, rowadr, colind);
 
   EXPECT_THAT(matT, ElementsAre(1, 2, 1, 3));
   EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 2));
@@ -197,8 +197,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose1by3) {
   int rownnzT[] = {0, 0, 0};
   int rowadrT[] = {0, 0, 0};
 
-  mju_transposeSparse(matT, mat, 1, 3, rownnzT, rowadrT, colindT, rownnz,
-                      rowadr, colind);
+  mju_transposeSparse(matT, mat, 1, 3, rownnzT, rowadrT, colindT, nullptr,
+                      rownnz, rowadr, colind);
 
   EXPECT_THAT(matT, ElementsAre(1, 3));
   EXPECT_THAT(colindT, ElementsAre(0, 0));
@@ -221,8 +221,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose3by1) {
   int rownnzT[] = {0};
   int rowadrT[] = {0};
 
-  mju_transposeSparse(matT, mat, 3, 1, rownnzT, rowadrT, colindT, rownnz,
-                      rowadr, colind);
+  mju_transposeSparse(matT, mat, 3, 1, rownnzT, rowadrT, colindT, nullptr,
+                      rownnz, rowadr, colind);
 
   EXPECT_THAT(matT, ElementsAre(1, 3));
   EXPECT_THAT(colindT, ElementsAre(0, 2));
@@ -244,14 +244,43 @@ TEST_F(EngineUtilSparseTest, MjuTransposeDense) {
   int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
   int rownnzT[] = {0, 0, 0};
   int rowadrT[] = {0, 0, 0};
+  int rowsuperT[] = {0, 0, 0};
 
-  mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rownnz,
-                      rowadr, colind);
+  mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rowsuperT,
+                      rownnz, rowadr, colind);
 
   EXPECT_THAT(matT, ElementsAre(1, 4, 7, 2, 5, 8, 3, 6, 9));
   EXPECT_THAT(colindT, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
   EXPECT_THAT(rownnzT, ElementsAre(3, 3, 3));
   EXPECT_THAT(rowadrT, ElementsAre(0, 3, 6));
+  EXPECT_THAT(rowsuperT, ElementsAre(2, 1, 0));
+}
+
+TEST_F(EngineUtilSparseTest, MjuTransposeSuper) {
+  //  mat:   0,  1,  2,  0,  3,  4,  5,  0,  0,  0,  0,  0,  0
+  //         0,  0,  0,  6,  7,  8,  9, 10, 11, 12,  0,  0,  0
+  //
+  //  super: 0,  1,  0,  0,  2,  1,  0,  2,  1,  0,  2,  1,  0
+
+  mjtNum mat[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
+  int colind[] = {1, 2, 4, 5, 6, 3, 4, 5, 6, 7,  8,  9};
+  int rownnz[] = {5, 7};
+  int rowadr[] = {0, 5};
+
+  mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int rownnzT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int rowadrT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  int rowsuperT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+  mju_transposeSparse(matT, mat, 2, 13, rownnzT, rowadrT, colindT, rowsuperT,
+                      rownnz, rowadr, colind);
+
+  EXPECT_THAT(matT,    ElementsAre(1, 2, 6, 3, 7, 4, 8, 5, 9, 10, 11, 12));
+  EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 0, 1, 0, 1, 0, 1, 1,  1,  1));
+  EXPECT_THAT(rownnzT, ElementsAre(0, 1, 1, 1, 2, 2, 2, 1, 1,  1,  0,  0,  0));
+  EXPECT_THAT(rowadrT, ElementsAre(0, 0, 1, 2, 3, 5, 7, 9, 10, 11, 12, 12, 12));
+  EXPECT_THAT(rowsuperT, ElementsAre(0, 1, 0, 0, 2, 1, 0, 2, 1, 0, 2,  1,  0));
 }
 
 TEST_F(EngineUtilSparseTest, MjuTranspose1by1) {
@@ -267,8 +296,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose1by1) {
   int rownnzT[] = {0};
   int rowadrT[] = {0};
 
-  mju_transposeSparse(matT, mat, 1, 1, rownnzT, rowadrT, colindT, rownnz,
-                      rowadr, colind);
+  mju_transposeSparse(matT, mat, 1, 1, rownnzT, rowadrT, colindT, nullptr,
+                      rownnz, rowadr, colind);
 
   EXPECT_THAT(matT, ElementsAre(1));
   EXPECT_THAT(colindT, ElementsAre(0));
@@ -289,8 +318,8 @@ TEST_F(EngineUtilSparseTest, MjuTransposeNullMatrix) {
   int rownnzT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
   int rowadrT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
 
-  mju_transposeSparse(matT, mat, 10, 10, rownnzT, rowadrT, colindT, rownnz,
-                      rowadr, colind);
+  mju_transposeSparse(matT, mat, 10, 10, rownnzT, rowadrT, colindT, nullptr,
+                      rownnz, rowadr, colind);
 
   EXPECT_THAT(rownnzT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
   EXPECT_THAT(rowadrT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));

From 7edbdd0ad6a6e9fd99d6bc906037b2334f5f9da1 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 19 May 2025 10:50:27 -0700
Subject: [PATCH 150/191] Remove the Shell plugin and integrate it into the
 engine.

PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
---
 doc/XMLreference.rst                          |   6 +-
 doc/changelog.rst                             |   2 +
 model/flex/bunny.xml                          |   2 +-
 model/flex/bunny_with_uv.xml                  |   2 +-
 .../flag_flex.xml => flex/flag.xml}           |   7 +-
 .../{plugin/elasticity => flex}/mannequin.xml |   0
 .../pancake_flex.xml => flex/pancake.xml}     |   6 +-
 .../plate_flex.xml => flex/plate.xml}         |   7 +-
 .../poncho_flex.xml => flex/poncho.xml}       |   7 +-
 .../poncho_vertcollide.xml                    |   7 +-
 model/flex/trampoline.xml                     |   2 +-
 plugin/elasticity/CMakeLists.txt              |   2 -
 plugin/elasticity/README.md                   |  12 --
 plugin/elasticity/register.cc                 |   2 -
 plugin/elasticity/shell.cc                    | 154 ------------------
 plugin/elasticity/shell.h                     |  61 -------
 src/engine/engine_passive.c                   |  43 ++++-
 src/user/user_init.c                          |   1 -
 src/user/user_mesh.cc                         |  17 +-
 src/user/user_model.cc                        |   2 +-
 src/xml/xml_base.h                            |   1 +
 src/xml/xml_native_reader.cc                  |  13 +-
 src/xml/xml_native_writer.cc                  |   2 +-
 .../engine_util_sparse_benchmark_test.cc      |   2 +-
 test/benchmark/parse_benchmark_test.cc        |   2 +-
 test/benchmark/step_benchmark_test.cc         |   2 +-
 test/engine/engine_plugin_test.cc             |   2 +-
 test/plugin/elasticity/elasticity_test.cc     |  15 +-
 28 files changed, 90 insertions(+), 291 deletions(-)
 rename model/{plugin/elasticity/flag_flex.xml => flex/flag.xml} (88%)
 rename model/{plugin/elasticity => flex}/mannequin.xml (100%)
 rename model/{plugin/elasticity/pancake_flex.xml => flex/pancake.xml} (90%)
 rename model/{plugin/elasticity/plate_flex.xml => flex/plate.xml} (87%)
 rename model/{plugin/elasticity/poncho_flex.xml => flex/poncho.xml} (99%)
 rename model/{plugin/elasticity => flex}/poncho_vertcollide.xml (99%)
 delete mode 100644 plugin/elasticity/shell.cc
 delete mode 100644 plugin/elasticity/shell.h

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 1f479369..a57f1a1f 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -4073,9 +4073,9 @@ stress-strain relationship.. See also :ref:`deformable <CDeformable>` objects.
 
 .. _flex-elasticity-elastic2d:
 
-:at:`elastic2d`: :at-val:`int, "1"`
-   Elastic contribution to passive forces of 2D flexes. 0: none, 1: bending only, 2: stretching only, 3: bending and
-   stretching
+:at:`elastic2d`: :at-val:`[none, bend, stretch, both], "none"`
+   Elastic contribution to passive forces of 2D flexes. "none": none, "bend": bending only, "stretch": stretching only,
+   "both": bending and stretching.
 
 .. _flex-contact:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 4255c8f0..9e0329f4 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -9,6 +9,8 @@ General
 ^^^^^^^
 - Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
   solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
+- Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
+  the :ref:`elastic2d<body-flexcomp-elasticity-elastic2d>` attribute (on by default).
 
 simulate
 ^^^^^^^^
diff --git a/model/flex/bunny.xml b/model/flex/bunny.xml
index 64e081ef..ec31684e 100644
--- a/model/flex/bunny.xml
+++ b/model/flex/bunny.xml
@@ -31,7 +31,7 @@
     </body>
     <flexcomp type="mesh" file="bunny.obj" pos="0 0 .1" dim="2" euler="90 0 0"
               radius=".001" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="trilinear">
-      <elasticity young="1e3" poisson="0.1" damping="0.001"/>
+      <elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="stretch"/>
       <contact selfcollide="none" internal="false"/>
     </flexcomp>
   </worldbody>
diff --git a/model/flex/bunny_with_uv.xml b/model/flex/bunny_with_uv.xml
index 5b9e42e4..c3cde418 100644
--- a/model/flex/bunny_with_uv.xml
+++ b/model/flex/bunny_with_uv.xml
@@ -37,7 +37,7 @@
     </body>
     <flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
               radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
-      <elasticity young="1e3" poisson="0.1" damping="0.001"/>
+      <elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="stretch"/>
       <contact selfcollide="none" internal="false"/>
     </flexcomp>
   </worldbody>
diff --git a/model/plugin/elasticity/flag_flex.xml b/model/flex/flag.xml
similarity index 88%
rename from model/plugin/elasticity/flag_flex.xml
rename to model/flex/flag.xml
index 9e37edab..c7bfa371 100644
--- a/model/plugin/elasticity/flag_flex.xml
+++ b/model/flex/flag.xml
@@ -26,10 +26,6 @@
   <option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
   </option>
 
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
   <worldbody>
     <geom name="floor" type="plane" size="0 0 .1"/>
     <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
@@ -37,8 +33,7 @@
       <flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
                 name="flag" radius="0.001">
         <edge equality="true" damping="0.001"/>
-        <elasticity poisson="0" thickness="1e-2" young="3e6"/>
-        <plugin plugin="mujoco.elasticity.shell"/>
+        <elasticity poisson="0" thickness="1e-2" young="3e6" elastic2d="none"/>
       </flexcomp>
     </body>
   </worldbody>
diff --git a/model/plugin/elasticity/mannequin.xml b/model/flex/mannequin.xml
similarity index 100%
rename from model/plugin/elasticity/mannequin.xml
rename to model/flex/mannequin.xml
diff --git a/model/plugin/elasticity/pancake_flex.xml b/model/flex/pancake.xml
similarity index 90%
rename from model/plugin/elasticity/pancake_flex.xml
rename to model/flex/pancake.xml
index fb390e34..8e3d1ec1 100644
--- a/model/plugin/elasticity/pancake_flex.xml
+++ b/model/flex/pancake.xml
@@ -16,10 +16,6 @@
 <mujoco model="Pancake">
   <include file="scene.xml"/>
 
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
   <option timestep="0.001" solver="CG" tolerance="1e-6" integrator="implicitfast"/>
 
   <size memory="10M"/>
@@ -39,7 +35,7 @@
               radius=".01" mass=".5" name="plate" dim="2">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="true" damping="10"/>
-      <elasticity poisson="0" thickness="8e-3" young="3e5"/>
+      <elasticity poisson="0" thickness="8e-3" young="3e5" elastic2d="bend"/>
     </flexcomp>
   </worldbody>
 </mujoco>
diff --git a/model/plugin/elasticity/plate_flex.xml b/model/flex/plate.xml
similarity index 87%
rename from model/plugin/elasticity/plate_flex.xml
rename to model/flex/plate.xml
index e39ec427..9278c7fe 100644
--- a/model/plugin/elasticity/plate_flex.xml
+++ b/model/flex/plate.xml
@@ -16,10 +16,6 @@
 <mujoco model="Plate">
   <include file="scene.xml"/>
 
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
   <option solver="CG" tolerance="1e-6" integrator="implicitfast"/>
 
   <size memory="10M"/>
@@ -42,8 +38,7 @@
               radius=".001" mass="100" name="plate">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="true" damping="0.001"/>
-      <elasticity poisson="0" thickness="1e-2" young="3e7"/>
-      <plugin plugin="mujoco.elasticity.shell"/>
+      <elasticity poisson="0" thickness="1e-2" young="3e7" elastic2d="bend"/>
     </flexcomp>
   </worldbody>
 </mujoco>
diff --git a/model/plugin/elasticity/poncho_flex.xml b/model/flex/poncho.xml
similarity index 99%
rename from model/plugin/elasticity/poncho_flex.xml
rename to model/flex/poncho.xml
index 9400d106..c2462e56 100644
--- a/model/plugin/elasticity/poncho_flex.xml
+++ b/model/flex/poncho.xml
@@ -19,10 +19,6 @@
     <flag energy="enable"/>
   </option>
 
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
   <visual>
     <map force="0.1" zfar="30"/>
     <rgba haze="0.15 0.25 0.35 1"/>
@@ -1418,9 +1414,8 @@
                 398 399 418
                 398 376 378">
       <edge equality="true" damping="0.1"/>
-      <elasticity young="3e5" poisson="0" thickness="8e-3"/>
+      <elasticity young="3e5" poisson="0" thickness="8e-3" elastic2d="bend"/>
       <contact solref="0.003"/>
-      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
 
   </worldbody>
diff --git a/model/plugin/elasticity/poncho_vertcollide.xml b/model/flex/poncho_vertcollide.xml
similarity index 99%
rename from model/plugin/elasticity/poncho_vertcollide.xml
rename to model/flex/poncho_vertcollide.xml
index 16e572bb..cb75a7cd 100644
--- a/model/plugin/elasticity/poncho_vertcollide.xml
+++ b/model/flex/poncho_vertcollide.xml
@@ -19,10 +19,6 @@
     <flag energy="enable"/>
   </option>
 
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
   <visual>
     <map force="0.1" zfar="30"/>
     <rgba haze="0.15 0.25 0.35 1"/>
@@ -1418,9 +1414,8 @@
                 398 399 418
                 398 376 378">
       <edge equality="true" damping="0.1"/>
-      <elasticity poisson="0.3" young="3e5" thickness="8e-3"/>
+      <elasticity poisson="0.3" young="3e5" thickness="8e-3" elastic2d="bend"/>
       <contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
-      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
 
   </worldbody>
diff --git a/model/flex/trampoline.xml b/model/flex/trampoline.xml
index 16775a82..bb538201 100644
--- a/model/flex/trampoline.xml
+++ b/model/flex/trampoline.xml
@@ -39,7 +39,7 @@
               radius=".001" mass="10" name="plate" dim="2">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="false" damping="10"/>
-      <elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="2"/>
+      <elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="stretch"/>
       <pin id="0 15 240 255"/>
     </flexcomp>
   </worldbody>
diff --git a/plugin/elasticity/CMakeLists.txt b/plugin/elasticity/CMakeLists.txt
index f6186261..97b2f412 100644
--- a/plugin/elasticity/CMakeLists.txt
+++ b/plugin/elasticity/CMakeLists.txt
@@ -22,8 +22,6 @@ set(MUJOCO_ELASTICITY_SRCS
     elasticity.cc
     elasticity.h
     register.cc
-    shell.cc
-    shell.h
 )
 
 add_library(elasticity SHARED)
diff --git a/plugin/elasticity/README.md b/plugin/elasticity/README.md
index 2e86c1a7..7ccf5712 100644
--- a/plugin/elasticity/README.md
+++ b/plugin/elasticity/README.md
@@ -18,15 +18,3 @@ Parameters:
    - `bend` [Pa]: bending stiffness.
    - `flat` [bool]: if true, the stress-equilibrium configuration is that of a straight cable; if false or unspecified, it is the configuration defined in the XML.
    - `vmax` [N/m^2]: If greater than zero, the cable is colored using mechanical stresses; the value represent the maximum stress in the color scale.
-
-### Shell
-
-Implemented in [shell.cc](shell.cc).
-
-The shell plugin discretizes an inextensible 2D continuum. It is intended to simulate the bending of plates where the stretching is negligible compared to other deformation modes.
-
-Parameters:
-
-   - `young` [Pa]: Young's modulus.
-   - `poisson` [Pa]: Poisson's ratio; if 0, then the material only opposed shear deformations; if near 0.5, then the material is nearly incompressible (rubber-like).
-   - `thickness` [m]: shell thickness, used to scale the bending stiffness.
diff --git a/plugin/elasticity/register.cc b/plugin/elasticity/register.cc
index edde5252..ab8d283a 100644
--- a/plugin/elasticity/register.cc
+++ b/plugin/elasticity/register.cc
@@ -14,13 +14,11 @@
 
 #include <mujoco/mjplugin.h>
 #include "cable.h"
-#include "shell.h"
 
 namespace mujoco::plugin::elasticity {
 
 mjPLUGIN_LIB_INIT {
   Cable::RegisterPlugin();
-  Shell::RegisterPlugin();
 }
 
 }  // namespace mujoco::plugin::elasticity
diff --git a/plugin/elasticity/shell.cc b/plugin/elasticity/shell.cc
deleted file mode 100644
index 699040c6..00000000
--- a/plugin/elasticity/shell.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cassert>
-#include <cmath>
-#include <cstdint>
-#include <cstdlib>
-#include <optional>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtnum.h>
-#include <mujoco/mujoco.h>
-#include "elasticity.h"
-#include "shell.h"
-
-
-namespace mujoco::plugin::elasticity {
-namespace {
-
-// local tetrahedron numbering
-constexpr int kNumVerts = Stencil2D::kNumVerts;
-
-
-
-}  // namespace
-
-// factory function
-std::optional<Shell> Shell::Create(const mjModel* m, mjData* d, int instance) {
-    return Shell(m, d, instance);
-}
-
-// plugin constructor
-Shell::Shell(const mjModel* m, mjData* d, int instance)
-    : f0(-1) {
-  // count plugin bodies
-  nv = 0;
-  for (int i = 1; i < m->nbody; i++) {
-    if (m->body_plugin[i] == instance) {
-      if (!nv++) {
-        i0 = i;
-      }
-    }
-  }
-
-  // count flexes
-  for (int i = 0; i < m->nflex; i++) {
-    for (int j = 0; j < m->flex_vertnum[i]; j++) {
-      if (m->flex_vertbodyid[m->flex_vertadr[i]+j] == i0) {
-        f0 = i;
-        nv = m->flex_vertnum[f0];
-        if (m->flex_dim[i] != 2) {  // SHOULD NOT OCCUR
-          mju_error("mujoco.elasticity.shell requires a 2D mesh");
-        }
-      }
-    }
-  }
-
-  // loop over all triangles
-  for (int t = 0; t < m->flex_elemnum[f0]; t++) {
-    int* v = m->flex_elem + 3*(t+m->flex_elemadr[f0]);
-    for (int i = 0; i < kNumVerts; i++) {
-      if (m->body_plugin[i0+v[i]] != instance) {
-        mju_error("This body does not have the requested plugin instance");
-      }
-    }
-  }
-
-  // allocate array
-  position.assign(nv*3, 0);
-
-  // store previous positions
-  mju_copy(position.data(), m->body_pos+3*i0, 3*nv);
-}
-
-void Shell::Compute(const mjModel* m, mjData* d, int instance) {
-  for (int e = 0; e < m->flex_edgenum[f0]; e++) {
-    int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f0]);
-    int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f0]);
-    int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-    mjtNum force[12] = {0};
-    if (v[3] == -1) {
-      // skip boundary edges
-      continue;
-    }
-    mjtNum* k = m->flex_bending + 16*m->flex_edgeadr[f0];
-    for (int i = 0; i < StencilFlap::kNumVerts; i++) {
-      for (int j = 0; j < StencilFlap::kNumVerts; j++) {
-        for (int x = 0; x < 3; x++) {
-          force[3*i+x] += k[16*e+4*i+j] * d->xpos[3*(i0+v[j])+x];
-        }
-      }
-    }
-
-    // update stored positions
-    mju_copy(position.data(), d->xpos+3*i0, 3*nv);
-
-    // insert into global force
-    for (int i = 0; i < StencilFlap::kNumVerts; i++) {
-      for (int x = 0; x < 3; x++) {
-        d->qfrc_passive[m->body_dofadr[i0]+3*v[i]+x] -= force[3*i+x];
-      }
-    }
-  }
-}
-
-
-
-void Shell::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.elasticity.shell";
-  plugin.capabilityflags |= mjPLUGIN_PASSIVE;
-
-  const char* attributes[] = {"damping"};
-  plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
-  plugin.attributes = attributes;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto elasticity_or_null = Shell::Create(m, d, instance);
-    if (!elasticity_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Shell(std::move(*elasticity_or_null)));
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Shell*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto* elasticity = reinterpret_cast<Shell*>(d->plugin_data[instance]);
-    elasticity->Compute(m, d, instance);
-  };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::elasticity
diff --git a/plugin/elasticity/shell.h b/plugin/elasticity/shell.h
deleted file mode 100644
index aa1e0191..00000000
--- a/plugin/elasticity/shell.h
+++ /dev/null
@@ -1,61 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
-#define MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
-
-#include <optional>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtnum.h>
-#include "elasticity.h"
-
-
-namespace mujoco::plugin::elasticity {
-
-struct StencilFlap {
-  static constexpr int kNumVerts = 4;
-  int vertices[kNumVerts];
-};
-
-class Shell {
- public:
-  // Returns a new Shell instance or nullopt on failure.
-  static std::optional<Shell> Create(const mjModel* m, mjData* d,
-                                     int instance);
-  Shell(Shell&&) = default;
-
-  Shell& operator=(Shell&& other) = default;
-
-  void Compute(const mjModel* m, mjData* d, int instance);
-
-  static void RegisterPlugin();
-
-  int i0;  // index of first body
-  int f0;  // index of corresponding flex
-  int nc;  // number of quads in the grid
-  int nv;  // number of vertices (bodies) in the Shell
-
-  // precomputed quantities
-  std::vector<mjtNum> position;             // previous-step positions (nv x 3)
-
- private:
-  Shell(const mjModel* m, mjData* d, int instance);
-};
-
-}  // namespace mujoco::plugin::elasticity
-
-#endif  // MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
diff --git a/src/engine/engine_passive.c b/src/engine/engine_passive.c
index 3c025804..5b0d1b5b 100644
--- a/src/engine/engine_passive.c
+++ b/src/engine/engine_passive.c
@@ -116,9 +116,50 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
   // flex elasticity
   for (int f=0; f < m->nflex; f++) {
     mjtNum* k = m->flex_stiffness + 21*m->flex_elemadr[f];
+    mjtNum* b = m->flex_bending + 16*m->flex_edgeadr[f];
     int dim = m->flex_dim[f];
 
-    if (dim == 1 || m->flex_rigid[f] || k[0] == 0) {
+    if (dim == 1 || m->flex_rigid[f]) {
+      continue;
+    }
+
+    // add bending forces to qfrc_spring
+    if (dim == 2) {
+      mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
+      int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
+
+      for (int e = 0; e < m->flex_edgenum[f]; e++) {
+        const int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f]);
+        const int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f]);
+        int v[4] = {edge[0], edge[1], flap[0], flap[1]};
+        if (v[3] == -1) {
+          // skip boundary edges
+          continue;
+        }
+        mjtNum force[12] = {0};
+        for (int i = 0; i < 4; i++) {
+          for (int j = 0; j < 4; j++) {
+            for (int x = 0; x < 3; x++) {
+              force[3*i+x] += b[16*e+4*i+j] * xpos[3*v[j]+x];
+            }
+          }
+        }
+
+        // TODO: add damping
+
+        // insert into global force
+        for (int i = 0; i < 4; i++) {
+          int bid = bodyid[v[i]];
+          int body_dofnum = m->body_dofnum[bid];
+          int body_dofadr = m->body_dofadr[bid];
+          for (int x = 0; x < body_dofnum; x++) {
+            d->qfrc_spring[body_dofadr+x] -= force[3*i+x];
+          }
+        }
+      }
+    }
+
+    if (k[0] == 0) {
       continue;
     }
 
diff --git a/src/user/user_init.c b/src/user/user_init.c
index 3a55af25..01f4a8b9 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -238,7 +238,6 @@ void mjs_defaultFlex(mjsFlex* flex) {
   flex->rgba[0] = flex->rgba[1] = flex->rgba[2] = 0.5f;
   flex->rgba[3] = 1.0f;
   flex->thickness = -1;
-  flex->elastic2d = 1;
 }
 
 
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index 49230914..03ad956c 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -3382,9 +3382,13 @@ void mjCFlex::ResolveReferences(const mjCModel* m) {
   vertbodyid.clear();
   nodebodyid.clear();
   for (const auto& vertbody : vertbody_) {
-    mjCBase* pbody = m->FindObject(mjOBJ_BODY, vertbody);
+    mjCBody* pbody = static_cast<mjCBody*>(m->FindObject(mjOBJ_BODY, vertbody));
     if (pbody) {
       vertbodyid.push_back(pbody->id);
+      if (pbody->joints.size() != 3 && dim == 2 && (elastic2d == 1 || elastic2d == 3)) {
+        // TODO(quaglino): add support for pins
+        throw mjCError(this, "pins are not supported for bending");
+      }
     } else {
       throw mjCError(this, "unknown body '%s' in flex", vertbody.c_str());
     }
@@ -3658,7 +3662,10 @@ void mjCFlex::Compile(const mjVFS* vfs) {
     }
 
     // bending stiffness (2D only)
-    if (dim == 2 && (elastic2d == 1 || elastic2d == 3) && thickness > 0) {
+    if (dim == 2 && (elastic2d == 1 || elastic2d == 3)) {
+      if (thickness < 0) {
+        throw mjCError(this, "thickness must be positive for bending stiffness");
+      }
       bending.assign(nedge*16, 0);
 
       for (unsigned int e = 0; e < nedge; e++) {
@@ -3668,7 +3675,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
     }
   }
 
-  // add plugins
+  // placeholder for setting plugins parameters, currently not used
   for (const auto& vbodyid : vertbodyid) {
     if (vbodyid < 0) {
       continue;
@@ -3676,8 +3683,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
     if (model->Bodies()[vbodyid]->plugin.element) {
       mjCPlugin* plugin_instance =
         static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.element);
-      if (damping > 0) {
-        plugin_instance->config_attribs["damping"] = std::to_string(damping);
+      if (!plugin_instance) {
+        throw mjCError(this, "plugin instance not found");
       }
     }
   }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 9e516380..49f79ead 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3165,7 +3165,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     for (int k=0; k < pfl->nedge; k++) {
       m->flex_edge[2*(edge_adr+k)] = pfl->edge[k].first;
       m->flex_edge[2*(edge_adr+k)+1] = pfl->edge[k].second;
-      if (pfl->dim == 2) {
+      if (pfl->dim == 2 && (pfl->elastic2d == 1 || pfl->elastic2d == 3)) {
         m->flex_edgeflap[2*(edge_adr+k)+0] = pfl->flaps[k].vertices[2];
         m->flex_edgeflap[2*(edge_adr+k)+1] = pfl->flaps[k].vertices[3];
       } else {
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
index ba914229..3651d31c 100644
--- a/src/xml/xml_base.h
+++ b/src/xml/xml_base.h
@@ -71,6 +71,7 @@ extern const mjMap datatype_map[];
 extern const mjMap meshtype_map[];
 extern const mjMap meshinertia_map[];
 extern const mjMap flexself_map[];
+extern const mjMap elastic2d_map[];
 
 
 //---------------------------------- Base XML class ------------------------------------------------
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 8e2874aa..f2b5f1e9 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -807,6 +807,15 @@ const mjMap flexself_map[5] = {
 };
 
 
+// flex elastic 2d type
+const mjMap elastic2d_map[5] = {
+  {"none",        0},
+  {"bend",        1},
+  {"stretch",     2},
+  {"both",        3},
+};
+
+
 
 //---------------------------------- class mjXReader implementation --------------------------------
 
@@ -1401,7 +1410,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
     ReadAttr(elasticity, "poisson", 1, &flex->poisson, text);
     ReadAttr(elasticity, "thickness", 1, &flex->thickness, text);
     ReadAttr(elasticity, "damping", 1, &flex->damping, text);
-    ReadAttr(elasticity, "elastic2d", 1, &flex->elastic2d, text);
+    MapValue(elasticity, "elastic2d", &flex->elastic2d, elastic2d_map, 4);
   }
 
   // write error info
@@ -2665,7 +2674,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
     ReadAttr(elasticity, "poisson", 1, &dflex.poisson, text);
     ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
     ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
-    ReadAttr(elasticity, "elastic2d", 1, &dflex.elastic2d, text);
+    MapValue(elasticity, "elastic2d", &dflex.elastic2d, elastic2d_map, 4);
   }
 
   // check errors
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 14905144..b6464cd1 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -194,7 +194,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
   WriteAttr(elastic, "poisson", 1, &flex->poisson, &defflex.poisson);
   WriteAttr(elastic, "thickness", 1, &flex->thickness, &defflex.thickness);
   WriteAttr(elastic, "damping", 1, &flex->damping, &defflex.damping);
-  WriteAttr(elastic, "elastic2d", 1, &flex->elastic2d, &defflex.elastic2d);
+  WriteAttrKey(elastic, "elastic2d", elastic2d_map, 2, flex->elastic2d, defflex.elastic2d);
 
   // edge subelement
   XMLElement* edge = InsertEnd(elem, "edge");
diff --git a/test/benchmark/engine_util_sparse_benchmark_test.cc b/test/benchmark/engine_util_sparse_benchmark_test.cc
index 82a04a3f..fdeadb31 100644
--- a/test/benchmark/engine_util_sparse_benchmark_test.cc
+++ b/test/benchmark/engine_util_sparse_benchmark_test.cc
@@ -343,7 +343,7 @@ void ABSL_ATTRIBUTE_NOINLINE mulMatVecSparse_8(mjtNum* res,
 // ----------------------------- benchmark ------------------------------------
 
 static void BM_MatVecSparse(benchmark::State& state, int unroll) {
-  static mjModel* m = LoadModelFromPath("plugin/elasticity/flag_flex.xml");
+  static mjModel* m = LoadModelFromPath("flex/flag.xml");
   mjData* d = mj_makeData(m);
 
   // warm-up rollout to get a typical state
diff --git a/test/benchmark/parse_benchmark_test.cc b/test/benchmark/parse_benchmark_test.cc
index 059f0c58..95471c01 100644
--- a/test/benchmark/parse_benchmark_test.cc
+++ b/test/benchmark/parse_benchmark_test.cc
@@ -73,7 +73,7 @@ static void run_parse_benchmark(const std::string xml_path,
 // run_parse_benchmark).
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlagPlugin(benchmark::State& state) {
-  run_parse_benchmark(GetModelPath("plugin/elasticity/flag_flex.xml"), state);
+  run_parse_benchmark(GetModelPath("flex/flag.xml"), state);
 }
 BENCHMARK(BM_ParseFlagPlugin);
 
diff --git a/test/benchmark/step_benchmark_test.cc b/test/benchmark/step_benchmark_test.cc
index 551e312c..1d34f2c9 100644
--- a/test/benchmark/step_benchmark_test.cc
+++ b/test/benchmark/step_benchmark_test.cc
@@ -73,7 +73,7 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlagPlugin(benchmark::State& state) {
   MujocoErrorTestGuard guard;
-  static mjModel* model = LoadModelFromPath("plugin/elasticity/flag_flex.xml");
+  static mjModel* model = LoadModelFromPath("flex/flag.xml");
   run_step_benchmark(model, state);
 }
 BENCHMARK(BM_StepFlagPlugin);
diff --git a/test/engine/engine_plugin_test.cc b/test/engine/engine_plugin_test.cc
index a1b5f959..5463f1e2 100644
--- a/test/engine/engine_plugin_test.cc
+++ b/test/engine/engine_plugin_test.cc
@@ -37,7 +37,7 @@ using ::testing::DoubleNear;
 using ::testing::HasSubstr;
 using ::testing::NotNull;
 
-constexpr int kNumTruePlugins = 11;
+constexpr int kNumTruePlugins = 10;
 constexpr int kNumFakePlugins = 30;
 constexpr int kNumTestPlugins = 4;
 
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index 754fa46e..ea4df2e3 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -22,7 +22,6 @@
 #include <gtest/gtest.h>
 #include <mujoco/mujoco.h>
 #include "test/fixture.h"
-#include "plugin/elasticity/shell.h"
 
 namespace mujoco {
 namespace {
@@ -58,15 +57,10 @@ TEST_F(ElasticityTest, FlexCompatibility) {
 TEST_F(ElasticityTest, ElasticEnergyShell) {
   static constexpr char cantilever_xml[] = R"(
   <mujoco>
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
   <worldbody>
     <flexcomp type="grid" count="8 8 1" spacing="1 1 1"
               radius=".025" name="test" dim="2">
       <elasticity young="2" poisson="0" thickness="1"/>
-      <plugin plugin="mujoco.elasticity.shell"/>
     </flexcomp>
   </worldbody>
   </mujoco>
@@ -76,7 +70,8 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
   mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
   ASSERT_THAT(m, testing::NotNull()) << error;
   mjData* d = mj_makeData(m);
-  auto* shell = reinterpret_cast<plugin::elasticity::Shell*>(d->plugin_data[0]);
+  mj_kinematics(m, d);
+  mj_flex(m, d);
 
   // check that a plane is in the kernel of the energy
   for (mjtNum scale = 1; scale < 4; scale++) {
@@ -92,8 +87,8 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
       for (int i = 0; i < 4; i++) {
         for (int j = 0; j < 4; j++) {
           for (int x = 0; x < 3; x++) {
-            mjtNum elongation1 = scale * shell->position[3*v[i]+x];
-            mjtNum elongation2 = scale * shell->position[3*v[j]+x];
+            mjtNum elongation1 = scale * d->flexvert_xpos[3*v[i]+x];
+            mjtNum elongation2 = scale * d->flexvert_xpos[3*v[j]+x];
             energy += m->flex_bending[16*e+4*i+j] * elongation1 * elongation2;
           }
         }
@@ -114,7 +109,7 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
   <worldbody>
     <flexcomp type="grid" count="8 8 1" spacing="1 1 1"
               radius=".025" name="test" dim="2">
-      <elasticity young="2" poisson="0" thickness="1" elastic2d="2"/>
+      <elasticity young="2" poisson="0" thickness="1" elastic2d="stretch"/>
       <edge equality="false"/>
     </flexcomp>
   </worldbody>

From 94803d772c02ff0ee0a47806749e98b97cae0c96 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 19 May 2025 12:17:22 -0700
Subject: [PATCH 151/191] Enable multithreading of Newton solver.

PiperOrigin-RevId: 760723081
Change-Id: Ib7d3c9cec2fdf7dd0e46a570f37c0a6fc5424c7b
---
 src/engine/engine_forward.c | 48 +++++++++++++++++++------------------
 1 file changed, 25 insertions(+), 23 deletions(-)

diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 6115e77f..16d33cae 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -659,32 +659,35 @@ struct mjSolIslandArgs_ {
 };
 typedef struct mjSolIslandArgs_ mjSolIslandArgs;
 
-// extract arguments, pass to solver
-void* mj_solCG_island_wrapper(void* args) {
+// extract arguments, pass to CG solver
+static void* CG_wrapper(void* args) {
   mjSolIslandArgs* solargs = (mjSolIslandArgs*) args;
   mj_solCG_island(solargs->m, solargs->d, solargs->island, solargs->m->opt.iterations);
   return NULL;
 }
 
-
-
+// extract arguments, pass to Newton solver
+static void* Newton_wrapper(void* args) {
+  mjSolIslandArgs* solargs = (mjSolIslandArgs*) args;
+  mj_solNewton_island(solargs->m, solargs->d, solargs->island, solargs->m->opt.iterations);
+  return NULL;
+}
 
 // CG solver, multi-threaded over islands
-void mj_solCG_island_multithreaded(const mjModel* m, mjData* d) {
+static void solve_threaded(const mjModel* m, mjData* d, int flg_Newton) {
   mj_markStack(d);
   // allocate array of arguments to be passed to threads
-  mjSolIslandArgs* sol_cg_island_args = mjSTACKALLOC(d, d->nisland, mjSolIslandArgs);
+  mjSolIslandArgs* sol_island_args = mjSTACKALLOC(d, d->nisland, mjSolIslandArgs);
   mjTask* tasks = mjSTACKALLOC(d, d->nisland, mjTask);
 
-
   for (int island = 0; island < d->nisland; ++island) {
-    sol_cg_island_args[island].m = m;
-    sol_cg_island_args[island].d = d;
-    sol_cg_island_args[island].island = island;
+    sol_island_args[island].m = m;
+    sol_island_args[island].d = d;
+    sol_island_args[island].island = island;
 
     mju_defaultTask(&tasks[island]);
-    tasks[island].func = mj_solCG_island_wrapper;
-    tasks[island].args = &sol_cg_island_args[island];
+    tasks[island].func = flg_Newton ? Newton_wrapper : CG_wrapper;
+    tasks[island].args = &sol_island_args[island];
     mju_threadPoolEnqueue((mjThreadPool*)d->threadpool, &tasks[island]);
   }
 
@@ -740,23 +743,22 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
     mju_gather(d->iefc_force,      d->efc_force,       d->map_iefc2efc, nefc);
     mju_gather(d->iefc_aref,       d->efc_aref,        d->map_iefc2efc, nefc);
 
-    // solve per island
-    if (m->opt.solver == mjSOL_CG) {
-      if (!d->threadpool) {
-        // no threadpool, loop over islands
-        for (int island=0; island < nisland; island++) {
+    // solve per island, with or without threads
+    if (!d->threadpool) {
+      // no threadpool, loop over islands
+      for (int island=0; island < nisland; island++) {
+        if (m->opt.solver == mjSOL_NEWTON) {
+          mj_solNewton_island(m, d, island, m->opt.iterations);
+        } else {
           mj_solCG_island(m, d, island, m->opt.iterations);
         }
-      } else {
-        // have threadpool, solve using threads
-        mj_solCG_island_multithreaded(m, d);
       }
     } else {
-      for (int island=0; island < nisland; island++) {
-        mj_solNewton_island(m, d, island, m->opt.iterations);
-      }
+      // have threadpool, solve using threads
+      solve_threaded(m, d, m->opt.solver == mjSOL_NEWTON);
     }
 
+
     // copy back solver outputs (scatter dofs since ni <= nv)
     mju_scatter(d->qacc,            d->iacc,            d->map_idof2dof, nidof);
     mju_scatter(d->qfrc_constraint, d->ifrc_constraint, d->map_idof2dof, nidof);

From bf722098f0083ccd2b354062ff8f2cb771e2a6b6 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 19 May 2025 12:39:33 -0700
Subject: [PATCH 152/191] Fix broken link in changelog.

PiperOrigin-RevId: 760730799
Change-Id: I65e2d06f9162266b2929cc4d26af621fc3535197
---
 doc/changelog.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 9e0329f4..4ebebbb7 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -10,7 +10,7 @@ General
 - Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
   solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
 - Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
-  the :ref:`elastic2d<body-flexcomp-elasticity-elastic2d>` attribute (on by default).
+  the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (on by default).
 
 simulate
 ^^^^^^^^

From cada50434a493a518357d111786df2ce0fd3279e Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Mon, 19 May 2025 12:40:56 -0700
Subject: [PATCH 153/191] Raise an error if MJX scan functions are called on
 models with zero DoFs.

In the future, MJX will support correctly simulating models with zero dofs.

PiperOrigin-RevId: 760731314
Change-Id: Iadddf80a959c64cddb31610e60927ae0437ebcaf
---
 mjx/mujoco/mjx/_src/scan.py      | 2 ++
 mjx/mujoco/mjx/_src/scan_test.py | 5 +----
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/scan.py b/mjx/mujoco/mjx/_src/scan.py
index 496ba4cd..0bcfc195 100644
--- a/mjx/mujoco/mjx/_src/scan.py
+++ b/mjx/mujoco/mjx/_src/scan.py
@@ -132,6 +132,8 @@ def _nvmap(f: Callable[..., Y], *args) -> Y:
 
 def _check_input(m: Model, args: Any, in_types: str) -> None:
   """Checks that scan input has the right shape."""
+  if m.nv == 0:
+    raise ValueError('Scan across Model with zero DoFs unsupported.')
   size = {
       'b': m.nbody,
       'j': m.njnt,
diff --git a/mjx/mujoco/mjx/_src/scan_test.py b/mjx/mujoco/mjx/_src/scan_test.py
index 74bf3224..758ebe89 100644
--- a/mjx/mujoco/mjx/_src/scan_test.py
+++ b/mjx/mujoco/mjx/_src/scan_test.py
@@ -61,10 +61,7 @@ class ScanTest(absltest.TestCase):
       return body_id + 1
 
     b_in = jp.array([1])
-    b_expect = jp.array([2])
-    b_out = scan.flat(m, fn, 'b', 'b', b_in)
-
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
+    self.assertRaises(ValueError, scan.flat, m, fn, 'b', 'b', b_in)
 
   def test_flat_joints(self):
     """Tests scanning over bodies with joints of different types."""

From 06e4937ed775833e6b11e9559f9c8549b0112ae7 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Mon, 19 May 2025 21:16:37 +0000
Subject: [PATCH 154/191] Bump setuptools from 75.5.0 to 78.1.1 in /mjx

Bumps [setuptools](https://github.com/pypa/setuptools) from 75.5.0 to 78.1.1.
- [Release notes](https://github.com/pypa/setuptools/releases)
- [Changelog](https://github.com/pypa/setuptools/blob/main/NEWS.rst)
- [Commits](https://github.com/pypa/setuptools/compare/v75.5.0...v78.1.1)

---
updated-dependencies:
- dependency-name: setuptools
  dependency-version: 78.1.1
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 mjx/requirements.txt | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mjx/requirements.txt b/mjx/requirements.txt
index 3747653a..9b8cf8c1 100644
--- a/mjx/requirements.txt
+++ b/mjx/requirements.txt
@@ -76,8 +76,9 @@ scipy==1.13.1; python_version == '3.9' \
     --hash=sha256:d533654b7d221a6a97304ab63c41c96473ff04459e404b83275b60aa8f4b7004 \
     --hash=sha256:8335549ebbca860c52bf3d02f80784e91a004b71b059e3eea9678ba994796a24 \
     --hash=sha256:436bbb42a94a8aeef855d755ce5a465479c721e9d684de76bf61a62e7c2b81d5
-setuptools==75.5.0 \
-    --hash=sha256:87cb777c3b96d638ca02031192d40390e0ad97737e27b6b4fa831bea86f2f829
+setuptools==78.1.1 \
+    --hash=sha256:c3a9c4211ff4c309edb8b8c4f1cbfa7ae324c4ba9f91ff254e3d305b9fd54561 \
+    --hash=sha256:fcc17fd9cd898242f6b4adfaca46137a9edef687f43e6f78469692a5e70d851d
 trimesh==4.5.2 \
     --hash=sha256:2e50f3a7fd135c3045da887a1b9f91230528f3ce11d2ec1ba44750d82d6b4f73
 wheel==0.45.0 \

From 1663867cba58af77019bbdd1b43815aa2223a181 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Tue, 20 May 2025 04:37:32 -0700
Subject: [PATCH 155/191] Add `GL_EXT_texture_sRGB` to MuJoCo's GLAD stubs.

PiperOrigin-RevId: 761025068
Change-Id: I9197f206666adf547aa5fcd0e06b54d7d4c415fa
---
 src/render/glad/glad.c |  7 +++++--
 src/render/glad/glad.h | 25 +++++++++++++++++++++++--
 2 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/src/render/glad/glad.c b/src/render/glad/glad.c
index fa1642c4..72bd6f78 100644
--- a/src/render/glad/glad.c
+++ b/src/render/glad/glad.c
@@ -27,6 +27,7 @@
 //     GL_ARB_framebuffer_object,
 //     GL_ARB_seamless_cube_map,
 //     GL_ARB_vertex_buffer_object,
+//     GL_EXT_texture_sRGB,
 //     GL_KHR_debug
 // Loader: True
 // Local files: False
@@ -34,9 +35,9 @@
 // Reproducible: False
 //
 // Commandline:
-//     --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
+//     --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_EXT_texture_sRGB,GL_KHR_debug"
 // Online:
-//     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
+//     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_EXT_texture_sRGB&extensions=GL_KHR_debug
 
 #if defined(__GNUC__) && !defined(__clang__)
 #pragma GCC diagnostic push
@@ -836,6 +837,7 @@ int mjGLAD_GL_ARB_depth_buffer_float = 0;
 int mjGLAD_GL_ARB_framebuffer_object = 0;
 int mjGLAD_GL_ARB_seamless_cube_map = 0;
 int mjGLAD_GL_ARB_vertex_buffer_object = 0;
+int mjGLAD_GL_EXT_texture_sRGB = 0;
 int mjGLAD_GL_KHR_debug = 0;
 PFNGLCLIPCONTROLPROC mjGlad_glClipControl = NULL;
 PFNGLISRENDERBUFFERPROC mjGlad_glIsRenderbuffer = NULL;
@@ -1433,6 +1435,7 @@ static int mjGlad_find_extensionsGL(void) {
   mjGLAD_GL_ARB_framebuffer_object = mjGlad_has_ext("GL_ARB_framebuffer_object");
   mjGLAD_GL_ARB_seamless_cube_map = mjGlad_has_ext("GL_ARB_seamless_cube_map");
   mjGLAD_GL_ARB_vertex_buffer_object = mjGlad_has_ext("GL_ARB_vertex_buffer_object");
+  mjGLAD_GL_EXT_texture_sRGB = mjGlad_has_ext("GL_EXT_texture_sRGB");
   mjGLAD_GL_KHR_debug = mjGlad_has_ext("GL_KHR_debug");
   mjGlad_free_exts();
   return 1;
diff --git a/src/render/glad/glad.h b/src/render/glad/glad.h
index 1b1fd449..620a7cbb 100644
--- a/src/render/glad/glad.h
+++ b/src/render/glad/glad.h
@@ -27,6 +27,7 @@
 //     GL_ARB_framebuffer_object,
 //     GL_ARB_seamless_cube_map,
 //     GL_ARB_vertex_buffer_object,
+//     GL_EXT_texture_sRGB,
 //     GL_KHR_debug
 // Loader: True
 // Local files: False
@@ -34,9 +35,9 @@
 // Reproducible: False
 //
 // Commandline:
-//     --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
+//     --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_EXT_texture_sRGB,GL_KHR_debug"
 // Online:
-//     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
+//     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_EXT_texture_sRGB&extensions=GL_KHR_debug
 
 #ifndef MUJOCO_SRC_RENDER_GLAD_GLAD_H_
 #define MUJOCO_SRC_RENDER_GLAD_GLAD_H_
@@ -2420,6 +2421,22 @@ GLAPI PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv;
 #define GL_DYNAMIC_DRAW_ARB 0x88E8
 #define GL_DYNAMIC_READ_ARB 0x88E9
 #define GL_DYNAMIC_COPY_ARB 0x88EA
+#define GL_SRGB_EXT 0x8C40
+#define GL_SRGB8_EXT 0x8C41
+#define GL_SRGB_ALPHA_EXT 0x8C42
+#define GL_SRGB8_ALPHA8_EXT 0x8C43
+#define GL_SLUMINANCE_ALPHA_EXT 0x8C44
+#define GL_SLUMINANCE8_ALPHA8_EXT 0x8C45
+#define GL_SLUMINANCE_EXT 0x8C46
+#define GL_SLUMINANCE8_EXT 0x8C47
+#define GL_COMPRESSED_SRGB_EXT 0x8C48
+#define GL_COMPRESSED_SRGB_ALPHA_EXT 0x8C49
+#define GL_COMPRESSED_SLUMINANCE_EXT 0x8C4A
+#define GL_COMPRESSED_SLUMINANCE_ALPHA_EXT 0x8C4B
+#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C
+#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D
+#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E
+#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F
 #define GL_DEBUG_OUTPUT_SYNCHRONOUS 0x8242
 #define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH 0x8243
 #define GL_DEBUG_CALLBACK_FUNCTION 0x8244
@@ -2614,6 +2631,10 @@ typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVARBPROC)(GLenum target, GLenum pna
 GLAPI PFNGLGETBUFFERPOINTERVARBPROC mjGlad_glGetBufferPointervARB;
 #define glGetBufferPointervARB mjGlad_glGetBufferPointervARB
 #endif
+#ifndef GL_EXT_texture_sRGB
+#define GL_EXT_texture_sRGB 1
+GLAPI int mjGLAD_GL_EXT_texture_sRGB;
+#endif
 #ifndef GL_KHR_debug
 #define GL_KHR_debug 1
 GLAPI int mjGLAD_GL_KHR_debug;

From b728a50eb20e4b0d4f1b1db51e0ad63133aa9fbc Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 20 May 2025 09:47:06 -0700
Subject: [PATCH 156/191] Correct elastic2d default information in the
 changelog.

PiperOrigin-RevId: 761120899
Change-Id: Id7093f9baa775fb71cf1dd7aaf74f6bd8d4d5e83
---
 doc/changelog.rst | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 4ebebbb7..3fc979bd 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -10,9 +10,9 @@ General
 - Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
   solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
 - Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
-  the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (on by default).
+  the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
 
-simulate
+Simulate
 ^^^^^^^^
 - The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
   ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`

From 85c84c1eceec697391332e6e3b9df85e03086e57 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 20 May 2025 12:18:14 -0700
Subject: [PATCH 157/191] Initialize Passive Viewer's internal `mjModel` and
 `mjData` to `nullptr`.

Prevents the render thread from calling `mjv_updateScene` before these have been initialized.

PiperOrigin-RevId: 761181568
Change-Id: I4f7f61fdcf7f87dcd6317883e5082d9ce2266e20
---
 simulate/simulate.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/simulate/simulate.h b/simulate/simulate.h
index 7e20d3c5..312b5db7 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -132,8 +132,8 @@ class Simulate {
 
   // in passive mode the user owns m_ and d_, these "passive" instances are
   // owned by Simulate, updated from the user by the Sync() method
-  mjModel* m_passive_;
-  mjData* d_passive_;
+  mjModel* m_passive_ = nullptr;
+  mjData* d_passive_ = nullptr;
   std::vector<mjvGeom> user_scn_geoms_;
 
   mjOption mjopt_prev_;

From 505152073386bdbe6dd2df465ad4d37937b347ca Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Tue, 20 May 2025 14:36:59 -0700
Subject: [PATCH 158/191] Delete commented code.

PiperOrigin-RevId: 761234852
Change-Id: Ibea32eee47448073fff1ed2df307b1e44c78423f
---
 mjx/mujoco/mjx/_src/dataclasses.py | 30 ------------------------------
 1 file changed, 30 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/dataclasses.py b/mjx/mujoco/mjx/_src/dataclasses.py
index c2d8fb63..b8bdb758 100644
--- a/mjx/mujoco/mjx/_src/dataclasses.py
+++ b/mjx/mujoco/mjx/_src/dataclasses.py
@@ -50,36 +50,6 @@ def dataclass(clz: _T, register_as_pytree: bool) -> _T:
   """
   data_clz = dataclasses.dataclass(frozen=True)(clz)
   data_clz.replace = dataclasses.replace
-  # def replace(self, **updates):
-  #   """Returns a new object replacing the specified fields with new values."""
-  #   if not hasattr(self, '_impl'):
-  #     return dataclasses.replace(self, **updates)
-
-  #   # Private fields under `_impl` are allowed to be replaced directly as if
-  #   # they were on the base class. This logic will be removed in a future
-  #   # release.
-  #   impl_updates = {}
-  #   for k in tuple(updates.keys()):
-  #     # Recall that getattr is overridden for '_impl' fields.
-  #     hasattr_ = k in self.__annotations__
-  #     if not hasattr_ and hasattr(self._impl, k):  # pylint: disable=protected-access
-  #       impl_updates[k] = updates[k]
-  #       del updates[k]
-
-  #   if impl_updates:
-  #     updates['_impl'] = self._impl.replace(**impl_updates)
-  #     warnings.warn(
-  #         f'Accessing/replacing fields `{tuple(impl_updates.keys())}` directly'
-  #         f' from `{self.__class__.__name__}` will be deprecated. Refrain from'
-  #         ' using private fields that were moved to'
-  #         f' `{self.__class__.__name__}`._impl.',
-  #         DeprecationWarning,
-  #         stacklevel=2,
-  #     )
-
-  #   return dataclasses.replace(self, **updates)
-
-  # data_clz.replace = replace
 
   if register_as_pytree:
     meta_fields, data_fields = [], []

From 49c33716a1cced63d5fc35ef514d8cb1c6c95521 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 20 May 2025 15:25:10 -0700
Subject: [PATCH 159/191] Allow _realloc_con_efc to also allocate new nJ
 arrays.

PiperOrigin-RevId: 761252071
Change-Id: Idce822c6f2b8f2d81a5d43228f5dc35281c5ad07
---
 python/mujoco/bindings_test.py |  4 +++-
 python/mujoco/functions.cc     | 14 ++++++++------
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index 3896b8ce..99ca73ab 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -623,10 +623,12 @@ class MuJoCoBindingsTest(parameterized.TestCase):
 
     ncon = 13
     nefc = 17
-    mujoco._functions._realloc_con_efc(self.data, ncon=ncon, nefc=nefc)
+    nj = 21
+    mujoco._functions._realloc_con_efc(self.data, ncon=ncon, nefc=nefc, nJ=nj)
 
     self.assertLen(self.data.contact, ncon)
     self.assertEqual(self.data.efc_id.shape, (nefc,))
+    self.assertEqual(self.data.efc_J.shape, (nj,))
     self.assertEqual(self.data.efc_KBIP.shape, (nefc, 4))
 
     expected_error = 'insufficient arena memory available'
diff --git a/python/mujoco/functions.cc b/python/mujoco/functions.cc
index 7fed04f7..d4708254 100644
--- a/python/mujoco/functions.cc
+++ b/python/mujoco/functions.cc
@@ -1467,10 +1467,10 @@ PYBIND11_MODULE(_functions, pymodule) {
 
   pymodule.def(
       "_realloc_con_efc",
-      [](MjDataWrapper& d, int ncon, int nefc) {
+      [](MjDataWrapper& d, int ncon, int nefc, int nJ) {
         raw::MjData* data = d.get();
 
-        auto cleanup = [](raw::MjData* data) {
+        auto cleanup = [](raw::MjData* data, int nJ) {
 #ifdef ADDRESS_SANITIZER
         ASAN_POISON_MEMORY_REGION(
             static_cast<char*>(data->arena),
@@ -1479,6 +1479,7 @@ PYBIND11_MODULE(_functions, pymodule) {
           data->parena = 0;
           data->ncon = 0;
           data->nefc = 0;
+          if (nJ > -1) data->nJ = 0;
           data->contact = static_cast<raw::MjContact*>(data->arena);
 #define X(type, name, nr, nc) data->name = nullptr;
           MJDATA_ARENA_POINTERS_SOLVER
@@ -1486,14 +1487,15 @@ PYBIND11_MODULE(_functions, pymodule) {
 #undef X
         };
 
-        cleanup(data);
+        cleanup(data, nJ);
         data->ncon = ncon;
         data->nefc = nefc;
+        if (nJ > -1) data->nJ = nJ;
         data->contact =
             static_cast<raw::MjContact*>(InterceptMjErrors(::mj_arenaAllocByte)(
                 data, ncon * sizeof(raw::MjContact), alignof(raw::MjContact)));
         if (!data->contact) {
-          cleanup(data);
+          cleanup(data, nJ);
           throw FatalError("insufficient arena memory available");
         }
 
@@ -1505,7 +1507,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
       data, sizeof(type) * (nr) * (nc), alignof(type)));                  \
   if (!data->name) {                                                      \
-    cleanup(data);                                                        \
+    cleanup(data, nJ);                                                        \
     throw FatalError("insufficient arena memory available");              \
   }
 
@@ -1519,7 +1521,7 @@ PYBIND11_MODULE(_functions, pymodule) {
 #undef MJ_M
 #define MJ_M(x) x
       },
-      py::arg("d"), py::arg("ncon"), py::arg("nefc"),
+      py::arg("d"), py::arg("ncon"), py::arg("nefc"), py::arg("nJ") = -1,
       py::call_guard<py::gil_scoped_release>());
 }  // PYBIND11_MODULE NOLINT(readability/fn_size)
 }  // namespace

From 7da6b5b9d959d2001a004ad52a7bc10fc39d7615 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 20 May 2025 16:02:13 -0700
Subject: [PATCH 160/191] Ensure `mjx.get_data_into` returns correct efc_J,
 qLD, and qLDiagInv.

PiperOrigin-RevId: 761264885
Change-Id: Ia3e669e24b2cc05f1506f0508c552c48233298cb
---
 mjx/mujoco/mjx/_src/io.py      | 39 +++++++++++++++++------
 mjx/mujoco/mjx/_src/io_test.py | 56 +++++++++++++++++++++++++++++++---
 2 files changed, 80 insertions(+), 15 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index c919f7f4..c5b94513 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -1110,12 +1110,10 @@ def _get_data_into(
     ncon = (d_i._impl.contact.dist <= 0).sum()
     efc_active = (d_i._impl.efc_J != 0).any(axis=1)
     nefc = int(efc_active.sum())
-    result_i.nJ = nefc * m.nv
-    if ncon != result_i.ncon or nefc != result_i.nefc:
-      mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc)  # pylint: disable=protected-access
-    result_i.efc_J_rownnz[:] = np.repeat(m.nv, nefc)
-    result_i.efc_J_rowadr[:] = np.arange(0, nefc * m.nv, m.nv)
-    result_i.efc_J_colind[:] = np.tile(np.arange(m.nv), nefc)
+    nj = (d_i._impl.efc_J != 0).sum() if support.is_sparse(m) else nefc * m.nv
+
+    if ncon != result_i.ncon or nefc != result_i.nefc or nj != result_i.nJ:
+      mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc, nJ=nj)  # pylint: disable=protected-access
 
     if d.backend_impl == types.BackendImpl.JAX:
       all_fields = types.Data.fields() + types.DataJAX.fields()
@@ -1167,16 +1165,33 @@ def _get_data_into(
         value = {'nefc': nefc, 'ncon': ncon}[field.name]
       elif field.name.endswith('xmat') or field.name == 'ximat':
         value = value.reshape((-1, 9))
+      elif field.name == 'efc_J':
+        value = value[efc_active]
+        if support.is_sparse(m):
+          efc_J_rownnz = np.zeros(nefc, dtype=np.int32)
+          efc_J_rowadr = np.zeros(nefc, dtype=np.int32)
+          efc_J_colind = np.zeros(nj, dtype=np.int32)
+          efc_J = np.zeros(nj)
+          mujoco.mju_dense2sparse(
+              efc_J,
+              value,
+              efc_J_rownnz,
+              efc_J_rowadr,
+              efc_J_colind,
+          )
+          result_i.efc_J_rownnz[:] = efc_J_rownnz
+          result_i.efc_J_rowadr[:] = efc_J_rowadr
+          result_i.efc_J_colind[:] = efc_J_colind
+          value = efc_J
+        else:
+          value = value.reshape(-1)
       elif field.name.startswith('efc_'):
         value = value[efc_active]
-        if field.name == 'efc_J':
-          value = value.reshape(-1)
       if d.backend_impl == types.BackendImpl.JAX:
         if field.name == 'qM' and not support.is_sparse(m):
           value = value[dof_i, dof_j]
         elif field.name == 'qLD' and not support.is_sparse(m):
-          # TODO(erikfrey): provide correct qLDs
-          value = np.zeros(m.nM)
+          value = np.zeros(m.nC)
         elif field.name == 'qLDiagInv' and not support.is_sparse(m):
           value = np.ones(m.nv)
 
@@ -1191,6 +1206,10 @@ def _get_data_into(
       else:
         setattr(result_i, field.name, value)
 
+    # recalculate qLD and qLDiagInv as MJX and MuJoCo have different
+    # representations of the Cholesky decomposition.
+    mujoco.mj_factorM(m, result_i)
+
 
 def get_data_into(
     result: Union[mujoco.MjData, List[mujoco.MjData]],
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 78f81e3f..33565999 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -96,6 +96,18 @@ _MULTIPLE_CONSTRAINTS = """
   </mujoco>
 """
 
+_SIMPLE_BODY = """
+  <mujoco>
+    <worldbody>
+      <!-- nC < nM because this body has an inertia-aligned free joint -->
+      <body name="simplebody">
+        <freejoint/>
+        <geom type="sphere" size="0.01"/>
+      </body>
+    </worldbody>
+  </mujoco>
+"""
+
 
 class ModelIOTest(parameterized.TestCase):
   """IO tests for mjx.Model."""
@@ -427,11 +439,14 @@ class DataIOTest(parameterized.TestCase):
     elif backend_impl == 'c':
       np.testing.assert_allclose(dx_from_dense._impl.qM, d.qM, atol=1e-8)
 
-  @parameterized.parameters('jax', 'c')
-  def test_get_data(self, backend_impl: str):
+  @parameterized.parameters(
+      ('jax', False), ('jax', True), ('c', False), ('c', True)
+  )
+  def test_get_data(self, backend_impl: str, sparse: bool):
     """Test that get_data makes correct MjData."""
-
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
+    if sparse:
+      m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
     dx = mjx.put_data(m, d, backend_impl=backend_impl)
@@ -443,6 +458,8 @@ class DataIOTest(parameterized.TestCase):
     np.testing.assert_allclose(d_2.cvel, d.cvel)
     np.testing.assert_allclose(d_2.cdof_dot, d.cdof_dot)
     np.testing.assert_allclose(d_2.qM, d.qM)
+    np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
+    np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
 
     # only 1 contact active
     self.assertEqual(d_2.contact.dist.shape, (1,))
@@ -463,8 +480,27 @@ class DataIOTest(parameterized.TestCase):
 
     # efc_* are also shape transformed and filtered
     self.assertEqual(d_2.nefc, 14)
-    self.assertEqual(d_2.efc_J.shape, (112,))  # nefc * nv
-    np.testing.assert_allclose(d_2.efc_J, d.efc_J)
+    if sparse:
+      efc_j = np.zeros((d.nefc, m.nv))
+      mujoco.mju_sparse2dense(
+          efc_j,
+          d.efc_J,
+          d.efc_J_rownnz,
+          d.efc_J_rowadr,
+          d.efc_J_colind,
+      )
+      efc_j2 = np.zeros((d_2.nefc, m.nv))
+      mujoco.mju_sparse2dense(
+          efc_j2,
+          d_2.efc_J,
+          d_2.efc_J_rownnz,
+          d_2.efc_J_rowadr,
+          d_2.efc_J_colind,
+      )
+      np.testing.assert_allclose(efc_j, efc_j2)
+    else:
+      self.assertEqual(d_2.efc_J.shape, (112,))  # nefc * nv
+      np.testing.assert_allclose(d_2.efc_J, d.efc_J)
     self.assertEqual(d_2.efc_aref.shape, (14,))  # nefc
     np.testing.assert_allclose(d_2.efc_aref, d.efc_aref)
     np.testing.assert_allclose(d_2.contact.efc_address, d.contact.efc_address)
@@ -473,6 +509,16 @@ class DataIOTest(parameterized.TestCase):
       # check fields specific to the C implementation
       np.testing.assert_allclose(d_2.bvh_active, d.bvh_active)
 
+  def test_get_data_simplebody(self):
+    """Test that get_data works with simple bodies where nC < nM."""
+    m = mujoco.MjModel.from_xml_string(_SIMPLE_BODY)
+    d = mujoco.MjData(m)
+    mujoco.mj_step(m, d, 2)
+    dx = mjx.put_data(m, d)
+    d_2: mujoco.MjData = mjx.get_data(m, dx)
+    np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
+    np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
+
   def test_get_data_runs(self):
     xml = """
       <mujoco>

From bf1f8081c1b117225e855c6f397823f3a3521345 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 21 May 2025 07:51:59 -0700
Subject: [PATCH 161/191] Enable Visualization pane in Passive Viewer. Fixes
 #2158

PiperOrigin-RevId: 761522429
Change-Id: Ice4322ce413891893c89856e55f60a4f26010cf2
---
 simulate/simulate.cc | 63 +++++++++++++++++++-------------------------
 simulate/simulate.h  |  3 +++
 2 files changed, 30 insertions(+), 36 deletions(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 77db1a04..66087397 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -879,7 +879,7 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
   mjuiDef defVisualization[] = {
     {mjITEM_SECTION,   "Visualization", mjPRESERVE, nullptr, "AV"},
     {mjITEM_SEPARATOR, "Headlight",  1},
-    {mjITEM_RADIO,     "Active",          5, &(vis->headlight.active),     "Off\nOn"},
+    {mjITEM_RADIO,     "Active",          2, &(vis->headlight.active),     "Off\nOn"},
     {mjITEM_EDITFLOAT, "Ambient",         2, &(vis->headlight.ambient),    "3"},
     {mjITEM_EDITFLOAT, "Diffuse",         2, &(vis->headlight.diffuse),    "3"},
     {mjITEM_EDITFLOAT, "Specular",        2, &(vis->headlight.specular),   "3"},
@@ -892,7 +892,7 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
     {mjITEM_BUTTON,    "Align",           2, nullptr,                      "CA"},
     {mjITEM_SEPARATOR, "Global",  1},
     {mjITEM_EDITNUM,   "Extent",          2, &(stat->extent),              "1"},
-    {mjITEM_RADIO,     "Inertia",         5, &(vis->global.ellipsoidinertia), "Box\nEllipsoid"},
+    {mjITEM_RADIO,     "Inertia",         2, &(vis->global.ellipsoidinertia), "Box\nEllipsoid"},
     {mjITEM_RADIO,     "BVH active",      5, &(vis->global.bvactive), "False\nTrue"},
     {mjITEM_SEPARATOR, "Map",  1},
     {mjITEM_EDITFLOAT, "Stiffness",       2, &(vis->map.stiffness),        "1"},
@@ -1931,43 +1931,25 @@ void Simulate::Sync() {
     }
   }
 
+  // in passive mode, synchronize user's mjModel with changes made via the UI
   if (is_passive_) {
-    // synchronize m_->opt with changes made via the UI
-#define X(name)                                              \
-  if (IsDifferent(m_passive_->opt.name, mjopt_prev_.name)) { \
-    pending_.ui_update_physics = true;                       \
-    Copy(m_->opt.name, m_passive_->opt.name);                \
-  }
+    // synchronize mjModel.opt
+    if (std::memcmp(&m_passive_->opt, &mjopt_prev_, sizeof(mjOption))) {
+      pending_.ui_update_physics = true;
+      m_->opt = m_passive_->opt;
+    }
 
-    X(timestep);
-    X(apirate);
-    X(impratio);
-    X(tolerance);
-    X(noslip_tolerance);
-    X(ccd_tolerance);
-    X(gravity);
-    X(wind);
-    X(magnetic);
-    X(density);
-    X(viscosity);
-    X(o_margin);
-    X(o_solref);
-    X(o_solimp);
-    X(o_friction);
-    X(integrator);
-    X(cone);
-    X(jacobian);
-    X(solver);
-    X(iterations);
-    X(noslip_iterations);
-    X(ccd_iterations);
-    X(disableflags);
-    X(enableflags);
-    X(disableactuator);
-    X(sdf_initpoints);
-    X(sdf_iterations);
+    // synchronize mjModel.vis
+    if (std::memcmp(&m_passive_->vis, &mjvis_prev_, sizeof(mjVisual))) {
+      pending_.ui_update_visualization = true;
+      m_->vis = m_passive_->vis;
+    }
 
-  #undef X
+    // synchronize mjModel.stat
+    if (std::memcmp(&m_passive_->stat, &mjstat_prev_, sizeof(mjStatistic))) {
+      pending_.ui_update_visualization = true;
+      m_->stat = m_passive_->stat;
+    }
 
     // synchronize number of mjWARN_VGEOMFULL warnings
     if (d_passive_->warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
@@ -2150,6 +2132,8 @@ void Simulate::Sync() {
     }
 
     mjopt_prev_ = m_passive_->opt;
+    mjvis_prev_ = m_passive_->vis;
+    mjstat_prev_ = m_passive_->stat;
     warn_vgeomfull_prev_ = d_passive_->warning[mjWARN_VGEOMFULL].number;
   }
 
@@ -2471,6 +2455,13 @@ void Simulate::Render() {
     pending_.ui_update_physics = false;
   }
 
+  if (pending_.ui_update_visualization) {
+    if (this->ui0_enable && this->ui0.sect[SECT_VISUALIZATION].state) {
+      mjui0_update_section(this, SECT_VISUALIZATION);
+    }
+    pending_.ui_update_visualization = false;
+  }
+
   if (is_passive_) {
     if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
         (cam_prev_.type != cam.type ||
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 312b5db7..70b4ddf4 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -137,6 +137,8 @@ class Simulate {
   std::vector<mjvGeom> user_scn_geoms_;
 
   mjOption mjopt_prev_;
+  mjVisual mjvis_prev_;
+  mjStatistic mjstat_prev_;
   mjvOption opt_prev_;
   mjvCamera cam_prev_;
 
@@ -162,6 +164,7 @@ class Simulate {
     bool ui_update_simulation;
     bool ui_update_physics;
     bool ui_update_rendering;
+    bool ui_update_visualization;
     bool ui_update_joint;
     bool ui_update_ctrl;
     bool ui_remake_ctrl;

From 62a9d5b98d80ad6cc8b7756e9284194d05b108ad Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 21 May 2025 13:02:32 -0700
Subject: [PATCH 162/191] Add MjcPhysicsSceneAPI support.

Still missing compiler settings but will follow up in a future CL. Tried to add full coverage for testing setting of attributes to non-default values.

PiperOrigin-RevId: 761636862
Change-Id: Id4b9486645b2600931556cdcb8dc71f28ec309cd
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 234 ++++++++--
 .../usd/mjcPhysics/mjc_physics_scene_test.cc  | 190 ++++++++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 426 +++++++++++++++++-
 test/experimental/usd/test_utils.cc           |   4 +-
 test/experimental/usd/test_utils.h            |  10 +-
 5 files changed, 829 insertions(+), 35 deletions(-)
 create mode 100644 test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 45d59d66..289177b2 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -18,6 +18,7 @@
 #include <cstddef>
 #include <string>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <mujoco/mujoco.h>
@@ -47,6 +48,7 @@
 #include <pxr/usd/sdf/path.h>
 #include <pxr/usd/sdf/schema.h>
 #include <pxr/usd/sdf/types.h>
+#include <pxr/usd/sdf/valueTypeName.h>
 #include <pxr/usd/usdGeom/metrics.h>
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdLux/tokens.h>
@@ -114,6 +116,8 @@ using pxr::TfCallContext;
 using pxr::Tf_PostErrorHelper;
 // clang-format on
 
+using pxr::MjcPhysicsTokens;
+
 using mujoco::usd::AddAttributeConnection;
 using mujoco::usd::AddPrimInherit;
 using mujoco::usd::AddPrimReference;
@@ -175,6 +179,8 @@ class ModelWriter {
     SetLayerMetadata(data_, pxr::SdfFieldKeys->DefaultPrim,
                      body_paths_[kWorldIndex].GetNameToken());
 
+    WritePhysicsScene();
+
     // Author mesh scope + mesh prims to be referenced.
     WriteMeshes();
     WriteMaterials();
@@ -304,6 +310,15 @@ class ModelWriter {
     SetAttributeDefault(data_, xform_op_order_path, order);
   }
 
+  template <typename T>
+  void WriteUniformAttribute(const pxr::SdfPath &prim_path,
+                             const pxr::SdfValueTypeName &value_type_name,
+                             const pxr::TfToken &token, const T &value) {
+    pxr::SdfPath attr_path = CreateAttributeSpec(
+        data_, prim_path, token, value_type_name, pxr::SdfVariabilityUniform);
+    SetAttributeDefault(data_, attr_path, value);
+  }
+
   void PrependToXformOpOrder(const pxr::SdfPath &prim_path,
                              const pxr::VtArray<pxr::TfToken> &order) {
     auto xform_op_order_path =
@@ -432,6 +447,185 @@ class ModelWriter {
                         pxr::UsdGeomTokens->none);
   }
 
+  void WritePhysicsScene() {
+    pxr::SdfPath physics_scene_path = CreatePrimSpec(
+        data_, body_paths_[kWorldIndex], pxr::UsdPhysicsTokens->PhysicsScene,
+        pxr::UsdPhysicsTokens->PhysicsScene);
+
+    ApplyApiSchema(data_, physics_scene_path, MjcPhysicsTokens->SceneAPI);
+
+    const std::vector<std::pair<pxr::TfToken, double>>
+        option_double_attributes = {
+            {MjcPhysicsTokens->mjcOptionTimestep, spec_->option.timestep},
+            {MjcPhysicsTokens->mjcOptionTolerance, spec_->option.tolerance},
+            {MjcPhysicsTokens->mjcOptionLs_tolerance,
+             spec_->option.ls_tolerance},
+            {MjcPhysicsTokens->mjcOptionNoslip_tolerance,
+             spec_->option.noslip_tolerance},
+            {MjcPhysicsTokens->mjcOptionCcd_tolerance,
+             spec_->option.ccd_tolerance},
+            {MjcPhysicsTokens->mjcOptionApirate, spec_->option.apirate},
+            {MjcPhysicsTokens->mjcOptionImpratio, spec_->option.impratio},
+            {MjcPhysicsTokens->mjcOptionDensity, spec_->option.density},
+            {MjcPhysicsTokens->mjcOptionViscosity, spec_->option.viscosity},
+            {MjcPhysicsTokens->mjcOptionO_margin, spec_->option.o_margin},
+        };
+    for (const auto &[token, value] : option_double_attributes) {
+      WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Double,
+                            token, value);
+    }
+
+    const std::vector<std::pair<pxr::TfToken, int>> option_int_attributes = {
+        {MjcPhysicsTokens->mjcOptionIterations, spec_->option.iterations},
+        {MjcPhysicsTokens->mjcOptionLs_iterations, spec_->option.ls_iterations},
+        {MjcPhysicsTokens->mjcOptionNoslip_iterations,
+         spec_->option.noslip_iterations},
+        {MjcPhysicsTokens->mjcOptionCcd_iterations,
+         spec_->option.ccd_iterations},
+        {MjcPhysicsTokens->mjcOptionSdf_iterations,
+         spec_->option.sdf_iterations},
+        {MjcPhysicsTokens->mjcOptionSdf_initpoints,
+         spec_->option.sdf_initpoints},
+    };
+    for (const auto &[token, value] : option_int_attributes) {
+      WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Int,
+                            token, value);
+    }
+
+    pxr::SdfPath cone_attr = CreateAttributeSpec(
+        data_, physics_scene_path, MjcPhysicsTokens->mjcOptionCone,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+
+    switch (spec_->option.cone) {
+      case mjCONE_PYRAMIDAL:
+        SetAttributeDefault(data_, cone_attr, MjcPhysicsTokens->pyramidal);
+        break;
+      case mjCONE_ELLIPTIC:
+        SetAttributeDefault(data_, cone_attr, MjcPhysicsTokens->elliptic);
+        break;
+      default:
+        break;
+    }
+
+    pxr::SdfPath jacobian_attr = CreateAttributeSpec(
+        data_, physics_scene_path, MjcPhysicsTokens->mjcOptionJacobian,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+
+    switch (spec_->option.jacobian) {
+      case mjJAC_AUTO:
+        SetAttributeDefault(data_, jacobian_attr, MjcPhysicsTokens->auto_);
+        break;
+      case mjJAC_DENSE:
+        SetAttributeDefault(data_, jacobian_attr, MjcPhysicsTokens->dense);
+        break;
+      case mjJAC_SPARSE:
+        SetAttributeDefault(data_, jacobian_attr, MjcPhysicsTokens->sparse);
+        break;
+      default:
+        break;
+    }
+
+    pxr::SdfPath solver_attr = CreateAttributeSpec(
+        data_, physics_scene_path, MjcPhysicsTokens->mjcOptionSolver,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+    switch (spec_->option.solver) {
+      case mjSOL_NEWTON:
+        SetAttributeDefault(data_, solver_attr, MjcPhysicsTokens->newton);
+        break;
+      case mjSOL_PGS:
+        SetAttributeDefault(data_, solver_attr, MjcPhysicsTokens->pgs);
+        break;
+      case mjSOL_CG:
+        SetAttributeDefault(data_, solver_attr, MjcPhysicsTokens->cg);
+        break;
+      default:
+        break;
+    }
+
+    pxr::GfVec3d wind(spec_->option.wind[0], spec_->option.wind[1],
+                      spec_->option.wind[2]);
+    WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Double3,
+                          MjcPhysicsTokens->mjcOptionWind, wind);
+
+    pxr::GfVec3d magnetic(spec_->option.magnetic[0], spec_->option.magnetic[1],
+                          spec_->option.magnetic[2]);
+    WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Double3,
+                          MjcPhysicsTokens->mjcOptionMagnetic, magnetic);
+
+    pxr::VtArray<double> o_solref(spec_->option.o_solref,
+                                  spec_->option.o_solref + 2);
+    WriteUniformAttribute(physics_scene_path,
+                          pxr::SdfValueTypeNames->DoubleArray,
+                          MjcPhysicsTokens->mjcOptionO_solref, o_solref);
+
+    pxr::VtArray<double> o_solimp(spec_->option.o_solimp,
+                                  spec_->option.o_solimp + 5);
+    WriteUniformAttribute(physics_scene_path,
+                          pxr::SdfValueTypeNames->DoubleArray,
+                          MjcPhysicsTokens->mjcOptionO_solimp, o_solimp);
+
+    pxr::VtArray<double> o_friction(spec_->option.o_friction,
+                                    spec_->option.o_friction + 5);
+    WriteUniformAttribute(physics_scene_path,
+                          pxr::SdfValueTypeNames->DoubleArray,
+                          MjcPhysicsTokens->mjcOptionO_friction, o_friction);
+
+    pxr::SdfPath integrator_attr = CreateAttributeSpec(
+        data_, physics_scene_path, MjcPhysicsTokens->mjcOptionIntegrator,
+        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
+    switch (spec_->option.integrator) {
+      case mjINT_EULER:
+        SetAttributeDefault(data_, integrator_attr, MjcPhysicsTokens->euler);
+        break;
+      case mjINT_RK4:
+        SetAttributeDefault(data_, integrator_attr, MjcPhysicsTokens->rk4);
+        break;
+      default:
+        break;
+    }
+
+    auto create_flag_attr = [&](pxr::TfToken token, int flag, bool enable) {
+      int flags =
+          enable ? spec_->option.enableflags : spec_->option.disableflags;
+      bool value = enable ? (flags & flag) : !(flags & flag);
+      WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Bool,
+                            token, value);
+    };
+
+    const std::vector<std::pair<pxr::TfToken, int>> enable_flags = {
+        {MjcPhysicsTokens->mjcFlagMulticcd, mjENBL_MULTICCD},
+        {MjcPhysicsTokens->mjcFlagIsland, mjENBL_ISLAND},
+        {MjcPhysicsTokens->mjcFlagFwdinv, mjENBL_FWDINV},
+        {MjcPhysicsTokens->mjcFlagEnergy, mjENBL_ENERGY},
+        {MjcPhysicsTokens->mjcFlagOverride, mjENBL_OVERRIDE},
+        {MjcPhysicsTokens->mjcFlagInvdiscrete, mjENBL_INVDISCRETE}};
+    for (const auto &[token, flag] : enable_flags) {
+      create_flag_attr(token, flag, true);
+    }
+
+    const std::vector<std::pair<pxr::TfToken, int>> disable_flags = {
+        {MjcPhysicsTokens->mjcFlagConstraint, mjDSBL_CONSTRAINT},
+        {MjcPhysicsTokens->mjcFlagEquality, mjDSBL_EQUALITY},
+        {MjcPhysicsTokens->mjcFlagFrictionloss, mjDSBL_FRICTIONLOSS},
+        {MjcPhysicsTokens->mjcFlagLimit, mjDSBL_LIMIT},
+        {MjcPhysicsTokens->mjcFlagContact, mjDSBL_CONTACT},
+        {MjcPhysicsTokens->mjcFlagPassive, mjDSBL_PASSIVE},
+        {MjcPhysicsTokens->mjcFlagGravity, mjDSBL_GRAVITY},
+        {MjcPhysicsTokens->mjcFlagClampctrl, mjDSBL_CLAMPCTRL},
+        {MjcPhysicsTokens->mjcFlagWarmstart, mjDSBL_WARMSTART},
+        {MjcPhysicsTokens->mjcFlagFilterparent, mjDSBL_FILTERPARENT},
+        {MjcPhysicsTokens->mjcFlagActuation, mjDSBL_ACTUATION},
+        {MjcPhysicsTokens->mjcFlagRefsafe, mjDSBL_REFSAFE},
+        {MjcPhysicsTokens->mjcFlagSensor, mjDSBL_SENSOR},
+        {MjcPhysicsTokens->mjcFlagMidphase, mjDSBL_MIDPHASE},
+        {MjcPhysicsTokens->mjcFlagEulerdamp, mjDSBL_EULERDAMP},
+        {MjcPhysicsTokens->mjcFlagAutoreset, mjDSBL_AUTORESET},
+        {MjcPhysicsTokens->mjcFlagNativeccd, mjDSBL_NATIVECCD}};
+    for (const auto &[token, flag] : disable_flags) {
+      create_flag_attr(token, flag, false);
+    }
+  }
+
   void WriteMeshes() {
     // Create a scope for the meshes to keep things organized
     pxr::SdfPath scope_path =
@@ -835,7 +1029,7 @@ class ModelWriter {
     pxr::SdfPath site_path = WriteSiteGeom(site, body_path);
     SetPrimPurpose(data_, site_path, pxr::UsdGeomTokens->guide);
 
-    ApplyApiSchema(data_, site_path, pxr::MjcPhysicsTokens->SiteAPI);
+    ApplyApiSchema(data_, site_path, MjcPhysicsTokens->SiteAPI);
 
     int site_id = mjs_getId(site->element);
     auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
@@ -1022,26 +1216,17 @@ class ModelWriter {
                             (cam_sensorsize[0] / 2.f - cam_intrinsic[2])
                       : vertical_apperture * aspect_ratio;
 
-    pxr::SdfPath clipping_range_attr_path = CreateAttributeSpec(
-        data_, camera_path, pxr::UsdGeomTokens->clippingRange,
-        pxr::SdfValueTypeNames->Float2);
-    SetAttributeDefault(data_, clipping_range_attr_path,
-                        pxr::GfVec2f(znear, zfar));
-    pxr::SdfPath focal_length_attr_path =
-        CreateAttributeSpec(data_, camera_path, pxr::UsdGeomTokens->focalLength,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, focal_length_attr_path, znear);
-
-    pxr::SdfPath vertical_aperture_attr_path = CreateAttributeSpec(
-        data_, camera_path, pxr::UsdGeomTokens->verticalAperture,
-        pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, vertical_aperture_attr_path, vertical_apperture);
-
-    pxr::SdfPath horizontal_aperture_attr_path = CreateAttributeSpec(
-        data_, camera_path, pxr::UsdGeomTokens->horizontalAperture,
-        pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, horizontal_aperture_attr_path,
-                        horizontal_aperture);
+    WriteUniformAttribute(camera_path, pxr::SdfValueTypeNames->Float2,
+                          pxr::UsdGeomTokens->clippingRange,
+                          pxr::GfVec2f(znear, zfar));
+    WriteUniformAttribute(camera_path, pxr::SdfValueTypeNames->Float,
+                          pxr::UsdGeomTokens->focalLength, znear);
+    WriteUniformAttribute(camera_path, pxr::SdfValueTypeNames->Float,
+                          pxr::UsdGeomTokens->verticalAperture,
+                          vertical_apperture);
+    WriteUniformAttribute(camera_path, pxr::SdfValueTypeNames->Float,
+                          pxr::UsdGeomTokens->horizontalAperture,
+                          horizontal_aperture);
   }
 
   void WriteCameras(mjsBody *body) {
@@ -1105,10 +1290,6 @@ class ModelWriter {
     }
 
     // Create XformOp attribute for body transform.
-    pxr::SdfPath xform_op_path =
-        CreateAttributeSpec(data_, body_path, kTokens->xformOpTransform,
-                            pxr::SdfValueTypeNames->Matrix4d);
-
     // Make sure to account for the parent since UsdPhysics doesn't support
     // nested bodies!
     auto parent_xform = body_xforms_[model_->body_parentid[body_id]];
@@ -1118,7 +1299,8 @@ class ModelWriter {
         MujocoPosQuatToTransform(&model_->body_pos[body_id * 3],
                                  &model_->body_quat[body_id * 4]) *
         parent_xform;
-    SetAttributeDefault(data_, xform_op_path, body_xforms_[body_id]);
+    WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Matrix4d,
+                          kTokens->xformOpTransform, body_xforms_[body_id]);
 
     // Create XformOpOrder attribute for body transform order.
     // For us this is simply the transform we authored above.
diff --git a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
new file mode 100644
index 00000000..534dcffe
--- /dev/null
+++ b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
@@ -0,0 +1,190 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mujoco.h>
+#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
+#include "test/fixture.h"
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/vt/types.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdPhysics/scene.h>
+
+namespace mujoco {
+namespace {
+
+using pxr::SdfPath;
+using MjcPhysicsSceneTest = MujocoTest;
+using testing::NotNull;
+
+// clang-format off
+#define EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr) \
+  {                                                                   \
+    type value;                                                     \
+    mjc_phys_scene.Get##usd_attr##Attr().Get(&value);                 \
+    EXPECT_EQ((mjtNum)value, default_model->opt.mjc_attr);            \
+  }
+
+
+#define EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
+    EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(double, usd_attr, mjc_attr)
+
+#define EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
+  {                                                                         \
+    bool flag;                                                              \
+    mjc_phys_scene.Get##usd_attr##Attr().Get(&flag);                        \
+    EXPECT_NE(flag, default_model->opt.disableflags & (mjc_flag));          \
+  }
+
+#define EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
+  {                                                                         \
+    bool flag;                                                              \
+    mjc_phys_scene.Get##usd_attr##Attr().Get(&flag);                        \
+    EXPECT_EQ(flag, default_model->opt.enableflags & (mjc_flag));          \
+  }
+
+
+#define EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
+    EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(int, usd_attr, mjc_attr)
+
+#define EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
+  {                                                                   \
+    pxr::GfVec3d value;                                               \
+    mjc_phys_scene.Get##usd_attr##Attr().Get(&value);                 \
+    EXPECT_EQ(value[0], default_model->opt.mjc_attr[0]);              \
+    EXPECT_EQ(value[1], default_model->opt.mjc_attr[1]);              \
+    EXPECT_EQ(value[2], default_model->opt.mjc_attr[2]);              \
+  }
+
+#define EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr)\
+  {                                                                      \
+    pxr::Vt##type##Array mjc_attr;                                         \
+    mjc_phys_scene.Get##usd_attr##Attr().Get(&mjc_attr);                 \
+    EXPECT_THAT(                                                         \
+            mjc_attr,                                                    \
+            testing::ElementsAreArray(default_model->opt.mjc_attr)       \
+    );                                                                   \
+  }
+
+#define EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
+     EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Double, usd_attr, mjc_attr)
+
+#define EXPECT_INT_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
+     EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Int, usd_attr, mjc_attr)
+// clang-format on
+
+TEST_F(MjcPhysicsSceneTest, TestDefaults) {
+  auto stage = pxr::UsdStage::CreateInMemory();
+
+  auto physics_scene =
+      pxr::UsdPhysicsScene::Define(stage, SdfPath("/World/PhysicsScene"));
+
+  auto mjc_phys_scene = pxr::MjcPhysicsSceneAPI::Apply(physics_scene.GetPrim());
+
+  mjSpec* empty_spec = mj_makeSpec();
+  mjModel* default_model = mj_compile(empty_spec, nullptr);
+  EXPECT_THAT(default_model, NotNull());
+
+  // Check that all the USD schema fallback values are the same
+  // as the model defaults.
+  // If this test is failing due to an update of defaults in Mujoco you need to
+  // update mjcPhysics/schema.usda.
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Timestep, timestep);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ApiRate, apirate);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ImpRatio, impratio);
+
+  EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Wind, wind);
+  EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Magnetic, magnetic);
+
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Density, density);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Viscosity, viscosity);
+
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(OMargin, o_margin);
+  EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolRef, o_solref);
+  EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolImp, o_solimp);
+  EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OFriction, o_friction);
+
+  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(Iterations, iterations);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Tolerance, tolerance);
+  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(LSIterations, ls_iterations);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(LSTolerance, ls_tolerance);
+  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipIterations, noslip_iterations);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipTolerance, noslip_tolerance);
+  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDIterations, ccd_iterations);
+  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDTolerance, ccd_tolerance);
+  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFIterations, sdf_iterations);
+  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFInitPoints, sdf_initpoints);
+
+  // We store the actuator disable groups as an array of integers, but the
+  // model stores it as a bitmask.
+  pxr::VtIntArray actuator_group_disable;
+  mjc_phys_scene.GetActuatorGroupDisableAttr().Get(&actuator_group_disable);
+  int bitmask = 0;
+  for (int ind : actuator_group_disable) {
+    bitmask |= 1 << ind;
+  }
+  EXPECT_EQ(default_model->opt.disableactuator, bitmask);
+
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ConstraintFlag,
+                                                    mjDSBL_CONSTRAINT);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EqualityFlag,
+                                                    mjDSBL_EQUALITY);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FrictionLossFlag,
+                                                    mjDSBL_FRICTIONLOSS);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(LimitFlag, mjDSBL_LIMIT);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ContactFlag,
+                                                    mjDSBL_CONTACT);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(PassiveFlag,
+                                                    mjDSBL_PASSIVE);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(GravityFlag,
+                                                    mjDSBL_GRAVITY);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ClampCtrlFlag,
+                                                    mjDSBL_CLAMPCTRL);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(WarmStartFlag,
+                                                    mjDSBL_WARMSTART);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FilterParentFlag,
+                                                    mjDSBL_FILTERPARENT);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ActuationFlag,
+                                                    mjDSBL_ACTUATION);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(RefSafeFlag,
+                                                    mjDSBL_REFSAFE);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SensorFlag, mjDSBL_SENSOR);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MidPhaseFlag,
+                                                    mjDSBL_MIDPHASE);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(NativeCCDFlag,
+                                                    mjDSBL_NATIVECCD);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EulerDampFlag,
+                                                    mjDSBL_EULERDAMP);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
+                                                    mjDSBL_AUTORESET);
+
+  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
+                                                   mjENBL_OVERRIDE);
+  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EnergyFlag, mjENBL_ENERGY);
+  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FwdinvFlag, mjENBL_FWDINV);
+  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(InvDiscreteFlag,
+                                                   mjENBL_INVDISCRETE);
+  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
+                                                   mjENBL_MULTICCD);
+  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(IslandFlag, mjENBL_ISLAND);
+
+  mj_deleteModel(default_model);
+  mj_deleteSpec(empty_spec);
+}
+
+}  // namespace
+}  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 8186af02..b1359540 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -19,9 +19,11 @@
 #include <gtest/gtest.h>
 #include "src/experimental/usd/mjcPhysics/sceneAPI.h"
 #include "src/experimental/usd/mjcPhysics/siteAPI.h"
+#include "src/experimental/usd/mjcPhysics/tokens.h"
 #include "test/experimental/usd/test_utils.h"
 #include "test/fixture.h"
 #include <pxr/base/gf/vec2f.h>
+#include <pxr/base/gf/vec3d.h>
 #include <pxr/base/gf/vec3f.h>
 #include <pxr/base/tf/staticData.h>
 #include <pxr/base/tf/staticTokens.h>
@@ -49,6 +51,7 @@
 #include <pxr/usd/usdPhysics/collisionAPI.h>
 #include <pxr/usd/usdPhysics/meshCollisionAPI.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
+#include <pxr/usd/usdPhysics/scene.h>
 #include <pxr/usd/usdPhysics/tokens.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
@@ -63,6 +66,8 @@ namespace mujoco {
 namespace usd {
 namespace {
 
+using pxr::MjcPhysicsSiteAPI;
+using pxr::MjcPhysicsTokens;
 using pxr::SdfPath;
 using MjcfSdfFileFormatPluginTest = MujocoTest;
 
@@ -499,6 +504,417 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
                        pxr::GfVec3f(10.0, 20.0, 30.0));
 }
 
+static const pxr::SdfPath kPhysicsScenePrimPath("/test/PhysicsScene");
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTimestep) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option timestep="0.005"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionTimestep),
+      0.005);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCone) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option cone="elliptic"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionCone),
+      MjcPhysicsTokens->elliptic);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimWind) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option wind="1 2 3"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionWind),
+      pxr::GfVec3d(1, 2, 3));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimApirate) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option apirate="1.2"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionApirate),
+      1.2);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimImpratio) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option impratio="0.8"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionImpratio),
+      0.8);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimMagnetic) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option magnetic="1 2 3"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionMagnetic),
+      pxr::GfVec3d(1, 2, 3));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDensity) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option density="1.2"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionDensity),
+      1.2);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimViscosity) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option viscosity="0.8"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionViscosity),
+                       0.8);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_margin) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option o_margin="0.001"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_margin),
+      0.001);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_solref) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option o_solref="0.1 0.2"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_solref),
+      pxr::VtArray<double>({0.1, 0.2}));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_solimp) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option o_solimp="0.1 0.2 0.3 0.4 0.5"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_solimp),
+      pxr::VtArray<double>({0.1, 0.2, 0.3, 0.4, 0.5}));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTolerance) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option tolerance="0.0012"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionTolerance),
+                       0.0012);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSTolerance) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option ls_tolerance="0.0034"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionLs_tolerance),
+                       0.0034);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimNoslipTolerance) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option noslip_tolerance="0.0056"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionNoslip_tolerance),
+                       0.0056);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCCDTolerance) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option ccd_tolerance="0.0078"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionCcd_tolerance),
+                       0.0078);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimOFriction) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option o_friction="0.1 0.2 0.3 0.4 0.5"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionO_friction),
+                       pxr::VtArray<double>({0.1, 0.2, 0.3, 0.4, 0.5}));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIntegrator) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option integrator="RK4"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionIntegrator),
+                       MjcPhysicsTokens->rk4);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimJacobian) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option jacobian="sparse"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionJacobian),
+      MjcPhysicsTokens->sparse);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSolver) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option solver="CG"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(
+      stage,
+      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionSolver),
+      MjcPhysicsTokens->cg);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIterations) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option iterations="10"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionIterations),
+                       10);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSIterations) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option ls_iterations="20"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionLs_iterations),
+                       20);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimNoslipIterations) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option noslip_iterations="30"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionNoslip_iterations),
+                       30);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCCDIterations) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option ccd_iterations="40"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionCcd_iterations),
+                       40);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFInitPoints) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option sdf_initpoints="50"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionSdf_initpoints),
+                       50);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFIterations) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option sdf_iterations="60"> </option>
+    </mujoco>
+  )"));
+
+  ExpectAttributeEqual(stage,
+                       kPhysicsScenePrimPath.AppendProperty(
+                           MjcPhysicsTokens->mjcOptionSdf_iterations),
+                       60);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option>
+        <flag
+          constraint="disable"
+          equality="disable"
+          frictionloss="disable"
+          limit="disable"
+          contact="disable"
+          passive="disable"
+          gravity="disable"
+          clampctrl="disable"
+          warmstart="disable"
+          filterparent="disable"
+          actuation="disable"
+          refsafe="disable"
+          sensor="disable"
+          midphase="disable"
+          nativeccd="disable"
+          eulerdamp="disable"
+          autoreset="disable"
+        />
+      </option>
+    </mujoco>
+  )"));
+
+  const std::vector<pxr::TfToken> kFlags = {
+      MjcPhysicsTokens->mjcFlagConstraint,
+      MjcPhysicsTokens->mjcFlagEquality,
+      MjcPhysicsTokens->mjcFlagFrictionloss,
+      MjcPhysicsTokens->mjcFlagLimit,
+      MjcPhysicsTokens->mjcFlagContact,
+      MjcPhysicsTokens->mjcFlagPassive,
+      MjcPhysicsTokens->mjcFlagGravity,
+      MjcPhysicsTokens->mjcFlagClampctrl,
+      MjcPhysicsTokens->mjcFlagWarmstart,
+      MjcPhysicsTokens->mjcFlagFilterparent,
+      MjcPhysicsTokens->mjcFlagActuation,
+      MjcPhysicsTokens->mjcFlagRefsafe,
+      MjcPhysicsTokens->mjcFlagSensor,
+      MjcPhysicsTokens->mjcFlagMidphase,
+      MjcPhysicsTokens->mjcFlagNativeccd,
+      MjcPhysicsTokens->mjcFlagEulerdamp,
+      MjcPhysicsTokens->mjcFlagAutoreset,
+  };
+  for (const auto& flag : kFlags) {
+    ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
+                         false);
+  }
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimEnableFlags) {
+  auto stage = pxr::UsdStage::Open(LoadLayer(R"(
+    <mujoco model="test">
+      <option>
+        <flag
+          override="enable"
+          energy="enable"
+          fwdinv="enable"
+          invdiscrete="enable"
+          multiccd="enable"
+          island="enable"
+        />
+      </option>
+    </mujoco>
+  )"));
+
+  // clang-format off
+  const std::vector<pxr::TfToken> kFlags = {
+      MjcPhysicsTokens->mjcFlagOverride,
+      MjcPhysicsTokens->mjcFlagEnergy,
+      MjcPhysicsTokens->mjcFlagFwdinv,
+      MjcPhysicsTokens->mjcFlagInvdiscrete,
+      MjcPhysicsTokens->mjcFlagMulticcd,
+      MjcPhysicsTokens->mjcFlagIsland,
+  };
+  // clang-format on
+  for (const auto& flag : kFlags) {
+    ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
+                         true);
+  }
+}
+
 static constexpr char kSiteXml[] = R"(
     <mujoco model="test">
       <worldbody>
@@ -520,28 +936,28 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_VALID(stage, "/test/box_site");
   EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", MjcPhysicsSiteAPI);
 
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere);
   EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/sphere_site",
-                          pxr::MjcPhysicsSiteAPI);
+                          MjcPhysicsSiteAPI);
 
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule);
   EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/capsule_site",
-                          pxr::MjcPhysicsSiteAPI);
+                          MjcPhysicsSiteAPI);
 
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site",
                    pxr::UsdGeomCylinder);
   EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/cylinder_site",
-                          pxr::MjcPhysicsSiteAPI);
+                          MjcPhysicsSiteAPI);
 
   EXPECT_PRIM_VALID(stage, "/test/ball/ball/ellipsoid_site");
   EXPECT_PRIM_IS_A(stage, "/test/ball/ball/ellipsoid_site", pxr::UsdGeomSphere);
   EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/ellipsoid_site",
-                          pxr::MjcPhysicsSiteAPI);
+                          MjcPhysicsSiteAPI);
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
diff --git a/test/experimental/usd/test_utils.cc b/test/experimental/usd/test_utils.cc
index 8bfc30e0..a4e93240 100644
--- a/test/experimental/usd/test_utils.cc
+++ b/test/experimental/usd/test_utils.cc
@@ -44,9 +44,9 @@ pxr::SdfLayerRefPtr LoadLayer(
 
 template <>
 void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
-                                             const char* path,
+                                             pxr::SdfPath path,
                                              const pxr::SdfAssetPath& value) {
-  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
+  auto attr = stage->GetAttributeAtPath(path);
   EXPECT_TRUE(attr.IsValid());
   pxr::SdfAssetPath attr_value;
   attr.Get(&attr_value);
diff --git a/test/experimental/usd/test_utils.h b/test/experimental/usd/test_utils.h
index ec5e3de7..69075ab3 100644
--- a/test/experimental/usd/test_utils.h
+++ b/test/experimental/usd/test_utils.h
@@ -74,7 +74,7 @@ pxr::SdfLayerRefPtr LoadLayer(
     const pxr::SdfFileFormat::FileFormatArguments& args = {});
 
 template <typename T>
-void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
+void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, pxr::SdfPath path,
                           const T& value) {
   auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
   EXPECT_TRUE(attr.IsValid()) << "Attribute " << path << " is not valid";
@@ -84,13 +84,19 @@ void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
                                << attr_value << ". Expected: " << value;
 }
 
+template <typename T>
+void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
+                          const T& value) {
+  ExpectAttributeEqual(stage, pxr::SdfPath(path), value);
+}
+
 // Specialization for SdfAssetPath, so that we can compare only the asset path
 // and not care about whatever the resolved path is.
 // Otherwise the default operator== would fail because it tests for equality of
 // the asset path AND the resolved path.
 template <>
 void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
-                                             const char* path,
+                                             pxr::SdfPath,
                                              const pxr::SdfAssetPath& value);
 
 void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,

From 3e9bc79b54fab5644f7649aea38a083f101e34b0 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Thu, 22 May 2025 04:32:04 -0700
Subject: [PATCH 163/191] Adds color space to textures.

PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
---
 doc/XMLreference.rst                 |  6 ++++
 doc/XMLschema.rst                    | 12 ++++----
 doc/includes/references.h            |  7 +++++
 include/mujoco/mjmodel.h             |  8 +++++
 include/mujoco/mjspec.h              |  1 +
 include/mujoco/mjxmacro.h            |  1 +
 python/mujoco/introspect/enums.py    | 10 ++++++
 python/mujoco/introspect/structs.py  | 13 ++++++++
 src/render/render_context.c          |  9 ++++--
 src/user/user_init.c                 |  1 +
 src/user/user_model.cc               |  1 +
 src/user/user_objects.cc             | 46 ++++++++++++++++++++++------
 src/user/user_objects.h              |  6 ++--
 src/xml/xml_base.h                   |  2 ++
 src/xml/xml_native_reader.cc         | 16 ++++++++--
 src/xml/xml_native_writer.cc         |  1 +
 unity/Runtime/Bindings/MjBindings.cs |  6 ++++
 17 files changed, 123 insertions(+), 23 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index a57f1a1f..b2ce9370 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1526,6 +1526,12 @@ still be specified here but this functionality is now deprecated and will be rem
    with the texrepeat attribute of :ref:`material <asset-material>`. The data can be loaded from a single file or
    created procedurally.
 
+.. _asset-texture-colorspace:
+
+:at:`colorspace`: :at-val:`[auto, linear, sRGB], "auto"`
+   This attribute determines the color space of the texture. The default value ``auto`` means that the color space will
+   be determined from the image file itself.  If no color space is defined in the file, then ``linear`` is assumed.
+
 .. _asset-texture-content_type:
 
 :at:`content_type`: :at-val:`string, optional`
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 1306115e..bd71743b 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -153,17 +153,17 @@
 | :ref:`texture                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <asset-texture>`                   |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-texture-name>`                                 | :ref:`type<asset-texture-type>`                                 | :ref:`content_type<asset-texture-content_type>`                 | :ref:`file<asset-texture-file>`                                 | |
+|                                    |    |    | :ref:`name<asset-texture-name>`                                 | :ref:`type<asset-texture-type>`                                 | :ref:`colorspace<asset-texture-colorspace>`                     | :ref:`content_type<asset-texture-content_type>`                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gridsize<asset-texture-gridsize>`                         | :ref:`gridlayout<asset-texture-gridlayout>`                     | :ref:`fileright<asset-texture-fileright>`                       | :ref:`fileleft<asset-texture-fileleft>`                         | |
+|                                    |    |    | :ref:`file<asset-texture-file>`                                 | :ref:`gridsize<asset-texture-gridsize>`                         | :ref:`gridlayout<asset-texture-gridlayout>`                     | :ref:`fileright<asset-texture-fileright>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fileup<asset-texture-fileup>`                             | :ref:`filedown<asset-texture-filedown>`                         | :ref:`filefront<asset-texture-filefront>`                       | :ref:`fileback<asset-texture-fileback>`                         | |
+|                                    |    |    | :ref:`fileleft<asset-texture-fileleft>`                         | :ref:`fileup<asset-texture-fileup>`                             | :ref:`filedown<asset-texture-filedown>`                         | :ref:`filefront<asset-texture-filefront>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`builtin<asset-texture-builtin>`                           | :ref:`rgb1<asset-texture-rgb1>`                                 | :ref:`rgb2<asset-texture-rgb2>`                                 | :ref:`mark<asset-texture-mark>`                                 | |
+|                                    |    |    | :ref:`fileback<asset-texture-fileback>`                         | :ref:`builtin<asset-texture-builtin>`                           | :ref:`rgb1<asset-texture-rgb1>`                                 | :ref:`rgb2<asset-texture-rgb2>`                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`markrgb<asset-texture-markrgb>`                           | :ref:`random<asset-texture-random>`                             | :ref:`width<asset-texture-width>`                               | :ref:`height<asset-texture-height>`                             | |
+|                                    |    |    | :ref:`mark<asset-texture-mark>`                                 | :ref:`markrgb<asset-texture-markrgb>`                           | :ref:`random<asset-texture-random>`                             | :ref:`width<asset-texture-width>`                               | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`hflip<asset-texture-hflip>`                               | :ref:`vflip<asset-texture-vflip>`                               | :ref:`nchannel<asset-texture-nchannel>`                         |                                                                 | |
+|                                    |    |    | :ref:`height<asset-texture-height>`                             | :ref:`hflip<asset-texture-hflip>`                               | :ref:`vflip<asset-texture-vflip>`                               | :ref:`nchannel<asset-texture-nchannel>`                         | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 9a973092..b9adc621 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -544,6 +544,11 @@ typedef enum mjtTextureRole_ {    // role of texture map in rendering
   mjTEXROLE_ORM,                  // occlusion, roughness, metallic
   mjNTEXROLE
 } mjtTextureRole;
+typedef enum mjtColorSpace_ {     // type of color space encoding
+  mjCOLORSPACE_AUTO   = 0,        // attempts to autodetect color space, defaults to linear
+  mjCOLORSPACE_LINEAR,            // linear color space
+  mjCOLORSPACE_SRGB               // standard RGB color space
+} mjtColorSpace;
 typedef enum mjtIntegrator_ {     // integrator mode
   mjINT_EULER         = 0,        // semi-implicit Euler
   mjINT_RK4,                      // 4th-order Runge Kutta
@@ -1326,6 +1331,7 @@ struct mjModel_ {
 
   // textures
   int*      tex_type;             // texture type (mjtTexture)                (ntex x 1)
+  int*      tex_colorspace;       // texture colorspace (mjtColorSpace)       (ntex x 1)
   int*      tex_height;           // number of rows in texture image          (ntex x 1)
   int*      tex_width;            // number of columns in texture image       (ntex x 1)
   int*      tex_nchannel;         // number of channels in texture image      (ntex x 1)
@@ -2150,6 +2156,7 @@ typedef struct mjsTexture_ {       // texture specification
   mjsElement* element;             // element type
   mjString* name;                  // name
   mjtTexture type;                 // texture type
+  mjtColorSpace colorspace;        // colorspace
 
   // method 1: builtin
   int builtin;                     // builtin type (mjtBuiltin)
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 0c531664..05b3d832 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -151,6 +151,13 @@ typedef enum mjtTextureRole_ {    // role of texture map in rendering
 } mjtTextureRole;
 
 
+typedef enum mjtColorSpace_ {     // type of color space encoding
+  mjCOLORSPACE_AUTO   = 0,        // attempts to autodetect color space, defaults to linear
+  mjCOLORSPACE_LINEAR,            // linear color space
+  mjCOLORSPACE_SRGB               // standard RGB color space
+} mjtColorSpace;
+
+
 typedef enum mjtIntegrator_ {     // integrator mode
   mjINT_EULER         = 0,        // semi-implicit Euler
   mjINT_RK4,                      // 4th-order Runge Kutta
@@ -994,6 +1001,7 @@ struct mjModel_ {
 
   // textures
   int*      tex_type;             // texture type (mjtTexture)                (ntex x 1)
+  int*      tex_colorspace;       // texture colorspace (mjtColorSpace)       (ntex x 1)
   int*      tex_height;           // number of rows in texture image          (ntex x 1)
   int*      tex_width;            // number of columns in texture image       (ntex x 1)
   int*      tex_nchannel;         // number of channels in texture image      (ntex x 1)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index d1b89d8e..20568f2f 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -525,6 +525,7 @@ typedef struct mjsTexture_ {       // texture specification
   mjsElement* element;             // element type
   mjString* name;                  // name
   mjtTexture type;                 // texture type
+  mjtColorSpace colorspace;        // colorspace
 
   // method 1: builtin
   int builtin;                     // builtin type (mjtBuiltin)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 5ffe5764..57673285 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -439,6 +439,7 @@
     XNV ( float,   hfield_data,           nhfielddata,   1                    ) \
     X   ( int,     hfield_pathadr,        nhfield,       1                    ) \
     X   ( int,     tex_type,              ntex,          1                    ) \
+    X   ( int,     tex_colorspace,        ntex,          1                    ) \
     X   ( int,     tex_height,            ntex,          1                    ) \
     X   ( int,     tex_width,             ntex,          1                    ) \
     X   ( int,     tex_nchannel,          ntex,          1                    ) \
diff --git a/python/mujoco/introspect/enums.py b/python/mujoco/introspect/enums.py
index a1cab44f..dc828a57 100644
--- a/python/mujoco/introspect/enums.py
+++ b/python/mujoco/introspect/enums.py
@@ -139,6 +139,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjNTEXROLE', 10),
          ]),
      )),
+    ('mjtColorSpace',
+     EnumDecl(
+         name='mjtColorSpace',
+         declname='enum mjtColorSpace_',
+         values=dict([
+             ('mjCOLORSPACE_AUTO', 0),
+             ('mjCOLORSPACE_LINEAR', 1),
+             ('mjCOLORSPACE_SRGB', 2),
+         ]),
+     )),
     ('mjtIntegrator',
      EnumDecl(
          name='mjtIntegrator',
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 379cdc84..5685ac1c 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -3339,6 +3339,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='texture type (mjtTexture)',
                  array_extent=('ntex',),
              ),
+             StructFieldDecl(
+                 name='tex_colorspace',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='texture colorspace (mjtColorSpace)',
+                 array_extent=('ntex',),
+             ),
              StructFieldDecl(
                  name='tex_height',
                  type=PointerType(
@@ -9613,6 +9621,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtTexture'),
                  doc='texture type',
              ),
+             StructFieldDecl(
+                 name='colorspace',
+                 type=ValueType(name='mjtColorSpace'),
+                 doc='colorspace',
+             ),
              StructFieldDecl(
                  name='builtin',
                  type=ValueType(name='int'),
diff --git a/src/render/render_context.c b/src/render/render_context.c
index b305f2dd..b1f279bb 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -1387,15 +1387,20 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
 
     // assign data
     int type = 0;
+    int internaltype = 0;
     if (m->tex_nchannel[texid] == 3) {
       type = GL_RGB;
+      internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_EXT : GL_RGB;
     } else if (m->tex_nchannel[texid] == 4) {
       type = GL_RGBA;
+      internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_ALPHA8_EXT : GL_RGBA;
     } else {
       mju_error("Number of channels not supported: %d", m->tex_nchannel[texid]);
     }
-    glTexImage2D(GL_TEXTURE_2D, 0, type, m->tex_width[texid], m->tex_height[texid], 0,
-                 type, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
+
+    glTexImage2D(GL_TEXTURE_2D, 0, internaltype, m->tex_width[texid],
+                 m->tex_height[texid], 0, type, GL_UNSIGNED_BYTE,
+                 m->tex_data + m->tex_adr[texid]);
 
     // generate mipmaps
     glGenerateMipmap(GL_TEXTURE_2D);
diff --git a/src/user/user_init.c b/src/user/user_init.c
index 01f4a8b9..fd8a7132 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -273,6 +273,7 @@ void mjs_defaultSkin(mjsSkin* skin) {
 void mjs_defaultTexture(mjsTexture* texture) {
   memset(texture, 0, sizeof(mjsTexture));
   texture->type = mjTEXTURE_CUBE;
+  texture->colorspace = mjCOLORSPACE_AUTO;
   texture->rgb1[0] = texture->rgb1[1] = texture->rgb1[2] = 0.8;
   texture->rgb2[0] = texture->rgb2[1] = texture->rgb2[2] = 0.5;
   texture->random = 0.01;
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 49f79ead..bd3eb0ac 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3285,6 +3285,7 @@ void mjCModel::CopyObjects(mjModel* m) {
 
     // set fields
     m->tex_type[i] = ptex->type;
+    m->tex_colorspace[i] = ptex->colorspace;
     m->tex_height[i] = ptex->height;
     m->tex_width[i] = ptex->width;
     m->tex_nchannel[i] = ptex->nchannel;
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 51c0f63a..2e2c63b2 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -55,6 +55,8 @@ class PNGImage {
                        LodePNGColorType color_type);
   int Width() const { return width_; }
   int Height() const { return height_; }
+  bool IsSRGB() const { return is_srgb_; }
+
   uint8_t operator[] (int i) const { return data_[i]; }
   std::vector<unsigned char>& MoveData() { return data_; }
 
@@ -65,6 +67,7 @@ class PNGImage {
 
   int width_;
   int height_;
+  bool is_srgb_;
   LodePNGColorType color_type_;
   std::vector<uint8_t> data_;
 };
@@ -104,8 +107,11 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
 
   // decode PNG from buffer
   unsigned int w, h;
-  unsigned err = lodepng::decode(image.data_, w, h,
-                                 buffer, nbuffer, image.color_type_, 8);
+
+  lodepng::State state;
+  state.info_raw.colortype = image.color_type_;
+  state.info_raw.bitdepth = 8;
+  unsigned err = lodepng::decode(image.data_, w, h, state, buffer, nbuffer);
 
   // check for errors
   if (err) {
@@ -116,6 +122,7 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
 
   image.width_ = w;
   image.height_ = h;
+  image.is_srgb_ = (state.info_png.srgb_defined == 1);
 
   if (image.width_ <= 0 || image.height_ < 0) {
     std::stringstream ss;
@@ -4257,7 +4264,7 @@ void mjCTexture::BuiltinCube(void) {
 // load PNG file
 void mjCTexture::LoadPNG(mjResource* resource,
                          std::vector<unsigned char>& image,
-                         unsigned int& w, unsigned int& h) {
+                         unsigned int& w, unsigned int& h, bool& is_srgb) {
   LodePNGColorType color_type;
   if (nchannel == 4) {
     color_type = LCT_RGBA;
@@ -4272,13 +4279,14 @@ void mjCTexture::LoadPNG(mjResource* resource,
   PNGImage png_image = PNGImage::Load(this, resource, color_type);
   w = png_image.Width();
   h = png_image.Height();
+  is_srgb = png_image.IsSRGB();
   image = png_image.MoveData();
 }
 
 // load custom file
 void mjCTexture::LoadCustom(mjResource* resource,
                             std::vector<unsigned char>& image,
-                            unsigned int& w, unsigned int& h) {
+                            unsigned int& w, unsigned int& h, bool& is_srgb) {
   const void* buffer = 0;
   int buffer_sz = mju_readResource(resource, &buffer);
 
@@ -4295,6 +4303,9 @@ void mjCTexture::LoadCustom(mjResource* resource,
   w = pint[0];
   h = pint[1];
 
+  // assume linear color space
+  is_srgb = false;
+
   // check dimensions
   if (w < 1 || h < 1) {
     throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
@@ -4317,7 +4328,7 @@ void mjCTexture::LoadCustom(mjResource* resource,
 // load from PNG or custom file, flip if specified
 void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
                           std::vector<unsigned char>& image,
-                          unsigned int& w, unsigned int& h) {
+                          unsigned int& w, unsigned int& h, bool& is_srgb) {
   std::string asset_type = GetAssetContentType(filename, content_type_);
 
   // fallback to custom
@@ -4333,9 +4344,9 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
 
   try {
     if (asset_type == "image/png") {
-      LoadPNG(resource, image, w, h);
+      LoadPNG(resource, image, w, h, is_srgb);
     } else {
-      LoadCustom(resource, image, w, h);
+      LoadCustom(resource, image, w, h, is_srgb);
     }
     mju_closeResource(resource);
   } catch(mjCError err) {
@@ -4402,12 +4413,16 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
 void mjCTexture::Load2D(std::string filename, const mjVFS* vfs) {
   // load PNG or custom
   unsigned int w, h;
+  bool is_srgb;
   std::vector<unsigned char> image;
-  LoadFlip(filename, vfs, image, w, h);
+  LoadFlip(filename, vfs, image, w, h, is_srgb);
 
   // assign size
   width = w;
   height = h;
+  if (colorspace == mjCOLORSPACE_AUTO) {
+    colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
+  }
 
   // allocate and copy data
   std::int64_t size = static_cast<std::int64_t>(width)*height;
@@ -4435,8 +4450,13 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
 
   // load PNG or custom
   unsigned int w, h;
+  bool is_srgb;
   std::vector<unsigned char> image;
-  LoadFlip(filename, vfs, image, w, h);
+  LoadFlip(filename, vfs, image, w, h, is_srgb);
+
+  if (colorspace == mjCOLORSPACE_AUTO) {
+    colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
+  }
 
   // check gridsize for compatibility
   if (w/gridsize[1] != h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
@@ -4549,8 +4569,14 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
 
       // load PNG or custom
       unsigned int w, h;
+      bool is_srgb;
       std::vector<unsigned char> image;
-      LoadFlip(filename.Str(), vfs, image, w, h);
+      LoadFlip(filename.Str(), vfs, image, w, h, is_srgb);
+
+      // assume all faces have the same colorspace
+      if (colorspace == mjCOLORSPACE_AUTO) {
+        colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
+      }
 
       // PNG must be square
       if (w != h) {
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 46df52e6..994cb542 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1328,14 +1328,14 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
 
   void LoadFlip(std::string filename, const mjVFS* vfs,         // load and flip
                 std::vector<unsigned char>& image,
-                unsigned int& w, unsigned int& h);
+                unsigned int& w, unsigned int& h, bool& is_srgb);
 
   void LoadPNG(mjResource* resource,
                std::vector<unsigned char>& image,
-               unsigned int& w, unsigned int& h);
+               unsigned int& w, unsigned int& h, bool& is_srgb);
   void LoadCustom(mjResource* resource,
                   std::vector<unsigned char>& image,
-                  unsigned int& w, unsigned int& h);
+                  unsigned int& w, unsigned int& h, bool& is_srgb);
 
   bool clear_data_;  // if true, data_ is empty and should be filled by Compile
 };
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
index 3651d31c..4134f46f 100644
--- a/src/xml/xml_base.h
+++ b/src/xml/xml_base.h
@@ -35,6 +35,7 @@ extern const int jac_sz;
 extern const int solver_sz;
 extern const int equality_sz;
 extern const int texture_sz;
+extern const int colorspace_sz;
 extern const int builtin_sz;
 extern const int mark_sz;
 extern const int dyn_sz;
@@ -60,6 +61,7 @@ extern const mjMap jac_map[];
 extern const mjMap solver_map[];
 extern const mjMap equality_map[];
 extern const mjMap texture_map[];
+extern const mjMap colorspace_map[];
 extern const mjMap texrole_map[];
 extern const mjMap builtin_map[];
 extern const mjMap mark_map[];
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index f2b5f1e9..52d3181a 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -241,8 +241,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"<"},
             {"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
         {">"},
-        {"texture", "*", "23", "name", "type", "content_type", "file", "gridsize", "gridlayout",
-            "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
+        {"texture", "*", "24", "name", "type", "colorspace", "content_type", "file", "gridsize",
+            "gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
             "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
             "hflip", "vflip", "nchannel"},
         {"material", "*", "12", "name", "class", "texture",  "texrepeat", "texuniform",
@@ -650,6 +650,15 @@ const mjMap texture_map[texture_sz] = {
 };
 
 
+// colorspace for texture
+const int colorspace_sz = 3;
+const mjMap colorspace_map[colorspace_sz] = {
+  {"auto",        mjCOLORSPACE_AUTO},
+  {"linear",      mjCOLORSPACE_LINEAR},
+  {"sRGB",        mjCOLORSPACE_SRGB}
+};
+
+
 // builtin type for texture
 const int builtin_sz = 4;
 const mjMap builtin_map[builtin_sz] = {
@@ -3194,6 +3203,9 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
       if (MapValue(elem, "type", &n, texture_map, texture_sz)) {
         texture->type = (mjtTexture)n;
       }
+      if (MapValue(elem, "colorspace", &n, colorspace_map, colorspace_sz)) {
+        texture->colorspace = (mjtColorSpace)n;
+      }
       if (ReadAttrTxt(elem, "name", texname)) {
         mjs_setString(texture->name, texname.c_str());
       }
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index b6464cd1..f850c82b 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -1488,6 +1488,7 @@ void mjXWriter::Asset(XMLElement* root) {
 
     // write common attributes
     WriteAttrKey(elem, "type", texture_map, texture_sz, texture->type);
+    WriteAttrKey(elem, "colorspace", colorspace_map, colorspace_sz, texture->colorspace);
     WriteAttrTxt(elem, "name", texture->name);
 
     // write builtin
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index dc7b8078..1172e758 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -225,6 +225,11 @@ public enum mjtTextureRole : int{
   mjTEXROLE_ORM = 9,
   mjNTEXROLE = 10,
 }
+public enum mjtColorSpace : int{
+  mjCOLORSPACE_AUTO = 0,
+  mjCOLORSPACE_LINEAR = 1,
+  mjCOLORSPACE_SRGB = 2,
+}
 public enum mjtIntegrator : int{
   mjINT_EULER = 0,
   mjINT_RK4 = 1,
@@ -5569,6 +5574,7 @@ public unsafe struct mjModel_ {
   public float* hfield_data;
   public int* hfield_pathadr;
   public int* tex_type;
+  public int* tex_colorspace;
   public int* tex_height;
   public int* tex_width;
   public int* tex_nchannel;

From 373b4c04378b1b6f502711ef1e5bf0e5af376d7d Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Thu, 22 May 2025 05:46:49 -0700
Subject: [PATCH 164/191] Support image/ktx format for textures.

PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
---
 doc/XMLreference.rst     | 37 ++++++++++++++++++++-----------------
 src/engine/engine_io.c   |  2 +-
 src/user/user_objects.cc | 29 ++++++++++++++++++++++++++++-
 src/user/user_objects.h  |  3 +++
 4 files changed, 52 insertions(+), 19 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index b2ce9370..104a92ef 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1464,16 +1464,19 @@ still be specified here but this functionality is now deprecated and will be rem
 :el-prefix:`asset/` |-| **texture** (*)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-| This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which is
-  finally referenced from a model element that needs to be textured. MuJoCo provides access to the texture mapping
-  mechanism in OpenGL. Texture coordinates are generated automatically in GL_OBJECT_PLANE mode, using either 2D or cube
-  mapping. MIP maps are always enabled in GL_LINEAR_MIPMAP_LINEAR mode. The texture color is combined with the object
-  color in GL_MODULATE mode. The texture data can be loaded from PNG files, with provisions for loading cube and skybox
-  textures. Alternatively the data can be generated by the compiler as a procedural texture. Because different texture
-  types require different parameters, only a subset of the attributes below are used for any given texture.
-| A second file format is supported for loading textures, in addition to PNG. If the file name extension is
-  different from .png or .PNG, or if the ``content_type`` attribute is set to ``image/vnd.mujoco.texture``, then MuJoCo
-  assumes that the texture is in this format. This is a custom binary file format, containing the following data:
+   This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which
+   is finally referenced from a model element that needs to be textured.
+
+   The texture data can be loaded from files or can be generated by the compiler as a procedural texture. Because
+   different texture types require different parameters, only a subset of the attributes below are used for any given
+   texture. Provisions are provided for loading cube and skybox textures from individual image files.
+
+   Currently, three file formats are supported for loading textures: PNG, KTX, and a custom MuJoCo texture format. The
+   loader will use the extension of the file name to determine which format to use, defaulting to the custom format if
+   the extension is not recognized. Alternatively, the content_type attribute can be used to specify the format
+   explicitly. Only ``image/png``, ``image/ktx``, or ``image/vnd.mujoco.texture`` are supported.
+
+   The custom MuJoCo format is assumed to be a binary file containing the following data:
 
 .. code:: Text
 
@@ -1537,8 +1540,8 @@ still be specified here but this functionality is now deprecated and will be rem
 :at:`content_type`: :at-val:`string, optional`
    If the file attribute is specified, then this sets the
    `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (formerly known as MIME types) of the
-   file to be loaded. Any filename extensions will be ignored.  Currently ``image/png`` and ``image/vnd.mujoco.texture``
-   are supported.
+   file to be loaded. Any filename extensions will be ignored.  Currently ``image/png``, ``image/ktx``, and
+   ``image/vnd.mujoco.texture`` are supported.
 
 .. _asset-texture-file:
 
@@ -1786,11 +1789,11 @@ properties are grouped together.
 .. _asset-material-rgba:
 
 :at:`rgba`: :at-val:`real(4), "1 1 1 1"`
-   Color and transparency of the material. All components should be in the range [0 1]. Note that textures are applied
-   in GL_MODULATE mode, meaning that the texture color and the color specified here are multiplied component-wise. Thus
-   the default value of "1 1 1 1" has the effect of leaving the texture unchanged. When the material is applied to a
-   model element which defines its own local rgba attribute, the local definition has precedence. Note that this "local"
-   definition could in fact come from a defaults class. The remaining material properties always apply.
+   Color and transparency of the material. All components should be in the range [0 1]. Note that the texture color (if
+   assigned) and the color specified here are multiplied component-wise. Thus the default value of "1 1 1 1" has the
+   effect of leaving the texture unchanged. When the material is applied to a model element which defines its own local
+   rgba attribute, the local definition has precedence. Note that this "local" definition could in fact come from a
+   defaults class. The remaining material properties always apply.
 
 .. _material-layer:
 
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 49325b30..9a9ad366 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -2406,7 +2406,7 @@ const char* mj_validateReferences(const mjModel* m) {
     }
   }
   for (int i=0; i < m->ntex; i++) {
-    int tex_adr = m->tex_adr[i] + 3*m->tex_height[i]*m->tex_width[i];
+    int tex_adr = m->tex_adr[i] + m->tex_nchannel[i]*m->tex_height[i]*m->tex_width[i];
     if (tex_adr > m->ntexdata || m->tex_adr[i] < 0) {
       return "Invalid model: tex_adr out of bounds.";
     }
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 2e2c63b2..688c9729 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -4283,6 +4283,28 @@ void mjCTexture::LoadPNG(mjResource* resource,
   image = png_image.MoveData();
 }
 
+// load KTX file
+void mjCTexture::LoadKTX(mjResource* resource,
+                         std::vector<unsigned char>& image, unsigned int& w,
+                        unsigned int& h, bool& is_srgb) {
+  const void* buffer = 0;
+  int buffer_sz = mju_readResource(resource, &buffer);
+
+  // still not found
+  if (buffer_sz < 0) {
+    throw mjCError(this, "could not read texture file '%s'", resource->name);
+  } else if (!buffer_sz) {
+    throw mjCError(this, "texture file is empty: '%s'", resource->name);
+  }
+
+  w = buffer_sz;
+  h = 1;
+  is_srgb = false;
+
+  image.resize(buffer_sz);
+  memcpy(image.data(), buffer, buffer_sz);
+}
+
 // load custom file
 void mjCTexture::LoadCustom(mjResource* resource,
                             std::vector<unsigned char>& image,
@@ -4336,7 +4358,7 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
     asset_type = "image/vnd.mujoco.texture";
   }
 
-  if (asset_type != "image/png" && asset_type != "image/vnd.mujoco.texture") {
+  if (asset_type != "image/png" && asset_type != "image/ktx" && asset_type != "image/vnd.mujoco.texture") {
     throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
   }
 
@@ -4345,6 +4367,11 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
   try {
     if (asset_type == "image/png") {
       LoadPNG(resource, image, w, h, is_srgb);
+    } else if (asset_type == "image/ktx") {
+      if (hflip || vflip) {
+        throw mjCError(this, "cannot flip KTX textures");
+      }
+      LoadKTX(resource, image, w, h, is_srgb);
     } else {
       LoadCustom(resource, image, w, h, is_srgb);
     }
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 994cb542..db01349a 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1333,6 +1333,9 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
   void LoadPNG(mjResource* resource,
                std::vector<unsigned char>& image,
                unsigned int& w, unsigned int& h, bool& is_srgb);
+  void LoadKTX(mjResource* resource,
+               std::vector<unsigned char>& image,
+               unsigned int& w, unsigned int& h, bool& is_srgb);
   void LoadCustom(mjResource* resource,
                   std::vector<unsigned char>& image,
                   unsigned int& w, unsigned int& h, bool& is_srgb);

From 74cc904edc0537ef35c890a1e2622708f340a641 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Thu, 22 May 2025 08:50:23 -0700
Subject: [PATCH 165/191] Convert light `directional` boolean into a `type`
 enum.

PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
---
 doc/APIreference/APItypes.rst        | 11 +++++++++++
 doc/XMLreference.rst                 | 11 ++++++++++-
 doc/XMLschema.rst                    | 16 ++++++++--------
 doc/changelog.rst                    |  3 +++
 doc/includes/references.h            | 12 +++++++++---
 include/mujoco/mjmodel.h             | 10 +++++++++-
 include/mujoco/mjspec.h              |  2 +-
 include/mujoco/mjvisualize.h         |  2 +-
 include/mujoco/mjxmacro.h            |  2 +-
 mjx/mujoco/mjx/_src/types.py         |  2 +-
 python/mujoco/indexer_xmacro.h       |  2 +-
 python/mujoco/introspect/enums.py    | 11 +++++++++++
 python/mujoco/introspect/structs.py  | 22 +++++++++++-----------
 python/mujoco/structs.cc             |  2 +-
 src/engine/engine_vis_visualize.c    |  6 +++---
 src/render/render_gl3.c              | 20 ++++++++++++++------
 src/user/user_model.cc               |  2 +-
 src/xml/xml_base.h                   |  4 ++--
 src/xml/xml_native_reader.cc         | 27 +++++++++++++++++++++++----
 src/xml/xml_native_writer.cc         |  2 +-
 unity/Runtime/Bindings/MjBindings.cs | 10 ++++++++--
 21 files changed, 130 insertions(+), 49 deletions(-)

diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
index 4ee6367d..f2ecf868 100644
--- a/doc/APIreference/APItypes.rst
+++ b/doc/APIreference/APItypes.rst
@@ -165,6 +165,17 @@ values are used in ``m->cam_mode`` and ``m->light_mode``.
 .. mujoco-include:: mjtCamLight
 
 
+.. _mjtLightType:
+
+mjtLightType
+~~~~~~~~~~~~
+
+The type of a light source describing how its position, orientation and other properties will interact with the
+objects in the scene. These values are used in ``m->light_type``.
+
+.. mujoco-include:: mjtLightType
+
+
 .. _mjtTexture:
 
 mjtTexture
diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 104a92ef..727950af 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -2909,10 +2909,17 @@ Attributes may be applied or ignored depending on the lighting model being used.
    This is identical to the target attribute of :ref:`camera <body-camera>` above. It specifies which body should be
    targeted in "targetbody" and "targetbodycom" modes.
 
+.. _body-light-type:
+
+:at:`type`: :at-val:`[spot, directional, point, image], "spot"`
+   Determines the type of light. Note that some light types may not be supported by some renderers (e.g. only spot and
+   directional lights are supported by the default native renderer).
+
 .. _body-light-directional:
 
 :at:`directional`: :at-val:`[false, true], "false"`
-   The light is directional if this attribute is "true", otherwise it is a spotlight.
+   This is a deprecated legacy attribute. Please use :ref:`light <light-type>` type instead. If set to "true", and no
+   type is specified, this will change the light type to be directional.
 
 .. _body-light-castshadow:
 
@@ -8288,6 +8295,8 @@ if omitted.
 
 .. _default-light-dir:
 
+.. _default-light-type:
+
 .. _default-light-directional:
 
 .. _default-light-castshadow:
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index bd71743b..a95e5211 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -313,15 +313,15 @@
 | :ref:`light                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <body-light>`                      |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<body-light-name>`                                    | :ref:`class<body-light-class>`                                  | :ref:`directional<body-light-directional>`                      | :ref:`castshadow<body-light-castshadow>`                        | |
+|                                    |    |    | :ref:`name<body-light-name>`                                    | :ref:`class<body-light-class>`                                  | :ref:`directional<body-light-directional>`                      | :ref:`type<body-light-type>`                                    | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`active<body-light-active>`                                | :ref:`pos<body-light-pos>`                                      | :ref:`dir<body-light-dir>`                                      | :ref:`bulbradius<body-light-bulbradius>`                        | |
+|                                    |    |    | :ref:`castshadow<body-light-castshadow>`                        | :ref:`active<body-light-active>`                                | :ref:`pos<body-light-pos>`                                      | :ref:`dir<body-light-dir>`                                      | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`intensity<body-light-intensity>`                          | :ref:`range<body-light-range>`                                  | :ref:`attenuation<body-light-attenuation>`                      | :ref:`cutoff<body-light-cutoff>`                                | |
+|                                    |    |    | :ref:`bulbradius<body-light-bulbradius>`                        | :ref:`intensity<body-light-intensity>`                          | :ref:`range<body-light-range>`                                  | :ref:`attenuation<body-light-attenuation>`                      | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | :ref:`diffuse<body-light-diffuse>`                              | :ref:`specular<body-light-specular>`                            | |
+|                                    |    |    | :ref:`cutoff<body-light-cutoff>`                                | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | :ref:`diffuse<body-light-diffuse>`                              | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`specular<body-light-specular>`                            | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -1465,11 +1465,11 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`pos<default-light-pos>`                                   | :ref:`dir<default-light-dir>`                                   | :ref:`bulbradius<default-light-bulbradius>`                     | :ref:`intensity<default-light-intensity>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`range<default-light-range>`                               | :ref:`directional<default-light-directional>`                   | :ref:`castshadow<default-light-castshadow>`                     | :ref:`active<default-light-active>`                             | |
+|                                    |    |    | :ref:`range<default-light-range>`                               | :ref:`directional<default-light-directional>`                   | :ref:`type<default-light-type>`                                 | :ref:`castshadow<default-light-castshadow>`                     | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`attenuation<default-light-attenuation>`                   | :ref:`cutoff<default-light-cutoff>`                             | :ref:`exponent<default-light-exponent>`                         | :ref:`ambient<default-light-ambient>`                           | |
+|                                    |    |    | :ref:`active<default-light-active>`                             | :ref:`attenuation<default-light-attenuation>`                   | :ref:`cutoff<default-light-cutoff>`                             | :ref:`exponent<default-light-exponent>`                         | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`diffuse<default-light-diffuse>`                           | :ref:`specular<default-light-specular>`                         | :ref:`mode<default-light-mode>`                                 |                                                                 | |
+|                                    |    |    | :ref:`ambient<default-light-ambient>`                           | :ref:`diffuse<default-light-diffuse>`                           | :ref:`specular<default-light-specular>`                         | :ref:`mode<default-light-mode>`                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 3fc979bd..3ddc1b51 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -11,6 +11,9 @@ General
   solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
 - Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
   the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
+- Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
+  :ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
+  types.
 
 Simulate
 ^^^^^^^^
diff --git a/doc/includes/references.h b/doc/includes/references.h
index b9adc621..f61acd8e 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -526,6 +526,12 @@ typedef enum mjtCamLight_ {       // tracking mode for camera and light
   mjCAMLIGHT_TARGETBODY,          // pos fixed in body, rot tracks target body
   mjCAMLIGHT_TARGETBODYCOM        // pos fixed in body, rot tracks target subtree com
 } mjtCamLight;
+typedef enum mjtLightType_ {      // type of light
+  mjLIGHT_SPOT    = 0,            // spot
+  mjLIGHT_DIRECTIONAL,            // directional
+  mjLIGHT_POINT,                  // point
+  mjLIGHT_IMAGE,                  // image-based
+} mjtLightType;
 typedef enum mjtTexture_ {        // type of texture
   mjTEXTURE_2D        = 0,        // 2d texture, suitable for planes and hfields
   mjTEXTURE_CUBE,                 // cube texture, suitable for all other geom types
@@ -1179,7 +1185,7 @@ struct mjModel_ {
   int*      light_mode;           // light tracking mode (mjtCamLight)        (nlight x 1)
   int*      light_bodyid;         // id of light's body                       (nlight x 1)
   int*      light_targetbodyid;   // id of targeted body; -1: none            (nlight x 1)
-  mjtByte*  light_directional;    // directional light                        (nlight x 1)
+  int*      light_type;           // spot, directional, etc. (mjtLightType)   (nlight x 1)
   mjtByte*  light_castshadow;     // does light cast shadows                  (nlight x 1)
   float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
   float*    light_intensity;      // intensity, in candela                    (nlight x 1)
@@ -2036,7 +2042,7 @@ typedef struct mjsLight_ {         // light specification
 
   // intrinsics
   mjtByte active;                  // is light active
-  mjtByte directional;             // is light directional or spot
+  mjtLightType type;               // type of light
   mjtByte castshadow;              // does light cast shadows
   float bulbradius;                // bulb radius, for soft shadows
   float intensity;                 // intensity, in candelas
@@ -2840,6 +2846,7 @@ typedef struct mjvGeom_ mjvGeom;
 struct mjvLight_ {                // OpenGL light
   float    pos[3];                // position rel. to body frame
   float    dir[3];                // direction rel. to body frame
+  int      type;                  // type (mjtLightType)
   float    attenuation[3];        // OpenGL attenuation (quadratic model)
   float    cutoff;                // OpenGL cutoff
   float    exponent;              // OpenGL exponent
@@ -2847,7 +2854,6 @@ struct mjvLight_ {                // OpenGL light
   float    diffuse[3];            // diffuse rgb (alpha=1)
   float    specular[3];           // specular rgb (alpha=1)
   mjtByte  headlight;             // headlight
-  mjtByte  directional;           // directional light
   mjtByte  castshadow;            // does light cast shadows
   float    bulbradius;            // bulb radius for soft shadows
   float    intensity;             // intensity, in candelas
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 05b3d832..8c50af50 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -129,6 +129,14 @@ typedef enum mjtCamLight_ {       // tracking mode for camera and light
 } mjtCamLight;
 
 
+typedef enum mjtLightType_ {      // type of light
+  mjLIGHT_SPOT    = 0,            // spot
+  mjLIGHT_DIRECTIONAL,            // directional
+  mjLIGHT_POINT,                  // point
+  mjLIGHT_IMAGE,                  // image-based
+} mjtLightType;
+
+
 typedef enum mjtTexture_ {        // type of texture
   mjTEXTURE_2D        = 0,        // 2d texture, suitable for planes and hfields
   mjTEXTURE_CUBE,                 // cube texture, suitable for all other geom types
@@ -849,7 +857,7 @@ struct mjModel_ {
   int*      light_mode;           // light tracking mode (mjtCamLight)        (nlight x 1)
   int*      light_bodyid;         // id of light's body                       (nlight x 1)
   int*      light_targetbodyid;   // id of targeted body; -1: none            (nlight x 1)
-  mjtByte*  light_directional;    // directional light                        (nlight x 1)
+  int*      light_type;           // spot, directional, etc. (mjtLightType)   (nlight x 1)
   mjtByte*  light_castshadow;     // does light cast shadows                  (nlight x 1)
   float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
   float*    light_intensity;      // intensity, in candela                    (nlight x 1)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 20568f2f..c422eedd 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -394,7 +394,7 @@ typedef struct mjsLight_ {         // light specification
 
   // intrinsics
   mjtByte active;                  // is light active
-  mjtByte directional;             // is light directional or spot
+  mjtLightType type;               // type of light
   mjtByte castshadow;              // does light cast shadows
   float bulbradius;                // bulb radius, for soft shadows
   float intensity;                 // intensity, in candelas
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 560b8f35..a61fe649 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -261,6 +261,7 @@ typedef struct mjvGeom_ mjvGeom;
 struct mjvLight_ {                // OpenGL light
   float    pos[3];                // position rel. to body frame
   float    dir[3];                // direction rel. to body frame
+  int      type;                  // type (mjtLightType)
   float    attenuation[3];        // OpenGL attenuation (quadratic model)
   float    cutoff;                // OpenGL cutoff
   float    exponent;              // OpenGL exponent
@@ -268,7 +269,6 @@ struct mjvLight_ {                // OpenGL light
   float    diffuse[3];            // diffuse rgb (alpha=1)
   float    specular[3];           // specular rgb (alpha=1)
   mjtByte  headlight;             // headlight
-  mjtByte  directional;           // directional light
   mjtByte  castshadow;            // does light cast shadows
   float    bulbradius;            // bulb radius for soft shadows
   float    intensity;             // intensity, in candelas
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 57673285..3a8a6fcf 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -299,7 +299,7 @@
     X   ( int,     light_mode,            nlight,        1                    ) \
     X   ( int,     light_bodyid,          nlight,        1                    ) \
     X   ( int,     light_targetbodyid,    nlight,        1                    ) \
-    X   ( mjtByte, light_directional,     nlight,        1                    ) \
+    X   ( int,     light_type,            nlight,        1                    ) \
     X   ( mjtByte, light_castshadow,      nlight,        1                    ) \
     X   ( float,   light_bulbradius,      nlight,        1                    ) \
     X   ( float,   light_intensity,       nlight,        1                    ) \
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 2950fb4a..3beb6b54 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -725,7 +725,7 @@ class Model(PyTreeNode):
   cam_sensorsize: np.ndarray
   cam_intrinsic: np.ndarray
   light_mode: np.ndarray
-  light_directional: jax.Array
+  light_type: jax.Array
   light_castshadow: jax.Array
   light_pos: jax.Array
   light_dir: jax.Array
diff --git a/python/mujoco/indexer_xmacro.h b/python/mujoco/indexer_xmacro.h
index f39d2da2..9f26000d 100644
--- a/python/mujoco/indexer_xmacro.h
+++ b/python/mujoco/indexer_xmacro.h
@@ -152,7 +152,7 @@
   X( int,     light_, mode,          nlight,  1 ) \
   X( int,     light_, bodyid,        nlight,  1 ) \
   X( int,     light_, targetbodyid,  nlight,  1 ) \
-  X( mjtByte, light_, directional,   nlight,  1 ) \
+  X( int,     light_, type,          nlight,  1 ) \
   X( mjtByte, light_, castshadow,    nlight,  1 ) \
   X( mjtByte, light_, active,        nlight,  1 ) \
   X( mjtNum,  light_, pos,           nlight,  3 ) \
diff --git a/python/mujoco/introspect/enums.py b/python/mujoco/introspect/enums.py
index dc828a57..7cbe18bc 100644
--- a/python/mujoco/introspect/enums.py
+++ b/python/mujoco/introspect/enums.py
@@ -111,6 +111,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjCAMLIGHT_TARGETBODYCOM', 4),
          ]),
      )),
+    ('mjtLightType',
+     EnumDecl(
+         name='mjtLightType',
+         declname='enum mjtLightType_',
+         values=dict([
+             ('mjLIGHT_SPOT', 0),
+             ('mjLIGHT_DIRECTIONAL', 1),
+             ('mjLIGHT_POINT', 2),
+             ('mjLIGHT_IMAGE', 3),
+         ]),
+     )),
     ('mjtTexture',
      EnumDecl(
          name='mjtTexture',
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 5685ac1c..8ab28046 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -2220,11 +2220,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('nlight',),
              ),
              StructFieldDecl(
-                 name='light_directional',
+                 name='light_type',
                  type=PointerType(
-                     inner_type=ValueType(name='mjtByte'),
+                     inner_type=ValueType(name='int'),
                  ),
-                 doc='directional light',
+                 doc='spot, directional, etc. (mjtLightType)',
                  array_extent=('nlight',),
              ),
              StructFieldDecl(
@@ -6697,6 +6697,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='direction rel. to body frame',
              ),
+             StructFieldDecl(
+                 name='type',
+                 type=ValueType(name='int'),
+                 doc='type (mjtLightType)',
+             ),
              StructFieldDecl(
                  name='attenuation',
                  type=ArrayType(
@@ -6744,11 +6749,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtByte'),
                  doc='headlight',
              ),
-             StructFieldDecl(
-                 name='directional',
-                 type=ValueType(name='mjtByte'),
-                 doc='directional light',
-             ),
              StructFieldDecl(
                  name='castshadow',
                  type=ValueType(name='mjtByte'),
@@ -8992,9 +8992,9 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='is light active',
              ),
              StructFieldDecl(
-                 name='directional',
-                 type=ValueType(name='mjtByte'),
-                 doc='is light directional or spot',
+                 name='type',
+                 type=ValueType(name='mjtLightType'),
+                 doc='type of light',
              ),
              StructFieldDecl(
                  name='castshadow',
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 735e0a0b..dc98e3dd 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -1073,7 +1073,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(cutoff);
   X(exponent);
   X(headlight);
-  X(directional);
+  X(type);
   X(castshadow);
   X(bulbradius);
   X(intensity);
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 0425b85c..6f9364f1 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -2143,7 +2143,7 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
     // set default properties
     memset(thislight, 0, sizeof(mjvLight));
     thislight->headlight = 1;
-    thislight->directional = 1;
+    thislight->type = mjLIGHT_DIRECTIONAL;
     thislight->castshadow = 0;
 
     // compute head position and gaze direction in model space
@@ -2169,12 +2169,12 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
 
       // copy properties
       memset(thislight, 0, sizeof(mjvLight));
-      thislight->directional = m->light_directional[i];
+      thislight->type = m->light_type[i];
       thislight->castshadow = m->light_castshadow[i];
       thislight->bulbradius = m->light_bulbradius[i];
       thislight->intensity = m->light_intensity[i];
       thislight->range = m->light_range[i];
-      if (!thislight->directional) {
+      if (thislight->type == mjLIGHT_SPOT) {
         f2f(thislight->attenuation, m->light_attenuation+3*i, 3);
         thislight->exponent = m->light_exponent[i];
         thislight->cutoff = m->light_cutoff[i];
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
index 9d168585..1660c67b 100644
--- a/src/render/render_gl3.c
+++ b/src/render/render_gl3.c
@@ -672,7 +672,7 @@ static void initLights(mjvScene* scn) {
     glLightfv(GL_LIGHT0+i, GL_SPECULAR, scn->lights[i].specular);
 
     // parameters for directional light
-    if (scn->lights[i].directional) {
+    if (scn->lights[i].type == mjLIGHT_DIRECTIONAL) {
       glLightf(GL_LIGHT0+i, GL_SPOT_EXPONENT,         0);
       glLightf(GL_LIGHT0+i, GL_SPOT_CUTOFF,           180);
       glLightf(GL_LIGHT0+i, GL_CONSTANT_ATTENUATION,  1);
@@ -681,13 +681,17 @@ static void initLights(mjvScene* scn) {
     }
 
     // parameters for spot light
-    else {
+    else if (scn->lights[i].type == mjLIGHT_SPOT) {
       glLightf(GL_LIGHT0+i, GL_SPOT_EXPONENT,         scn->lights[i].exponent);
       glLightf(GL_LIGHT0+i, GL_SPOT_CUTOFF,           scn->lights[i].cutoff);
       glLightf(GL_LIGHT0+i, GL_CONSTANT_ATTENUATION,  scn->lights[i].attenuation[0]);
       glLightf(GL_LIGHT0+i, GL_LINEAR_ATTENUATION,    scn->lights[i].attenuation[1]);
       glLightf(GL_LIGHT0+i, GL_QUADRATIC_ATTENUATION, scn->lights[i].attenuation[2]);
     }
+
+    else {
+      mju_error("Unsupported light type: %d", scn->lights[i].type);
+    }
   }
 
   // disable all lights (enable selectively in render)
@@ -790,14 +794,16 @@ static void adjustLight(const mjvLight* thislight, int n) {
   float temp[4];
 
   // set position and direction according to type
-  if (thislight->directional) {
+  if (thislight->type == mjLIGHT_DIRECTIONAL) {
     mjr_setf4(temp, -thislight->dir[0], -thislight->dir[1], -thislight->dir[2], 0);
     glLightfv(GL_LIGHT0+n, GL_POSITION, temp);
-  } else {
+  } else if (thislight->type == mjLIGHT_SPOT) {
     mjr_setf4(temp, thislight->dir[0], thislight->dir[1], thislight->dir[2], 0);
     glLightfv(GL_LIGHT0+n, GL_SPOT_DIRECTION, temp);
     mjr_setf4(temp, thislight->pos[0], thislight->pos[1], thislight->pos[2], 1);
     glLightfv(GL_LIGHT0+n, GL_POSITION, temp);
+  } else {
+    mju_error("Unsupported light type: %d", thislight->type);
   }
 }
 
@@ -1183,13 +1189,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
             // reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
             glScalef(1.0f, 1.0f, -1.0f);
           }
-          if (thislight->directional) {
+          if (thislight->type == mjLIGHT_DIRECTIONAL) {
             glOrtho(-con->shadowClip, con->shadowClip,
                     -con->shadowClip, con->shadowClip,
                     cam.frustum_near, cam.frustum_far);
-          } else {
+          } else if (thislight->type == mjLIGHT_SPOT) {
             mjr_perspective(mju_min(2*thislight->cutoff*con->shadowScale, 160), 1,
                             cam.frustum_near, cam.frustum_far);
+          } else {
+            mju_error("Unsupported light type: %d", thislight->type);
           }
           glGetFloatv(GL_PROJECTION_MATRIX, lightProject);
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index bd3eb0ac..d7f862eb 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2669,7 +2669,7 @@ void mjCModel::CopyTree(mjModel* m) {
       m->light_bodyid[lid] = pl->body->id;
       m->light_mode[lid] = (int)pl->mode;
       m->light_targetbodyid[lid] = pl->targetbodyid;
-      m->light_directional[lid] = (mjtByte)pl->directional;
+      m->light_type[lid] = pl->type;
       m->light_castshadow[lid] = (mjtByte)pl->castshadow;
       m->light_active[lid] = (mjtByte)pl->active;
       mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
index 4134f46f..f2aca5c8 100644
--- a/src/xml/xml_base.h
+++ b/src/xml/xml_base.h
@@ -27,7 +27,7 @@
 // keyword maps (defined in implementation files)
 extern const int joint_sz;
 extern const int camlight_sz;
-extern const int light_sz;
+extern const int lighttype_sz;
 extern const int integrator_sz;
 extern const int collision_sz;
 extern const int cone_sz;
@@ -51,7 +51,7 @@ extern const mjMap TFAuto_map[];
 extern const mjMap joint_map[];
 extern const mjMap geom_map[];
 extern const mjMap camlight_map[];
-extern const mjMap light_map[];
+extern const mjMap lighttype_map[];
 extern const mjMap integrator_map[];
 extern const mjMap collision_map[];
 extern const mjMap impedance_map[];
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 52d3181a..02908ed2 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -167,8 +167,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "?", "17", "orthographic", "fovy", "ipd", "resolution", "pos", "quat",
             "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
             "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "?", "15", "pos", "dir", "bulbradius", "intensity", "range",
-            "directional", "castshadow", "active", "attenuation", "cutoff", "exponent",
+        {"light", "?", "16", "pos", "dir", "bulbradius", "intensity", "range",
+            "directional", "type", "castshadow", "active", "attenuation", "cutoff", "exponent",
             "ambient", "diffuse", "specular", "mode"},
         {"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
          "gap", "margin"},
@@ -281,7 +281,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "*", "20", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
             "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
             "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "*", "18", "name", "class", "directional", "castshadow", "active",
+        {"light", "*", "19", "name", "class", "directional", "type", "castshadow", "active",
             "pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
             "exponent", "ambient", "diffuse", "specular", "mode", "target"},
         {"plugin", "*", "2", "plugin", "instance"},
@@ -580,6 +580,17 @@ const mjMap camlight_map[camlight_sz] = {
   {"targetbodycom", mjCAMLIGHT_TARGETBODYCOM}
 };
 
+
+// light type
+const int lighttype_sz = 4;
+const mjMap lighttype_map[lighttype_sz] = {
+  {"spot",          mjLIGHT_SPOT},
+  {"directional",   mjLIGHT_DIRECTIONAL},
+  {"point",         mjLIGHT_POINT},
+  {"image",         mjLIGHT_IMAGE}
+};
+
+
 // texmat role type
 const int texrole_sz = mjNTEXROLE - 1;
 const mjMap texrole_map[texrole_sz] = {
@@ -1852,6 +1863,7 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
 // light element parser
 void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   int n;
+  bool has_directional = false;
   string text, name, targetbody;
 
   // read attributes
@@ -1865,7 +1877,14 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
     light->mode = (mjtCamLight)n;
   }
   if (MapValue(elem, "directional", &n, bool_map, 2)) {
-    light->directional = (n == 1);
+    light->type = (n == 1) ? mjLIGHT_DIRECTIONAL : mjLIGHT_SPOT;
+    has_directional = true;
+  }
+  if (MapValue(elem, "type", &n, lighttype_map, lighttype_sz)) {
+    if (has_directional) {
+      throw mjXError(elem, "type and directional cannot both be defined");
+    }
+    light->type = (mjtLightType)n;
   }
   if (MapValue(elem, "castshadow", &n, bool_map, 2)) {
     light->castshadow = (n == 1);
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index f850c82b..9f9a1b9d 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -607,7 +607,7 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
   WriteAttr(elem, "bulbradius", 1, &light->bulbradius, &def->Light().bulbradius);
   WriteAttr(elem, "intensity", 1, &light->intensity, &def->Light().intensity);
   WriteAttr(elem, "range", 1, &light->range, &def->Light().range);
-  WriteAttrKey(elem, "directional", bool_map, 2, light->directional, def->Light().directional);
+  WriteAttrKey(elem, "type", lighttype_map, lighttype_sz, light->type, def->Light().type);
   WriteAttrKey(elem, "castshadow", bool_map, 2, light->castshadow, def->Light().castshadow);
   WriteAttrKey(elem, "active", bool_map, 2, light->active, def->Light().active);
   WriteAttr(elem, "attenuation", 3, light->attenuation, def->Light().attenuation);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 1172e758..ae6a9ac5 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -207,6 +207,12 @@ public enum mjtCamLight : int{
   mjCAMLIGHT_TARGETBODY = 3,
   mjCAMLIGHT_TARGETBODYCOM = 4,
 }
+public enum mjtLightType : int{
+  mjLIGHT_SPOT = 0,
+  mjLIGHT_DIRECTIONAL = 1,
+  mjLIGHT_POINT = 2,
+  mjLIGHT_IMAGE = 3,
+}
 public enum mjtTexture : int{
   mjTEXTURE_2D = 0,
   mjTEXTURE_CUBE = 1,
@@ -5434,7 +5440,7 @@ public unsafe struct mjModel_ {
   public int* light_mode;
   public int* light_bodyid;
   public int* light_targetbodyid;
-  public byte* light_directional;
+  public int* light_type;
   public byte* light_castshadow;
   public float* light_bulbradius;
   public float* light_intensity;
@@ -6075,6 +6081,7 @@ public unsafe struct mjvGeom_ {
 public unsafe struct mjvLight_ {
   public fixed float pos[3];
   public fixed float dir[3];
+  public int type;
   public fixed float attenuation[3];
   public float cutoff;
   public float exponent;
@@ -6082,7 +6089,6 @@ public unsafe struct mjvLight_ {
   public fixed float diffuse[3];
   public fixed float specular[3];
   public byte headlight;
-  public byte directional;
   public byte castshadow;
   public float bulbradius;
   public float intensity;

From 76ddc3007287f9650d61b3c500dfde7e3b02315a Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 22 May 2025 14:03:52 -0700
Subject: [PATCH 166/191] Make MJCF SdfFileFormat plugin create hierarchy
 reflecting MJCF instead of sibling rigidbodies.

PiperOrigin-RevId: 762117447
Change-Id: Id13f7a4f4e383a0c9e670e5272836f2fb1099830
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  79 +++----
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 209 ++++++++----------
 2 files changed, 117 insertions(+), 171 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 289177b2..d8bf0e3e 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -154,7 +154,6 @@ class ModelWriter {
   ModelWriter(mjSpec *spec, mjModel *model, pxr::SdfAbstractDataRefPtr &data)
       : spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
     body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
-    body_xforms_ = std::vector<pxr::GfMatrix4d>(model->nbody);
   }
   ~ModelWriter() { mj_deleteModel(model_); }
 
@@ -165,7 +164,6 @@ class ModelWriter {
 
     // Create the world body.
     body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex);
-    body_xforms_[kWorldIndex] = pxr::GfMatrix4d().SetIdentity();
 
     SetLayerMetadata(data_, pxr::SdfFieldKeys->Documentation,
                      "Generated by mujoco model writer.");
@@ -198,8 +196,6 @@ class ModelWriter {
   pxr::SdfPath class_path_;
   // Mapping from Mujoco body id to SdfPath.
   std::vector<pxr::SdfPath> body_paths_;
-  // Mapping from Mujoco body id to world space transform.
-  std::vector<pxr::GfMatrix4d> body_xforms_;
   // Mapping from mesh names to Mesh prim path.
   std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
 
@@ -248,44 +244,6 @@ class ModelWriter {
     pxr::TfToken body_name;
   };
 
-  pxr::SdfPath CreateParentIfNotExists(mjsBody *body,
-                                       const pxr::SdfPath &world_path,
-                                       pxr::SdfAbstractDataRefPtr &data) {
-    // To allow for easier scene authoring and modification, we want to
-    // place MJCF bodies belonging to the same kinematic chain under some
-    // identity parent Xform prim. This allows users to move the entire
-    // asset.
-    //
-    // We cannot simply recreate the MJCF kinematic tree structure
-    // because in USD it is assumed that children move rigidly with their
-    // parents. This is not true in MJCF if you have joints. We could perhaps
-    // use a more complex heuristic where we evaluate a common tree prefix
-    // in MJCF that is effectively welded together but for now we choose
-    // simplicity.
-
-    // In the trivial case where the parent of body is already the world
-    // body we want to create a parent xform of the same name.
-    // So if the MJCF has a child of the world body called "root" we will
-    // create a parent Xform at /World/root and the actual body will be
-    // created at /World/root/root.
-    mjsBody *last_parent = body;
-    mjsBody *parent = mjs_getParent(body->element);
-    while (mjs_getId(parent->element) != kWorldIndex) {
-      last_parent = parent;
-      parent = mjs_getParent(parent->element);
-    }
-
-    pxr::TfToken last_parent_name = GetValidPrimName(*last_parent->name);
-    pxr::SdfPath parent_xform_path = world_path.AppendChild(last_parent_name);
-    if (!data->HasSpec(parent_xform_path)) {
-      pxr::SdfPath prim_path = CreatePrimSpec(
-          data, world_path, last_parent_name, pxr::UsdGeomTokens->Xform);
-
-      SetPrimKind(data_, prim_path, pxr::KindTokens->component);
-    }
-    return parent_xform_path;
-  }
-
   void WriteScaleXformOp(const pxr::SdfPath &prim_path,
                          const pxr::GfVec3f &scale) {
     pxr::SdfPath scale_attr_path =
@@ -1263,8 +1221,10 @@ class ModelWriter {
 
   void WriteBody(mjsBody *body, bool write_physics) {
     int body_id = mjs_getId(body->element);
-    pxr::SdfPath parent_path =
-        CreateParentIfNotExists(body, body_paths_[kWorldIndex], data_);
+    // This should be safe as we process parent bodies before children.
+    mjsBody *parent = mjs_getParent(body->element);
+    int parent_id = mjs_getId(parent->element);
+    pxr::SdfPath parent_path = body_paths_[parent_id];
     pxr::TfToken body_name = GetValidPrimName(*body->name);
 
     // Create Xform prim for body.
@@ -1272,12 +1232,25 @@ class ModelWriter {
                                             pxr::UsdGeomTokens->Xform);
     // The parent_path will be a component which makes the actual articulated
     // bodies subcomponents.
-    SetPrimKind(data_, body_path, pxr::KindTokens->subcomponent);
+    auto kind = parent_id == kWorldIndex ? pxr::KindTokens->component
+                                         : pxr::KindTokens->subcomponent;
+    SetPrimKind(data_, body_path, kind);
 
     // Apply the PhysicsRigidBodyAPI schema if we are writing physics.
     if (write_physics) {
       ApplyApiSchema(data_, body_path,
                      pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
+
+      // If the parent is not the world body, but is child of the world body
+      // then we need to apply the articulation root API.
+      if (parent_id != kWorldIndex) {
+        int parent_parent_id =
+            mjs_getId(mjs_getParent(parent->element)->element);
+        if (parent_parent_id == kWorldIndex) {
+          ApplyApiSchema(data_, parent_path,
+                         pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
+        }
+      }
     }
 
     // Create classes if necessary
@@ -1290,17 +1263,15 @@ class ModelWriter {
     }
 
     // Create XformOp attribute for body transform.
-    // Make sure to account for the parent since UsdPhysics doesn't support
-    // nested bodies!
-    auto parent_xform = body_xforms_[model_->body_parentid[body_id]];
+
+    pxr::SdfPath xform_op_path =
+        CreateAttributeSpec(data_, body_path, kTokens->xformOpTransform,
+                            pxr::SdfValueTypeNames->Matrix4d);
     // mjModel will have all frames already accounted for so no need to worry
     // about them here.
-    body_xforms_[body_id] =
-        MujocoPosQuatToTransform(&model_->body_pos[body_id * 3],
-                                 &model_->body_quat[body_id * 4]) *
-        parent_xform;
-    WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Matrix4d,
-                          kTokens->xformOpTransform, body_xforms_[body_id]);
+    auto body_xform = MujocoPosQuatToTransform(&model_->body_pos[body_id * 3],
+                                               &model_->body_quat[body_id * 4]);
+    SetAttributeDefault(data_, xform_op_path, body_xform);
 
     // Create XformOpOrder attribute for body transform order.
     // For us this is simply the transform we authored above.
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index b1359540..9e2995de 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -48,6 +48,7 @@
 #include <pxr/usd/usdGeom/primvarsAPI.h>
 #include <pxr/usd/usdGeom/sphere.h>
 #include <pxr/usd/usdGeom/tokens.h>
+#include <pxr/usd/usdPhysics/articulationRootAPI.h>
 #include <pxr/usd/usdPhysics/collisionAPI.h>
 #include <pxr/usd/usdPhysics/meshCollisionAPI.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
@@ -116,8 +117,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
 
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_VALID(stage, "/mesh_test");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron/Mesh");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron/Mesh");
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
@@ -222,7 +223,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
   auto stage = pxr::UsdStage::Open(layer);
 
   auto mesh = pxr::UsdGeomMesh::Get(
-      stage, SdfPath("/mesh_test/test_body/test_body/tetrahedron/Mesh"));
+      stage, SdfPath("/mesh_test/test_body/tetrahedron/Mesh"));
   ASSERT_TRUE(mesh);
   pxr::VtArray<int> face_vertex_counts;
   mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
@@ -273,8 +274,8 @@ TEST_F(MjcfSdfFileFormatPluginTest,
   auto stage = pxr::UsdStage::Open(xml_path);
   EXPECT_THAT(stage, testing::NotNull());
 
-  auto mesh = pxr::UsdGeomMesh::Get(
-      stage, SdfPath("/mesh_test/test_body/test_body/mesh/Mesh"));
+  auto mesh =
+      pxr::UsdGeomMesh::Get(stage, SdfPath("/mesh_test/test_body/mesh/Mesh"));
   ASSERT_TRUE(mesh);
   pxr::VtArray<int> face_vertex_counts;
   mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
@@ -357,9 +358,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBody) {
   pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
 
   auto stage = pxr::UsdStage::Open(layer);
+
   EXPECT_PRIM_VALID(stage, "/body_test");
   EXPECT_PRIM_VALID(stage, "/body_test/test_body");
-  EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body");
   EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body_2");
 }
 
@@ -381,10 +382,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBasicParenting) {
 
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_VALID(stage, "/test/root");
-  EXPECT_PRIM_VALID(stage, "/test/root/root");
   EXPECT_PRIM_VALID(stage, "/test/root/root_body_1");
   EXPECT_PRIM_VALID(stage, "/test/root/root_body_2");
-  EXPECT_PRIM_VALID(stage, "/test/root/root_body_3");
+  EXPECT_PRIM_VALID(stage, "/test/root/root_body_2/root_body_3");
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
@@ -412,9 +412,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
 
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_VALID(stage, "/test/root");
-  EXPECT_PRIM_VALID(stage, "/test/root/root");
   EXPECT_PRIM_VALID(stage, "/test/root/middle");
-  EXPECT_PRIM_VALID(stage, "/test/root/tet");
+  EXPECT_PRIM_VALID(stage, "/test/root/middle/tet");
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
@@ -443,9 +442,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_KIND(stage, "/test", pxr::KindTokens->group);
   EXPECT_PRIM_KIND(stage, "/test/root", pxr::KindTokens->component);
-  EXPECT_PRIM_KIND(stage, "/test/root/root", pxr::KindTokens->subcomponent);
   EXPECT_PRIM_KIND(stage, "/test/root/middle", pxr::KindTokens->subcomponent);
-  EXPECT_PRIM_KIND(stage, "/test/root/tet", pxr::KindTokens->subcomponent);
+  EXPECT_PRIM_KIND(stage, "/test/root/middle/tet",
+                   pxr::KindTokens->subcomponent);
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
@@ -936,28 +935,23 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_VALID(stage, "/test/box_site");
   EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", MjcPhysicsSiteAPI);
-
-  EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/sphere_site",
-                          MjcPhysicsSiteAPI);
-
-  EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/capsule_site",
-                          MjcPhysicsSiteAPI);
-
-  EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site",
-                   pxr::UsdGeomCylinder);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/cylinder_site",
-                          MjcPhysicsSiteAPI);
-
-  EXPECT_PRIM_VALID(stage, "/test/ball/ball/ellipsoid_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/ball/ellipsoid_site", pxr::UsdGeomSphere);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/ellipsoid_site",
-                          MjcPhysicsSiteAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
+  EXPECT_PRIM_VALID(stage, "/test/ball/sphere_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/sphere_site", pxr::UsdGeomSphere);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/sphere_site",
+                          pxr::MjcPhysicsSiteAPI);
+  EXPECT_PRIM_VALID(stage, "/test/ball/capsule_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/capsule_site", pxr::UsdGeomCapsule);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/capsule_site",
+                          pxr::MjcPhysicsSiteAPI);
+  EXPECT_PRIM_VALID(stage, "/test/ball/cylinder_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/cylinder_site", pxr::UsdGeomCylinder);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/cylinder_site",
+                          pxr::MjcPhysicsSiteAPI);
+  EXPECT_PRIM_VALID(stage, "/test/ball/ellipsoid_site");
+  EXPECT_PRIM_IS_A(stage, "/test/ball/ellipsoid_site", pxr::UsdGeomSphere);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ellipsoid_site",
+                          pxr::MjcPhysicsSiteAPI);
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
@@ -965,13 +959,13 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
 
   auto stage = pxr::UsdStage::Open(layer);
   EXPECT_PRIM_PURPOSE(stage, "/test/box_site", pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/sphere_site",
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/sphere_site",
                       pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/capsule_site",
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/capsule_site",
                       pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/cylinder_site",
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/cylinder_site",
                       pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site",
+  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ellipsoid_site",
                       pxr::UsdGeomTokens->guide);
 }
 
@@ -981,9 +975,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
   // Test that the default is no physics.
   auto stage_no_physics = pxr::UsdStage::Open(xml_path);
   EXPECT_THAT(stage_no_physics, testing::NotNull());
-  EXPECT_PRIM_VALID(stage_no_physics, "/mesh_test/test_body/test_body");
-  EXPECT_PRIM_API_NOT_APPLIED(stage_no_physics,
-                              "/mesh_test/test_body/test_body",
+  EXPECT_PRIM_VALID(stage_no_physics, "/mesh_test/test_body");
+  EXPECT_PRIM_API_NOT_APPLIED(stage_no_physics, "/mesh_test/test_body",
                               pxr::UsdPhysicsRigidBodyAPI);
 
   // Then test that the physics flag enables physics.
@@ -992,8 +985,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
   auto stage_with_physics = pxr::UsdStage::Open(xml_path_physics_flag);
   EXPECT_THAT(stage_with_physics, testing::NotNull());
 
-  EXPECT_PRIM_VALID(stage_with_physics, "/mesh_test/test_body/test_body");
-  EXPECT_PRIM_API_APPLIED(stage_with_physics, "/mesh_test/test_body/test_body",
+  EXPECT_PRIM_VALID(stage_with_physics, "/mesh_test/test_body");
+  EXPECT_PRIM_API_APPLIED(stage_with_physics, "/mesh_test/test_body",
                           pxr::UsdPhysicsRigidBodyAPI);
 }
 
@@ -1019,23 +1012,21 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
   EXPECT_THAT(stage, testing::NotNull());
   EXPECT_PRIM_VALID(stage, "/physics_test");
   EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
-  EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body");
-  // USD does not allow nested rigidbodies so we put them as siblings to the
-  // first body in the hierarchy.
   EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
 
-  // The parent containing the body should not have the RigidBodyAPI applied.
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
-                              pxr::UsdPhysicsRigidBodyAPI);
-
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body",
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
                           pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
+                          pxr::UsdPhysicsArticulationRootAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
                           pxr::UsdPhysicsRigidBodyAPI);
 
+  // Only the root body should have the articulation API applied.
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
+                              pxr::UsdPhysicsArticulationRootAPI);
+
   // Geoms should not have RigidBodyAPI applied either.
-  EXPECT_PRIM_API_NOT_APPLIED(stage,
-                              "/physics_test/test_body/test_body/test_geom",
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage,
                               "/physics_test/test_body/test_body_2/test_geom_2",
@@ -1093,22 +1084,22 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   //
   // ground [collider]
   //
-  // body_0/body_0 [rigidbody]
-  //   body_0/body_0/body_0_col [collider]
+  // body_0 [rigidbody]
+  //   body_0/body_0_col [collider]
   //
-  // body_0/body_0_0 [rigidbody]  <-- USD reparents nested rigid bodies
-  //     body_0/body_0/body_0_0/body_0_0_col [collider]
+  // body_0/body_0_0 [rigidbody]
+  //     body_0/body_0_0/body_0_0_col [collider]
   //
-  // body_1/body_1 [rigidbody]
-  //   body_1/body_1/body_1_col_0 [collider]
-  //   body_1/body_1/body_1_col_1 [collider]
+  // body_1 [rigidbody]
+  //   body_1/body_1_col_0 [collider]
+  //   body_1/body_1_col_1 [collider]
   //
-  // body_2/body_2 [rigidbody]
-  //   body_2/body_2/body_2_nocol []
+  // body_2 [rigidbody]
+  //   body_2/body_2_nocol []
   //
-  // body_3/body_3 [rigidbody]
-  //   body_3/body_3/body_3_col []  <-- Intermediate prim for mesh instancing
-  //     body_3/body_3/body_3_col/Mesh [collider, mesh collider]
+  // body_3 [rigidbody]
+  //   body_3/body_3_col []  <-- Intermediate prim for mesh instancing
+  //     body_3/body_3_col/Mesh [collider, mesh collider]
 
   // ground [collider] (Static collider)
   EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -1116,19 +1107,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::UsdPhysicsCollisionAPI);
 
-  // body_0/body_0 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0",
-                              pxr::UsdPhysicsCollisionAPI);
-  //   body_0/body_0/body_0_col [collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0/body_0_col");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0/body_0_col",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0/body_0_col",
-                          pxr::UsdPhysicsCollisionAPI);
-
   // body_0/body_0_0 [rigidbody] (Nested body - reparented)
   EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0");
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0",
@@ -1142,61 +1120,58 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
                           pxr::UsdPhysicsCollisionAPI);
 
-  // body_1/body_1 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1",
+  // body_1 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_1");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1", pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
                               pxr::UsdPhysicsCollisionAPI);
-  //   body_1/body_1/body_1_col_0 [collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_0");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_0",
+  //   body_1/body_1_col_0 [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_0");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_0",
                               pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1/body_1_col_0",
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_0",
                           pxr::UsdPhysicsCollisionAPI);
-  //   body_1/body_1/body_1_col_1 [collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_1");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_1",
+  //   body_1/body_1_col_1 [collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_1");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_1",
                               pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1/body_1_col_1",
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_1",
                           pxr::UsdPhysicsCollisionAPI);
 
-  // body_2/body_2 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_2/body_2");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_2/body_2",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2",
+  // body_2 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_2");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_2", pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2",
                               pxr::UsdPhysicsCollisionAPI);
-  //   body_2/body_2/body_2_nocol [] (No physics APIs applied)
-  EXPECT_PRIM_VALID(stage, "/test/body_2/body_2/body_2_nocol");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
+  //   body_2/body_2_nocol [] (No physics APIs applied)
+  EXPECT_PRIM_VALID(stage, "/test/body_2/body_2_nocol");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2_nocol",
                               pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2_nocol",
                               pxr::UsdPhysicsCollisionAPI);
 
-  // body_3/body_3 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3",
+  // body_3 [rigidbody]
+  EXPECT_PRIM_VALID(stage, "/test/body_3");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3", pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3",
                               pxr::UsdPhysicsCollisionAPI);
-  //   body_3/body_3/body_3_col [] (Intermediate prim for mesh instancing)
-  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
+  //   body_3/body_3_col [] (Intermediate prim for mesh instancing)
+  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col",
                               pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col",
                               pxr::UsdPhysicsCollisionAPI);
-  //     body_3/body_3/body_3_col/Mesh [collider, mesh collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
+  //     body_3/body_3_col/Mesh [collider, mesh collider]
+  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col/Mesh");
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
                               pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
                           pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
                           pxr::UsdPhysicsMeshCollisionAPI);
-  ExpectAttributeEqual(
-      stage, "/test/body_3/body_3/body_3_col/Mesh.physics:approximation",
-      pxr::UsdPhysicsTokens->convexHull);
+  ExpectAttributeEqual(stage,
+                       "/test/body_3/body_3_col/Mesh.physics:approximation",
+                       pxr::UsdPhysicsTokens->convexHull);
 }
 
 }  // namespace

From e389872c7db149f9efb1f1501a963f6ed6f12421 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 23 May 2025 09:23:28 -0700
Subject: [PATCH 167/191] Add frame property to python bindings.

PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
---
 python/mujoco/specs.cc      | 43 +++++++++++++++++++++++++++++++++++++
 python/mujoco/specs_test.py |  9 ++++++++
 2 files changed, 52 insertions(+)

diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index c1bbc3eb..b32942a5 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -736,6 +736,13 @@ PYBIND11_MODULE(_specs, m) {
         return frame;
       },
       py::return_value_policy::reference_internal);
+  mjsBody.def(
+    "frame",
+      [](raw::MjsBody* self) -> raw::MjsFrame* {
+        return mjs_getFrame(self->element);
+      },
+      py::return_value_policy::reference_internal);
+
 
   // ============================= MJSFRAME ====================================
   mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
@@ -767,6 +774,12 @@ PYBIND11_MODULE(_specs, m) {
       py::arg("body"), py::arg("prefix") = py::none(),
       py::arg("suffix") = py::none(),
       py::return_value_policy::reference_internal);
+  mjsFrame.def_property_readonly(
+      "frame",
+      [](raw::MjsFrame& self) -> raw::MjsFrame* {
+        return mjs_getFrame(self.element);
+      },
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSGEOM =====================================
   mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
@@ -789,6 +802,12 @@ PYBIND11_MODULE(_specs, m) {
       [](raw::MjsGeom& self, raw::MjsDefault& default_) -> void {
         mjs_setDefault(self.element, &default_);
       });
+  mjsGeom.def_property_readonly(
+      "frame",
+      [](raw::MjsGeom& self) -> raw::MjsFrame* {
+        return mjs_getFrame(self.element);
+      },
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSJOINT ====================================
   mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
@@ -811,6 +830,12 @@ PYBIND11_MODULE(_specs, m) {
       [](raw::MjsJoint& self, raw::MjsDefault& default_) -> void {
         mjs_setDefault(self.element, &default_);
       });
+  mjsJoint.def_property_readonly(
+      "frame",
+      [](raw::MjsJoint& self) -> raw::MjsFrame* {
+        return mjs_getFrame(self.element);
+      },
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSSITE =====================================
   mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
@@ -850,6 +875,12 @@ PYBIND11_MODULE(_specs, m) {
       py::arg("body"), py::arg("prefix") = py::none(),
       py::arg("suffix") = py::none(),
       py::return_value_policy::reference_internal);
+  mjsSite.def_property_readonly(
+      "frame",
+      [](raw::MjsSite& self) -> raw::MjsFrame* {
+        return mjs_getFrame(self.element);
+      },
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSCAMERA ===================================
   mjsCamera.def("delete",
@@ -873,6 +904,12 @@ PYBIND11_MODULE(_specs, m) {
       [](raw::MjsCamera& self, raw::MjsDefault& default_) -> void {
         mjs_setDefault(self.element, &default_);
       });
+  mjsCamera.def_property_readonly(
+      "frame",
+      [](raw::MjsCamera& self) -> raw::MjsFrame* {
+        return mjs_getFrame(self.element);
+      },
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSLIGHT ====================================
   mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
@@ -895,6 +932,12 @@ PYBIND11_MODULE(_specs, m) {
       [](raw::MjsLight& self, raw::MjsDefault& default_) -> void {
         mjs_setDefault(self.element, &default_);
       });
+  mjsLight.def_property_readonly(
+      "frame",
+      [](raw::MjsLight& self) -> raw::MjsFrame* {
+        return mjs_getFrame(self.element);
+      },
+      py::return_value_policy::reference_internal);
 
   // ============================= MJSMATERIAL =================================
   mjsMaterial.def("delete",
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index ac702876..c35c6618 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -1069,6 +1069,15 @@ class SpecsTest(absltest.TestCase):
     frame = body.to_frame()
     np.testing.assert_array_equal(frame.pos, [1, 2, 3])
 
+  def test_get_frame(self):
+    spec = mujoco.MjSpec()
+    body = spec.worldbody.add_body()
+    frame = body.add_frame()
+    geom = body.add_geom()
+    geom.set_frame(frame)
+    self.assertIsNotNone(frame)
+    self.assertIs(geom.frame, frame)
+
   def test_attach_to_frame(self):
     parent = mujoco.MjSpec()
     parent.assets = {'cube.obj': 'cube_content'}

From 9e4931b79d9652ee57013b48d93f61a36f09431c Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 23 May 2025 10:25:32 -0700
Subject: [PATCH 168/191] Add CollisionAPI and MeshCollisionAPI schemas to
 mjcPhysics.

PiperOrigin-RevId: 762478906
Change-Id: I9103e8d3cf99492e2df1c6b4af7937b12993f225
---
 .../usd/mjcPhysics/collisionAPI.cpp           | 124 ++++++++++++
 .../usd/mjcPhysics/collisionAPI.h             | 185 +++++++++++++++++
 .../usd/mjcPhysics/generatedSchema.usda       |  21 ++
 .../usd/mjcPhysics/meshCollisionAPI.cpp       | 126 ++++++++++++
 .../usd/mjcPhysics/meshCollisionAPI.h         | 191 ++++++++++++++++++
 src/experimental/usd/mjcPhysics/plugInfo.json |  20 ++
 src/experimental/usd/mjcPhysics/schema.usda   |  33 +++
 src/experimental/usd/mjcPhysics/tokens.cpp    |  16 ++
 src/experimental/usd/mjcPhysics/tokens.h      |  32 +++
 9 files changed, 748 insertions(+)
 create mode 100644 src/experimental/usd/mjcPhysics/collisionAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/collisionAPI.h
 create mode 100644 src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/meshCollisionAPI.h

diff --git a/src/experimental/usd/mjcPhysics/collisionAPI.cpp b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
new file mode 100644
index 00000000..ff113849
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
@@ -0,0 +1,124 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./collisionAPI.h"
+
+#include "pxr/usd/sdf/assetPath.h"
+#include "pxr/usd/sdf/types.h"
+#include "pxr/usd/usd/schemaRegistry.h"
+#include "pxr/usd/usd/typed.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsCollisionAPI, TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsCollisionAPI::~MjcPhysicsCollisionAPI() {}
+
+/* static */
+MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Get(const UsdStagePtr &stage,
+                                                   const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsCollisionAPI();
+  }
+  return MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsCollisionAPI::_GetSchemaKind() const {
+  return MjcPhysicsCollisionAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsCollisionAPI::CanApply(const UsdPrim &prim,
+                                      std::string *whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsCollisionAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Apply(const UsdPrim &prim) {
+  if (prim.ApplyAPI<MjcPhysicsCollisionAPI>()) {
+    return MjcPhysicsCollisionAPI(prim);
+  }
+  return MjcPhysicsCollisionAPI();
+}
+
+/* static */
+const TfType &MjcPhysicsCollisionAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsCollisionAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsCollisionAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsCollisionAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+UsdAttribute MjcPhysicsCollisionAPI::GetShellInertiaAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcShellinertia);
+}
+
+UsdAttribute MjcPhysicsCollisionAPI::CreateShellInertiaAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcShellinertia, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+namespace {
+static inline TfTokenVector _ConcatenateAttributeNames(
+    const TfTokenVector &left, const TfTokenVector &right) {
+  TfTokenVector result;
+  result.reserve(left.size() + right.size());
+  result.insert(result.end(), left.begin(), left.end());
+  result.insert(result.end(), right.begin(), right.end());
+  return result;
+}
+}  // namespace
+
+/*static*/
+const TfTokenVector &MjcPhysicsCollisionAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcShellinertia,
+  };
+  static TfTokenVector allNames = _ConcatenateAttributeNames(
+      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/collisionAPI.h b/src/experimental/usd/mjcPhysics/collisionAPI.h
new file mode 100644
index 00000000..e3681526
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/collisionAPI.h
@@ -0,0 +1,185 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
+#define MJCPHYSICS_GENERATED_COLLISIONAPI_H
+
+/// \file mjcPhysics/collisionAPI.h
+
+#include "./api.h"
+#include "./tokens.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/vec3d.h"
+#include "pxr/base/gf/vec3f.h"
+#include "pxr/base/tf/token.h"
+#include "pxr/base/tf/type.h"
+#include "pxr/base/vt/value.h"
+#include "pxr/pxr.h"
+#include "pxr/usd/usd/apiSchemaBase.h"
+#include "pxr/usd/usd/prim.h"
+#include "pxr/usd/usd/stage.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// COLLISIONAPI                                                               //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsCollisionAPI
+///
+/// API describing a Mujoco collider.
+///
+class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsCollisionAPI(const UsdPrim &prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsCollisionAPI(const UsdSchemaBase &schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsCollisionAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsCollisionAPI Get(const UsdStagePtr &stage,
+                                    const SdfPath &path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "CollisionAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsCollisionAPI Apply(const UsdPrim &prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SHELLINERTIA
+  // --------------------------------------------------------------------- //
+  /// Enables handling of the inertia assuming mass is concentrated on the
+  /// surface.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:shellinertia = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetShellInertiaAttr() const;
+
+  /// See GetShellInertiaAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateShellInertiaAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index ee17510b..6b70af62 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -226,3 +226,24 @@ class "SiteAPI" (
 {
 }
 
+class "CollisionAPI" (
+    doc = "API describing a Mujoco collider."
+)
+{
+    uniform bool mjc:shellinertia = 0 (
+        displayName = "Shell Inertia"
+        doc = "Enables handling of the inertia assuming mass is concentrated on the surface."
+    )
+}
+
+class "MeshCollisionAPI" (
+    doc = "API describing a Mujoco collider."
+)
+{
+    uniform token mjc:inertia = "legacy" (
+        allowedTokens = ["legacy", "convex", "exact", "shell"]
+        displayName = "Inertia"
+        doc = "Controls how a mesh is used when mass and inertia are inferred from geometry."
+    )
+}
+
diff --git a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
new file mode 100644
index 00000000..50c579dd
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
@@ -0,0 +1,126 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./meshCollisionAPI.h"
+
+#include "pxr/usd/sdf/assetPath.h"
+#include "pxr/usd/sdf/types.h"
+#include "pxr/usd/usd/schemaRegistry.h"
+#include "pxr/usd/usd/typed.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsMeshCollisionAPI,
+                 TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsMeshCollisionAPI::~MjcPhysicsMeshCollisionAPI() {}
+
+/* static */
+MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Get(
+    const UsdStagePtr &stage, const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsMeshCollisionAPI();
+  }
+  return MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsMeshCollisionAPI::_GetSchemaKind() const {
+  return MjcPhysicsMeshCollisionAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsMeshCollisionAPI::CanApply(const UsdPrim &prim,
+                                          std::string *whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsMeshCollisionAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Apply(
+    const UsdPrim &prim) {
+  if (prim.ApplyAPI<MjcPhysicsMeshCollisionAPI>()) {
+    return MjcPhysicsMeshCollisionAPI(prim);
+  }
+  return MjcPhysicsMeshCollisionAPI();
+}
+
+/* static */
+const TfType &MjcPhysicsMeshCollisionAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsMeshCollisionAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsMeshCollisionAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsMeshCollisionAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+UsdAttribute MjcPhysicsMeshCollisionAPI::GetInertiaAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcInertia);
+}
+
+UsdAttribute MjcPhysicsMeshCollisionAPI::CreateInertiaAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcInertia, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+namespace {
+static inline TfTokenVector _ConcatenateAttributeNames(
+    const TfTokenVector &left, const TfTokenVector &right) {
+  TfTokenVector result;
+  result.reserve(left.size() + right.size());
+  result.insert(result.end(), left.begin(), left.end());
+  result.insert(result.end(), right.begin(), right.end());
+  return result;
+}
+}  // namespace
+
+/*static*/
+const TfTokenVector &MjcPhysicsMeshCollisionAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcInertia,
+  };
+  static TfTokenVector allNames = _ConcatenateAttributeNames(
+      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/meshCollisionAPI.h b/src/experimental/usd/mjcPhysics/meshCollisionAPI.h
new file mode 100644
index 00000000..55c8c27e
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/meshCollisionAPI.h
@@ -0,0 +1,191 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
+#define MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
+
+/// \file mjcPhysics/meshCollisionAPI.h
+
+#include "./api.h"
+#include "./tokens.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/vec3d.h"
+#include "pxr/base/gf/vec3f.h"
+#include "pxr/base/tf/token.h"
+#include "pxr/base/tf/type.h"
+#include "pxr/base/vt/value.h"
+#include "pxr/pxr.h"
+#include "pxr/usd/usd/apiSchemaBase.h"
+#include "pxr/usd/usd/prim.h"
+#include "pxr/usd/usd/stage.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// MESHCOLLISIONAPI                                                           //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsMeshCollisionAPI
+///
+/// API describing a Mujoco collider.
+///
+/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
+/// below that are text/tokens, the actual token is published and defined in
+/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
+/// use MjcPhysicsTokens->rightHanded as the value.
+///
+class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsMeshCollisionAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
+  /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
+  /// error for an invalid \p prim
+  explicit MjcPhysicsMeshCollisionAPI(const UsdPrim &prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase &schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsMeshCollisionAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr &stage,
+                                        const SdfPath &path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "MeshCollisionAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
+  /// success. An invalid (or empty) MjcPhysicsMeshCollisionAPI object is
+  /// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim &prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // INERTIA
+  // --------------------------------------------------------------------- //
+  /// Controls how a mesh is used when mass and inertia are inferred from
+  /// geometry.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:inertia = "legacy"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | legacy, convex, exact, shell |
+  MJCPHYSICS_API
+  UsdAttribute GetInertiaAttr() const;
+
+  /// See GetInertiaAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateInertiaAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index 56e11dd5..efc5fe13 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -6,6 +6,26 @@
     {
       "Info": {
         "Types": {
+          "MjcPhysicsCollisionAPI": {
+            "alias": {
+              "UsdSchemaBase": "CollisionAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          },
+          "MjcPhysicsMeshCollisionAPI": {
+            "alias": {
+              "UsdSchemaBase": "MeshCollisionAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          },
           "MjcPhysicsSceneAPI": {
             "alias": {
               "UsdSchemaBase": "SceneAPI"
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 322a90a4..7996e5b5 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -515,3 +515,36 @@ class "SiteAPI"
 )
 {}
 
+class "CollisionAPI"
+(
+    doc = """API describing a Mujoco collider."""
+
+    inherits = </APISchemaBase>
+)
+{
+    uniform bool mjc:shellinertia = False (
+        customData = {
+            string apiName = "ShellInertia"
+        }
+        displayName = "Shell Inertia"
+        doc = """Enables handling of the inertia assuming mass is concentrated on the surface."""
+    )
+}
+
+class "MeshCollisionAPI"
+(
+    doc = """API describing a Mujoco collider."""
+
+    inherits = </APISchemaBase>
+)
+{
+    uniform token mjc:inertia = "legacy" (
+        allowedTokens = ["legacy", "convex", "exact", "shell"]
+        customData = {
+            string apiName = "Inertia"
+        }
+        displayName = "Inertia"
+        doc = """Controls how a mesh is used when mass and inertia are inferred from geometry."""
+    )
+}
+
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index 2cc35a98..fc442b3f 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -19,11 +19,14 @@ PXR_NAMESPACE_OPEN_SCOPE
 MjcPhysicsTokensType::MjcPhysicsTokensType()
     : auto_("auto", TfToken::Immortal),
       cg("cg", TfToken::Immortal),
+      convex("convex", TfToken::Immortal),
       dense("dense", TfToken::Immortal),
       elliptic("elliptic", TfToken::Immortal),
       euler("euler", TfToken::Immortal),
+      exact("exact", TfToken::Immortal),
       implicit("implicit", TfToken::Immortal),
       implicitfast("implicitfast", TfToken::Immortal),
+      legacy("legacy", TfToken::Immortal),
       mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
       mjcFlagAutoreset("mjc:flag:autoreset", TfToken::Immortal),
       mjcFlagClampctrl("mjc:flag:clampctrl", TfToken::Immortal),
@@ -47,6 +50,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcFlagRefsafe("mjc:flag:refsafe", TfToken::Immortal),
       mjcFlagSensor("mjc:flag:sensor", TfToken::Immortal),
       mjcFlagWarmstart("mjc:flag:warmstart", TfToken::Immortal),
+      mjcInertia("mjc:inertia", TfToken::Immortal),
       mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
                                     TfToken::Immortal),
       mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
@@ -76,20 +80,27 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
       mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
       mjcOptionWind("mjc:option:wind", TfToken::Immortal),
+      mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
       newton("newton", TfToken::Immortal),
       pgs("pgs", TfToken::Immortal),
       pyramidal("pyramidal", TfToken::Immortal),
       rk4("rk4", TfToken::Immortal),
+      shell("shell", TfToken::Immortal),
       sparse("sparse", TfToken::Immortal),
+      CollisionAPI("CollisionAPI", TfToken::Immortal),
+      MeshCollisionAPI("MeshCollisionAPI", TfToken::Immortal),
       SceneAPI("SceneAPI", TfToken::Immortal),
       SiteAPI("SiteAPI", TfToken::Immortal),
       allTokens({auto_,
                  cg,
+                 convex,
                  dense,
                  elliptic,
                  euler,
+                 exact,
                  implicit,
                  implicitfast,
+                 legacy,
                  mjcFlagActuation,
                  mjcFlagAutoreset,
                  mjcFlagClampctrl,
@@ -113,6 +124,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcFlagRefsafe,
                  mjcFlagSensor,
                  mjcFlagWarmstart,
+                 mjcInertia,
                  mjcOptionActuatorgroupdisable,
                  mjcOptionApirate,
                  mjcOptionCcd_iterations,
@@ -139,11 +151,15 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcOptionTolerance,
                  mjcOptionViscosity,
                  mjcOptionWind,
+                 mjcShellinertia,
                  newton,
                  pgs,
                  pyramidal,
                  rk4,
+                 shell,
                  sparse,
+                 CollisionAPI,
+                 MeshCollisionAPI,
                  SceneAPI,
                  SiteAPI}) {}
 
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 7bdf56f2..1624ce6a 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -63,6 +63,10 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
   /// represents the CG constraint solver algorithm.
   const TfToken cg;
+  /// \brief "convex"
+  ///
+  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken convex;
   /// \brief "dense"
   ///
   /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
@@ -78,6 +82,10 @@ struct MjcPhysicsTokensType {
   /// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
   /// represents the Euler numerical integrator.
   const TfToken euler;
+  /// \brief "exact"
+  ///
+  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken exact;
   /// \brief "implicit"
   ///
   /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
@@ -88,6 +96,10 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
   /// represents the implicitfast numerical integrator.
   const TfToken implicitfast;
+  /// \brief "legacy"
+  ///
+  /// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken legacy;
   /// \brief "mjc:flag:actuation"
   ///
   /// MjcPhysicsSceneAPI
@@ -180,6 +192,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcFlagWarmstart;
+  /// \brief "mjc:inertia"
+  ///
+  /// MjcPhysicsMeshCollisionAPI
+  const TfToken mjcInertia;
   /// \brief "mjc:option:actuatorgroupdisable"
   ///
   /// MjcPhysicsSceneAPI
@@ -284,6 +300,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcOptionWind;
+  /// \brief "mjc:shellinertia"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcShellinertia;
   /// \brief "newton"
   ///
   /// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
@@ -304,11 +324,23 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
   /// represents the RK4 numerical integrator.
   const TfToken rk4;
+  /// \brief "shell"
+  ///
+  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken shell;
   /// \brief "sparse"
   ///
   /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
   /// represents the sparse constraint Jacobian and matrices computed from it.
   const TfToken sparse;
+  /// \brief "CollisionAPI"
+  ///
+  /// Schema identifer and family for MjcPhysicsCollisionAPI
+  const TfToken CollisionAPI;
+  /// \brief "MeshCollisionAPI"
+  ///
+  /// Schema identifer and family for MjcPhysicsMeshCollisionAPI
+  const TfToken MeshCollisionAPI;
   /// \brief "SceneAPI"
   ///
   /// Schema identifer and family for MjcPhysicsSceneAPI

From eb6f7dc6b7fc3484a903ff5ef928bdff5c5ee1d7 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Fri, 23 May 2025 12:10:03 -0700
Subject: [PATCH 169/191] Gate some calls with `__EMSCRIPTEN__`

PiperOrigin-RevId: 762520516
Change-Id: If9f7729721bab8c947861a968cf96eecc6591228
---
 src/engine/engine_util_errmem.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_util_errmem.c b/src/engine/engine_util_errmem.c
index 58be05a1..04e98009 100644
--- a/src/engine/engine_util_errmem.c
+++ b/src/engine/engine_util_errmem.c
@@ -97,7 +97,7 @@ void mju_writeLog(const char* type, const char* msg) {
     // get time
     time(&rawtime);
 
-#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__)
+#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__) || defined(__EMSCRIPTEN__)
     localtime_r(&rawtime, &timeinfo);
 #elif _MSC_VER
     localtime_s(&timeinfo, &rawtime);

From 7a5b55f57eb5c1bc6148b641d0184ca6512df600 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 23 May 2025 14:35:58 -0700
Subject: [PATCH 170/191] Expose mjs_resolveOrientation to the Python API.

PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
---
 python/mujoco/specs.cc      | 14 ++++++++++++++
 python/mujoco/specs_test.py | 13 +++++++++++++
 2 files changed, 27 insertions(+)

diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index b32942a5..3ec74da8 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -490,6 +490,20 @@ PYBIND11_MODULE(_specs, m) {
       },
       py::arg("name"),
       py::return_value_policy::reference_internal);
+  mjSpec.def_static(
+      "resolve_orientation",
+      [](bool degree, const MjTypeVec<char>& sequence,
+         const raw::MjsOrientation* orientation) -> std::array<double, 4> {
+        std::array<double, 4> quat = {0, 0, 0, 0};
+        const char* err = mjs_resolveOrientation(quat.data(), degree,
+                                                 sequence.ptr, orientation);
+        if (err) {
+          throw pybind11::value_error(err);
+        }
+        return quat;
+      },
+      py::arg("degree"), py::arg("sequence") = py::none(),
+      py::arg("orientation"), py::return_value_policy::copy);
 
   // ============================= MJSBODY =====================================
   mjsBody.def(
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index c35c6618..41a2043c 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -16,6 +16,7 @@
 
 import gc
 import inspect
+import math
 import os
 import textwrap
 import typing
@@ -129,6 +130,18 @@ class SpecsTest(absltest.TestCase):
     """)
     self.assertEqual(spec.to_xml(), xml)
 
+  def test_resolve_orientation(self):
+    spec = mujoco.MjSpec()
+    body = spec.worldbody.add_body(euler=[0, 0, 90])
+    quat = mujoco.MjSpec.resolve_orientation(
+        degree=spec.compiler.degree,
+        sequence=spec.compiler.eulerseq,
+        orientation=body.alt,
+    )
+    np.testing.assert_array_almost_equal(
+        quat, [math.sqrt(2) / 2, 0, 0, math.sqrt(2) / 2]
+    )
+
   def test_kwarg(self):
     # Create a spec.
     spec = mujoco.MjSpec()

From 4a102c37bc5dcf1a31edf658a6a799dc8d1857ef Mon Sep 17 00:00:00 2001
From: Tom Erez <etom@google.com>
Date: Mon, 26 May 2025 07:02:42 -0700
Subject: [PATCH 171/191] Add support for indexing qfrc fields in MJX bind()
 method.

PiperOrigin-RevId: 763415415
Change-Id: Idb567a1711679565444779fb1062d7b65434ef13
---
 mjx/mujoco/mjx/_src/support.py      | 12 ++++++++----
 mjx/mujoco/mjx/_src/support_test.py |  7 ++++++-
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index ab330067..15715021 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -433,11 +433,13 @@ class BindData(object):
         return name
       else:
         raise AttributeError('ctrl is not available for this type')
-    if name == 'qpos' or name == 'qvel' or name == 'qacc':
+    if name == 'qpos' or name == 'qvel' or name == 'qacc' or name.startswith('qfrc_'):
       if self.prefix == 'jnt_':
         return name
       else:
-        raise AttributeError('qpos, qvel, qacc are not available for this type')
+        raise AttributeError(
+            'qpos, qvel, qacc, qfrc are not available for this type'
+        )
     else:
       return self.prefix + name
 
@@ -451,7 +453,9 @@ class BindData(object):
     return var[..., idx, :]
 
   def __getattr__(self, name: str):
-    if name in ('sensordata', 'qpos', 'qvel', 'qacc'):
+    if name in ('sensordata', 'qpos', 'qvel', 'qacc') or (
+        name.startswith('qfrc_')
+    ):
       adr = num = 0
       if name == 'sensordata':
         adr = self.model.sensor_adr[self.id]
@@ -460,7 +464,7 @@ class BindData(object):
         adr = self.model.jnt_qposadr[self.id]
         typ = self.model.jnt_type[self.id]
         num = sum((typ == jt) * jt.qpos_width() for jt in JointType)
-      elif name == 'qvel' or name == 'qacc':
+      elif name == 'qvel' or name == 'qacc' or name.startswith('qfrc_'):
         adr = self.model.jnt_dofadr[self.id]
         typ = self.model.jnt_type[self.id]
         num = sum((typ == jt) * jt.dof_width() for jt in JointType)
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 05c1e5bd..3303aa62 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -249,6 +249,11 @@ class SupportTest(parameterized.TestCase):
           dx.bind(mx, s.joints[i]).qacc,
           d.qacc[m.jnt_dofadr[i]:m.jnt_dofadr[i] + dofnum[i]], decimal=6
       )
+      np.testing.assert_array_almost_equal(
+          dx.bind(mx, s.joints[i]).qfrc_actuator,
+          d.qfrc_actuator[m.jnt_dofadr[i] : m.jnt_dofadr[i] + dofnum[i]],
+          decimal=6,
+      )
 
     np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, d.ctrl)
     for i in range(m.nu):
@@ -344,7 +349,7 @@ class SupportTest(parameterized.TestCase):
     ):
       print(dx.bind(mx, s.actuators).set('actuator_ctrl', [1, 2, 3]))
     with self.assertRaisesRegex(
-        AttributeError, 'qpos, qvel, qacc are not available for this type'
+        AttributeError, 'qpos, qvel, qacc, qfrc are not available for this type'
     ):
       print(dx.bind(mx, s.geoms).qpos)
 

From 89e39dc0a74bccace9b1c1cd86112b2d519a589c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 27 May 2025 00:33:27 -0700
Subject: [PATCH 172/191] Expose `mj_makeM` as a sub-component.

PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
---
 doc/APIreference/functions.rst          | 15 +++++++++++++--
 doc/APIreference/functions_override.rst | 10 ++++++++--
 doc/XMLreference.rst                    |  4 ++--
 doc/changelog.rst                       |  3 +++
 doc/computation/index.rst               |  2 +-
 doc/includes/references.h               |  3 ++-
 include/mujoco/mjdata.h                 |  2 +-
 include/mujoco/mujoco.h                 |  3 +++
 python/mujoco/functions.cc              |  1 +
 python/mujoco/introspect/functions.py   | 20 ++++++++++++++++++++
 src/engine/engine_core_smooth.h         |  2 +-
 unity/Runtime/Bindings/MjBindings.cs    |  3 +++
 12 files changed, 58 insertions(+), 10 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 5b985861..e413f772 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -748,8 +748,7 @@ Compare forward and inverse dynamics, save results in fwdinv.
 Sub components
 ^^^^^^^^^^^^^^
 
-These are sub-components of the simulation pipeline, called internally from the components above. It is very unlikely
-that the user will need to call them.
+These are sub-components of the simulation pipeline, called internally from the components above.
 
 .. _mj_sensorPos:
 
@@ -886,6 +885,18 @@ Compute actuator transmission lengths and moments.
 
 Run composite rigid body inertia algorithm (CRB).
 
+.. _mj_makeM:
+
+`mj_makeM <#mj_makeM>`__
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_makeM
+
+Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due
+to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and
+``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row,
+respectively).
+
 .. _mj_factorM:
 
 `mj_factorM <#mj_factorM>`__
diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst
index ec72a183..5d00db0a 100644
--- a/doc/APIreference/functions_override.rst
+++ b/doc/APIreference/functions_override.rst
@@ -113,8 +113,14 @@ Integrates the simulation state using an implicit-in-velocity integrator (either
 
 .. _Subcomponents:
 
-These are sub-components of the simulation pipeline, called internally from the components above. It is very unlikely
-that the user will need to call them.
+These are sub-components of the simulation pipeline, called internally from the components above.
+
+.. _mj_makeM:
+
+Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due
+to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and
+``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row,
+respectively).
 
 .. _mj_factorM:
 
diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 727950af..e276c831 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -2918,8 +2918,8 @@ Attributes may be applied or ignored depending on the lighting model being used.
 .. _body-light-directional:
 
 :at:`directional`: :at-val:`[false, true], "false"`
-   This is a deprecated legacy attribute. Please use :ref:`light <light-type>` type instead. If set to "true", and no
-   type is specified, this will change the light type to be directional.
+   This is a deprecated legacy attribute. Please use :ref:`light <body-light-type>` type instead. If set to "true", and
+   no type is specified, this will change the light type to be directional.
 
 .. _body-light-castshadow:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 3ddc1b51..8f5135b6 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -14,6 +14,9 @@ General
 - Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
   :ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
   types.
+- Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
+  introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
+  ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
 
 Simulate
 ^^^^^^^^
diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index 1021067a..ff87af05 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -1692,7 +1692,7 @@ The stages below compute quantities that depend on the generalized positions ``m
 4. Compute quantities related to :ref:`flex<deformable-flex>` objects: :ref:`mj_flex`
 5. Compute the tendon lengths and moment arms. This includes the computation of minimal-length paths for spatial
    tendons: :ref:`mj_tendon`
-6. Compute the composite rigid body inertias and joint-space inertia matrix: :ref:`mj_crb`
+6. Compute the composite rigid body inertias and joint-space inertia matrix: :ref:`mj_makeM`
 7. Compute the sparse factorization of the joint-space inertia matrix: :ref:`mj_factorM`
 8. Construct the list of active contacts. This includes both broad-phase and near-phase collision detection:
    :ref:`mj_collision`
diff --git a/doc/includes/references.h b/doc/includes/references.h
index f61acd8e..2acf7ea6 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -267,7 +267,7 @@ struct mjData_ {
   int*    moment_colind;     // column indices in sparse Jacobian                (nJmom x 1)
   mjtNum* actuator_moment;   // actuator moments                                 (nJmom x 1)
 
-  // computed by mj_fwdPosition/mj_crb
+  // computed by mj_fwdPosition/mj_makeM
   mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
   mjtNum* qM;                // inertia (sparse)                                 (nM x 1)
   mjtNum* M;                 // reduced inertia (compressed sparse row)          (nC x 1)
@@ -3068,6 +3068,7 @@ void mj_flex(const mjModel* m, mjData* d);
 void mj_tendon(const mjModel* m, mjData* d);
 void mj_transmission(const mjModel* m, mjData* d);
 void mj_crb(const mjModel* m, mjData* d);
+void mj_makeM(const mjModel* m, mjData* d);
 void mj_factorM(const mjModel* m, mjData* d);
 void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
 void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index c05db9ab..1d894fd4 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -295,7 +295,7 @@ struct mjData_ {
   int*    moment_colind;     // column indices in sparse Jacobian                (nJmom x 1)
   mjtNum* actuator_moment;   // actuator moments                                 (nJmom x 1)
 
-  // computed by mj_fwdPosition/mj_crb
+  // computed by mj_fwdPosition/mj_makeM
   mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
   mjtNum* qM;                // inertia (sparse)                                 (nM x 1)
   mjtNum* M;                 // reduced inertia (compressed sparse row)          (nC x 1)
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 6c715427..467d888a 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -364,6 +364,9 @@ MJAPI void mj_transmission(const mjModel* m, mjData* d);
 // Run composite rigid body inertia algorithm (CRB).
 MJAPI void mj_crb(const mjModel* m, mjData* d);
 
+// Make inertia matrix.
+MJAPI void mj_makeM(const mjModel* m, mjData* d);
+
 // Compute sparse L'*D*L factorizaton of inertia matrix.
 MJAPI void mj_factorM(const mjModel* m, mjData* d);
 
diff --git a/python/mujoco/functions.cc b/python/mujoco/functions.cc
index d4708254..b23c6d1e 100644
--- a/python/mujoco/functions.cc
+++ b/python/mujoco/functions.cc
@@ -211,6 +211,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_tendon>(pymodule);
   Def<traits::mj_transmission>(pymodule);
   Def<traits::mj_crb>(pymodule);
+  Def<traits::mj_makeM>(pymodule);
   Def<traits::mj_factorM>(pymodule);
   DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM, "n")(
       pymodule,
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index cf85a819..44901fe4 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -1829,6 +1829,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Run composite rigid body inertia algorithm (CRB).',
      )),
+    ('mj_makeM',
+     FunctionDecl(
+         name='mj_makeM',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Make inertia matrix.',
+     )),
     ('mj_factorM',
      FunctionDecl(
          name='mj_factorM',
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
index a8cd1a2b..6a672b3a 100644
--- a/src/engine/engine_core_smooth.h
+++ b/src/engine/engine_core_smooth.h
@@ -55,7 +55,7 @@ MJAPI void mj_crb(const mjModel* m, mjData* d);
 MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
 
 // make inertia matrix
-void mj_makeM(const mjModel* m, mjData* d);
+MJAPI void mj_makeM(const mjModel* m, mjData* d);
 
 // sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd  (legacy implementation)
 MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index ae6a9ac5..d15803a7 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -6511,6 +6511,9 @@ public static unsafe extern void mj_transmission(mjModel_* m, mjData_* d);
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_crb(mjModel_* m, mjData_* d);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mj_makeM(mjModel_* m, mjData_* d);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_factorM(mjModel_* m, mjData_* d);
 

From ccc912c3b0ae6dba0bcf5a94d9980f296a88fd46 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 27 May 2025 02:16:33 -0700
Subject: [PATCH 173/191] Improve docstring in `mjvGeom`, fixes #2629

PiperOrigin-RevId: 763693102
Change-Id: Icb9a3168691690ccf086adb5a20358b3952d6717
---
 doc/includes/references.h           | 2 +-
 include/mujoco/mjvisualize.h        | 2 +-
 python/mujoco/introspect/structs.py | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 2acf7ea6..fc9943c1 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2815,7 +2815,7 @@ typedef struct mjvGLCamera_ mjvGLCamera;
 struct mjvGeom_ {                 // abstract geom
   // type info
   int      type;                  // geom type (mjtGeom)
-  int      dataid;                // mesh, hfield or plane id; -1: none
+  int      dataid;                // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
   int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
   int      objid;                 // mujoco object id; -1 for decor
   int      category;              // visual category
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index a61fe649..5903ba59 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -226,7 +226,7 @@ typedef struct mjvGLCamera_ mjvGLCamera;
 struct mjvGeom_ {                 // abstract geom
   // type info
   int      type;                  // geom type (mjtGeom)
-  int      dataid;                // mesh, hfield or plane id; -1: none
+  int      dataid;                // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
   int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
   int      objid;                 // mujoco object id; -1 for decor
   int      category;              // visual category
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 8ab28046..283a158a 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -6567,7 +6567,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='dataid',
                  type=ValueType(name='int'),
-                 doc='mesh, hfield or plane id; -1: none',
+                 doc='mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='objtype',

From de3dc7c234e1207e4dd706a6d8eb844fb3daa8a4 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 27 May 2025 04:25:03 -0700
Subject: [PATCH 174/191] Update documentation from `mjData.solver_iter` to
 `mjData.solver_niter`.

PiperOrigin-RevId: 763729137
Change-Id: I1266539ead38e083d427614d50b2aa79a68aa09c
---
 doc/APIreference/APIglobals.rst | 2 +-
 doc/APIreference/APItypes.rst   | 2 +-
 doc/programming/simulation.rst  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst
index 09c01f6c..11077782 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -448,7 +448,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - 200
      - The number of iterations where solver statistics can be stored in ``mjData.solver``. This array is used
        to store diagnostic information about each iteration of the constraint solver.
-       The actual number of iterations is given by ``mjData.solver_iter``.
+       The actual number of iterations is given by ``mjData.solver_niter``.
    * - ``mjNISLAND``
      - 20
      - The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
index f2ecf868..f1df0615 100644
--- a/doc/APIreference/APItypes.rst
+++ b/doc/APIreference/APItypes.rst
@@ -914,7 +914,7 @@ mjSolverStat
 
 This is the data structure holding information about one solver iteration. ``mjData.solver`` is a preallocated array
 of mjSolverStat data structures, one for each iteration of the solver, up to a maximum of mjNSOLVER. The actual number
-of solver iterations is given by ``mjData.solver_iter``.
+of solver iterations is given by ``mjData.solver_niter``.
 
 .. mujoco-include:: mjSolverStat
 
diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst
index d0cf5029..26bf3fe7 100644
--- a/doc/programming/simulation.rst
+++ b/doc/programming/simulation.rst
@@ -807,7 +807,7 @@ to implement high-resolution timers in C without bringing in additional dependen
 does not need timing, and in that case there is no reason to call timing functions.
 
 One part of the simulation pipeline that needs to be monitored closely is the iterative constraint solver. The
-simplest diagnostic here is ``mjData.solver_iter`` which shows how many iterations the solver took on the last call to
+simplest diagnostic here is ``mjData.solver_niter`` which shows how many iterations the solver took on the last call to
 mj_step or ``mj_forward``. Note that the solver has tolerance parameters for early termination, so this number is
 usually smaller than the maximum number of iterations allowed. The array ``mjData.solver`` contains one
 :ref:`mjSolverStat` data structure per iteration of the constraint solver, with information about the constraint state

From 441ca838a1f5a614e5d2314982fd738a4e902575 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Tue, 27 May 2025 04:57:00 -0700
Subject: [PATCH 175/191] Add support for inertia and mass to Mujoco USD
 interop.

PiperOrigin-RevId: 763737956
Change-Id: I6cdf267d76536a26aeb6327ce90165842e32bd8a
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  97 +++++++++++++-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 120 ++++++++++++++++++
 test/experimental/usd/test_utils.cc           |   9 ++
 test/experimental/usd/test_utils.h            |   2 +
 4 files changed, 223 insertions(+), 5 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index d8bf0e3e..69e03ebb 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -26,6 +26,7 @@
 #include "mjcf/utils.h"
 #include <pxr/base/arch/attributes.h>
 #include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/quatf.h>
 #include <pxr/base/gf/rotation.h>
 #include <pxr/base/gf/vec2f.h>
 #include <pxr/base/gf/vec3d.h>
@@ -180,7 +181,7 @@ class ModelWriter {
     WritePhysicsScene();
 
     // Author mesh scope + mesh prims to be referenced.
-    WriteMeshes();
+    WriteMeshes(write_physics);
     WriteMaterials();
     WriteBodies(write_physics);
   }
@@ -298,7 +299,8 @@ class ModelWriter {
     SetAttributeDefault(data_, xform_op_order_path, new_order);
   }
 
-  void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path) {
+  void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path,
+                 bool write_physics) {
     auto name = GetAvailablePrimName(*mesh->name, pxr::UsdGeomTokens->Mesh,
                                      parent_path);
     pxr::SdfPath subcomponent_path =
@@ -308,6 +310,22 @@ class ModelWriter {
                        pxr::UsdGeomTokens->Mesh);
     mesh_paths_[*mesh->name] = subcomponent_path;
 
+    if (write_physics) {
+      ApplyApiSchema(data_, mesh_path, MjcPhysicsTokens->MeshCollisionAPI);
+
+      pxr::TfToken inertia = MjcPhysicsTokens->legacy;
+      if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_EXACT) {
+        inertia = MjcPhysicsTokens->exact;
+      } else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_CONVEX) {
+        inertia = MjcPhysicsTokens->convex;
+      } else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_SHELL) {
+        inertia = MjcPhysicsTokens->shell;
+      }
+
+      WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Token,
+                            MjcPhysicsTokens->mjcInertia, inertia);
+    }
+
     // NOTE: The geometry data taken from the spec is the post-compilation
     // data after it has been mjCMesh::Compile'd. So don't be surprised if
     // things like user defined vertices have moved due to re-centering to
@@ -584,7 +602,7 @@ class ModelWriter {
     }
   }
 
-  void WriteMeshes() {
+  void WriteMeshes(bool write_physics) {
     // Create a scope for the meshes to keep things organized
     pxr::SdfPath scope_path =
         CreatePrimSpec(data_, body_paths_[kWorldIndex], kTokens->meshScope,
@@ -596,7 +614,7 @@ class ModelWriter {
 
     mjsMesh *mesh = mjs_asMesh(mjs_firstElement(spec_, mjOBJ_MESH));
     while (mesh) {
-      WriteMesh(mesh, scope_path);
+      WriteMesh(mesh, scope_path, write_physics);
       mesh = mjs_asMesh(mjs_nextElement(spec_, mesh->element));
     }
   }
@@ -1032,12 +1050,43 @@ class ModelWriter {
         return;
     }
 
-    // Apply the PhysicsCollisionAPI schema if we are writing physics and the
+    // Apply the physics schemas if we are writing physics and the
     // geom participates in collisions.
     if (write_physics && (model_->geom_contype[geom_id] != 0 ||
                           model_->geom_conaffinity[geom_id] != 0)) {
       ApplyApiSchema(data_, geom_path,
                      pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
+      ApplyApiSchema(data_, geom_path, MjcPhysicsTokens->CollisionAPI);
+
+      WriteUniformAttribute(
+          geom_path, pxr::SdfValueTypeNames->Bool,
+          MjcPhysicsTokens->mjcShellinertia,
+          geom->typeinertia == mjtGeomInertia::mjINERTIA_SHELL);
+
+      if (geom->mass >= mjMINVAL || geom->density >= mjMINVAL) {
+        ApplyApiSchema(data_, geom_path, pxr::UsdPhysicsTokens->PhysicsMassAPI);
+      }
+
+      if (geom->mass >= mjMINVAL) {
+        pxr::SdfPath mass_attr = CreateAttributeSpec(
+            data_, geom_path, pxr::UsdPhysicsTokens->physicsMass,
+            pxr::SdfValueTypeNames->Float, pxr::SdfVariabilityUniform);
+
+        // Make sure to cast to float here since mjtNum might be a double.
+        SetAttributeDefault(data_, mass_attr, (float)geom->mass);
+      }
+
+      // Even though density is not used for mass computation when mass exists
+      // we want to retain the information anyways.
+      if (geom->density >= mjMINVAL) {
+        pxr::SdfPath density_attr = CreateAttributeSpec(
+            data_, geom_path, pxr::UsdPhysicsTokens->physicsDensity,
+            pxr::SdfValueTypeNames->Float, pxr::SdfVariabilityUniform);
+
+        // Make sure to cast to float here since mjtNum might be a double.
+        SetAttributeDefault(data_, density_attr, (float)geom->density);
+      }
+
       // For meshes, also apply PhysicsMeshCollisionAPI and set the
       // approximation attribute.
       if (geom->type == mjGEOM_MESH) {
@@ -1238,6 +1287,44 @@ class ModelWriter {
 
     // Apply the PhysicsRigidBodyAPI schema if we are writing physics.
     if (write_physics) {
+      // If the body had a mass specified then it must have either inertia or
+      // fullinertia specified per inertia element XML documentation.
+      // Therefore it is sufficient to check if the mass is non-zero to see if
+      // we should set inertial attributes on the body.
+      //
+      // Note that if the user has NOT specified any inertial properties then
+      // we don't want to pull values from the compiled model since coming back
+      // into Mujoco would take those values instead of computing them
+      // automatically from the subtree.
+      if (body->mass > 0) {
+        // User might have specified the inertia via fullinertia and the
+        // compiler has extracted all values properly. So leverage those
+        // instead of doing the computation ourselves here.
+        ApplyApiSchema(data_, body_path, pxr::UsdPhysicsTokens->PhysicsMassAPI);
+        WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Float,
+                              pxr::UsdPhysicsTokens->physicsMass,
+                              (float)model_->body_mass[body_id]);
+
+        mjtNum *body_ipos = &model_->body_ipos[body_id * 3];
+        pxr::GfVec3f inertial_pos(body_ipos[0], body_ipos[1], body_ipos[2]);
+        WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Point3f,
+                              pxr::UsdPhysicsTokens->physicsCenterOfMass,
+                              inertial_pos);
+
+        mjtNum *body_iquat = &model_->body_iquat[body_id * 4];
+        pxr::GfQuatf inertial_frame(body_iquat[0], body_iquat[1], body_iquat[2],
+                                    body_iquat[3]);
+        WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Quatf,
+                              pxr::UsdPhysicsTokens->physicsPrincipalAxes,
+                              inertial_frame);
+
+        mjtNum *inertia = &model_->body_inertia[body_id * 3];
+        pxr::GfVec3f diag_inertia(inertia[0], inertia[1], inertia[2]);
+        WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Float3,
+                              pxr::UsdPhysicsTokens->physicsDiagonalInertia,
+                              diag_inertia);
+      }
+
       ApplyApiSchema(data_, body_path,
                      pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
 
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 9e2995de..4d35eb89 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -17,6 +17,8 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include "src/experimental/usd/mjcPhysics/collisionAPI.h"
+#include "src/experimental/usd/mjcPhysics/meshCollisionAPI.h"
 #include "src/experimental/usd/mjcPhysics/sceneAPI.h"
 #include "src/experimental/usd/mjcPhysics/siteAPI.h"
 #include "src/experimental/usd/mjcPhysics/tokens.h"
@@ -50,6 +52,7 @@
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdPhysics/articulationRootAPI.h>
 #include <pxr/usd/usdPhysics/collisionAPI.h>
+#include <pxr/usd/usdPhysics/massAPI.h>
 #include <pxr/usd/usdPhysics/meshCollisionAPI.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
 #include <pxr/usd/usdPhysics/scene.h>
@@ -1106,6 +1109,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/ground",
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::MjcPhysicsCollisionAPI);
 
   // body_0/body_0_0 [rigidbody] (Nested body - reparented)
   EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0");
@@ -1113,30 +1117,40 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
                           pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0",
                               pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0",
+                              pxr::MjcPhysicsCollisionAPI);
   //   body_0/body_0_0/body_0_0_col [collider]
   EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0/body_0_0_col");
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
                           pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
+                          pxr::MjcPhysicsCollisionAPI);
 
   // body_1 [rigidbody]
   EXPECT_PRIM_VALID(stage, "/test/body_1");
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_1", pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
                               pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
+                              pxr::MjcPhysicsCollisionAPI);
   //   body_1/body_1_col_0 [collider]
   EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_0");
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_0",
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_0",
                           pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_0",
+                          pxr::MjcPhysicsCollisionAPI);
   //   body_1/body_1_col_1 [collider]
   EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_1");
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_1",
                               pxr::UsdPhysicsRigidBodyAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_1",
                           pxr::UsdPhysicsCollisionAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_1",
+                          pxr::MjcPhysicsCollisionAPI);
 
   // body_2 [rigidbody]
   EXPECT_PRIM_VALID(stage, "/test/body_2");
@@ -1169,11 +1183,117 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
                           pxr::UsdPhysicsCollisionAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
                           pxr::UsdPhysicsMeshCollisionAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
+                          pxr::MjcPhysicsMeshCollisionAPI);
   ExpectAttributeEqual(stage,
                        "/test/body_3/body_3_col/Mesh.physics:approximation",
                        pxr::UsdPhysicsTokens->convexHull);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsCollisionAPI) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <geom name="box" type="box" size=".05 .05 .05" mass="0.1" shellinertia="true"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  ExpectAttributeEqual(stage, "/test/body/box.mjc:shellinertia", true);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <asset>
+      <mesh name="tet_legacy" inertia="legacy" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      <mesh name="tet_exact" inertia="exact" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      <mesh name="tet_convex" inertia="convex" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+      <mesh name="tet_shell" inertia="shell" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+    </asset>
+    <worldbody>
+      <body name="body">
+        <geom name="tet_legacy" type="mesh" mesh="tet_legacy"/>
+        <geom name="tet_exact" type="mesh" mesh="tet_exact"/>
+        <geom name="tet_convex" type="mesh" mesh="tet_convex"/>
+        <geom name="tet_shell" type="mesh" mesh="tet_shell"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  ExpectAttributeEqual(stage, "/test/body/tet_legacy/Mesh.mjc:inertia",
+                       MjcPhysicsTokens->legacy);
+  ExpectAttributeEqual(stage, "/test/body/tet_exact/Mesh.mjc:inertia",
+                       MjcPhysicsTokens->exact);
+  ExpectAttributeEqual(stage, "/test/body/tet_convex/Mesh.mjc:inertia",
+                       MjcPhysicsTokens->convex);
+  ExpectAttributeEqual(stage, "/test/body/tet_shell/Mesh.mjc:inertia",
+                       MjcPhysicsTokens->shell);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIApplied) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <geom name="box" type="box" size=".05 .05 .05" mass="0.1"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  EXPECT_PRIM_VALID(stage, "/test/body");
+  EXPECT_PRIM_VALID(stage, "/test/body/box");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body/box", pxr::UsdPhysicsMassAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body", pxr::UsdPhysicsMassAPI);
+  ExpectAttributeEqual(stage, "/test/body/box.physics:mass", 0.1f);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIAppliedToBody) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <inertial pos="1 2 3" mass="3" diaginertia="1 1 1"/>
+        <geom name="box" type="box" size=".05 .05 .05" mass="0.1"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  EXPECT_PRIM_VALID(stage, "/test/body");
+  EXPECT_PRIM_VALID(stage, "/test/body/box");
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body/box", pxr::UsdPhysicsMassAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body", pxr::UsdPhysicsMassAPI);
+  // Make sure that body gets it's inertial elements from the inertial element
+  // and not from the subtree.
+  ExpectAttributeEqual(stage, "/test/body.physics:mass", 3.0f);
+  ExpectAttributeEqual(stage, "/test/body.physics:centerOfMass",
+                       pxr::GfVec3f(1, 2, 3));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIDensity) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  ExpectAttributeEqual(stage, "/test/body/box.physics:density", 1234.0f);
+}
+
 }  // namespace
 }  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/test_utils.cc b/test/experimental/usd/test_utils.cc
index a4e93240..8b046793 100644
--- a/test/experimental/usd/test_utils.cc
+++ b/test/experimental/usd/test_utils.cc
@@ -42,6 +42,15 @@ pxr::SdfLayerRefPtr LoadLayer(
   return layer;
 }
 
+pxr::UsdStageRefPtr OpenStageWithPhysics(const std::string& xml) {
+  pxr::SdfFileFormat::FileFormatArguments args;
+  args["usdMjcfToggleUsdPhysics"] = "true";
+  pxr::SdfLayerRefPtr layer = LoadLayer(xml, args);
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_THAT(stage, testing::NotNull());
+  return stage;
+}
+
 template <>
 void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
                                              pxr::SdfPath path,
diff --git a/test/experimental/usd/test_utils.h b/test/experimental/usd/test_utils.h
index 69075ab3..655f06c9 100644
--- a/test/experimental/usd/test_utils.h
+++ b/test/experimental/usd/test_utils.h
@@ -73,6 +73,8 @@ pxr::SdfLayerRefPtr LoadLayer(
     const std::string& xml,
     const pxr::SdfFileFormat::FileFormatArguments& args = {});
 
+pxr::UsdStageRefPtr OpenStageWithPhysics(const std::string& xml);
+
 template <typename T>
 void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, pxr::SdfPath path,
                           const T& value) {

From 568620dd2f0f661dae2baafe3c5dee6d1d9f88ae Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Tue, 27 May 2025 05:03:04 -0700
Subject: [PATCH 176/191] Add `texture` attribute to lights.

PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
---
 doc/XMLreference.rst                 |  5 +++++
 doc/XMLschema.rst                    |  2 +-
 doc/includes/references.h            |  3 +++
 include/mujoco/mjmodel.h             |  1 +
 include/mujoco/mjspec.h              |  1 +
 include/mujoco/mjvisualize.h         |  1 +
 include/mujoco/mjxmacro.h            |  1 +
 python/mujoco/introspect/structs.py  | 20 ++++++++++++++++++++
 python/mujoco/structs.cc             |  1 +
 src/engine/engine_vis_visualize.c    |  5 +++++
 src/user/user_model.cc               |  1 +
 src/user/user_objects.cc             | 18 ++++++++++++++++++
 src/user/user_objects.h              |  4 ++++
 src/xml/xml_native_reader.cc         |  9 ++++++---
 src/xml/xml_native_writer.cc         |  1 +
 test/user/user_objects_test.cc       | 23 +++++++++++++++++++++++
 test/xml/testdata/lights.xml         | 12 ++++++++++++
 unity/Runtime/Bindings/MjBindings.cs |  2 ++
 18 files changed, 106 insertions(+), 4 deletions(-)
 create mode 100644 test/xml/testdata/lights.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index e276c831..2e716ca5 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -2961,6 +2961,11 @@ Attributes may be applied or ignored depending on the lighting model being used.
    The color of the light. For the Phong (default) lighting model, this defines the diffuse color of
    the light.
 
+.. _body-light-texture:
+
+:at:`texture`: :at-val:`string, optional`
+   The texture to use for image-based lighting. This is unused by the default Phong lighting model.
+
 .. _body-light-intensity:
 
 :at:`intensity`: :at-val:`real, "1000.0"`
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index a95e5211..21272c90 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -321,7 +321,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`cutoff<body-light-cutoff>`                                | :ref:`exponent<body-light-exponent>`                            | :ref:`ambient<body-light-ambient>`                              | :ref:`diffuse<body-light-diffuse>`                              | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`specular<body-light-specular>`                            | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                |                                                                 | |
+|                                    |    |    | :ref:`specular<body-light-specular>`                            | :ref:`mode<body-light-mode>`                                    | :ref:`target<body-light-target>`                                | :ref:`texture<body-light-texture>`                              | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| body |br| |_| |L|              |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/includes/references.h b/doc/includes/references.h
index fc9943c1..92aae862 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1186,6 +1186,7 @@ struct mjModel_ {
   int*      light_bodyid;         // id of light's body                       (nlight x 1)
   int*      light_targetbodyid;   // id of targeted body; -1: none            (nlight x 1)
   int*      light_type;           // spot, directional, etc. (mjtLightType)   (nlight x 1)
+  int*      light_texid;          // texture id for image lights              (nlight x 1)
   mjtByte*  light_castshadow;     // does light cast shadows                  (nlight x 1)
   float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
   float*    light_intensity;      // intensity, in candela                    (nlight x 1)
@@ -2043,6 +2044,7 @@ typedef struct mjsLight_ {         // light specification
   // intrinsics
   mjtByte active;                  // is light active
   mjtLightType type;               // type of light
+  mjString* texture;               // texture name for image lights
   mjtByte castshadow;              // does light cast shadows
   float bulbradius;                // bulb radius, for soft shadows
   float intensity;                 // intensity, in candelas
@@ -2847,6 +2849,7 @@ struct mjvLight_ {                // OpenGL light
   float    pos[3];                // position rel. to body frame
   float    dir[3];                // direction rel. to body frame
   int      type;                  // type (mjtLightType)
+  int      texid;                 // texture id for image lights
   float    attenuation[3];        // OpenGL attenuation (quadratic model)
   float    cutoff;                // OpenGL cutoff
   float    exponent;              // OpenGL exponent
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 8c50af50..75eb3cd0 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -858,6 +858,7 @@ struct mjModel_ {
   int*      light_bodyid;         // id of light's body                       (nlight x 1)
   int*      light_targetbodyid;   // id of targeted body; -1: none            (nlight x 1)
   int*      light_type;           // spot, directional, etc. (mjtLightType)   (nlight x 1)
+  int*      light_texid;          // texture id for image lights              (nlight x 1)
   mjtByte*  light_castshadow;     // does light cast shadows                  (nlight x 1)
   float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
   float*    light_intensity;      // intensity, in candela                    (nlight x 1)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index c422eedd..3c00f478 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -395,6 +395,7 @@ typedef struct mjsLight_ {         // light specification
   // intrinsics
   mjtByte active;                  // is light active
   mjtLightType type;               // type of light
+  mjString* texture;               // texture name for image lights
   mjtByte castshadow;              // does light cast shadows
   float bulbradius;                // bulb radius, for soft shadows
   float intensity;                 // intensity, in candelas
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 5903ba59..efff4d03 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -262,6 +262,7 @@ struct mjvLight_ {                // OpenGL light
   float    pos[3];                // position rel. to body frame
   float    dir[3];                // direction rel. to body frame
   int      type;                  // type (mjtLightType)
+  int      texid;                 // texture id for image lights
   float    attenuation[3];        // OpenGL attenuation (quadratic model)
   float    cutoff;                // OpenGL cutoff
   float    exponent;              // OpenGL exponent
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 3a8a6fcf..93542a88 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -300,6 +300,7 @@
     X   ( int,     light_bodyid,          nlight,        1                    ) \
     X   ( int,     light_targetbodyid,    nlight,        1                    ) \
     X   ( int,     light_type,            nlight,        1                    ) \
+    X   ( int,     light_texid,           nlight,        1                    ) \
     X   ( mjtByte, light_castshadow,      nlight,        1                    ) \
     X   ( float,   light_bulbradius,      nlight,        1                    ) \
     X   ( float,   light_intensity,       nlight,        1                    ) \
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 283a158a..49b8752b 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -2227,6 +2227,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='spot, directional, etc. (mjtLightType)',
                  array_extent=('nlight',),
              ),
+             StructFieldDecl(
+                 name='light_texid',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='texture id for image lights',
+                 array_extent=('nlight',),
+             ),
              StructFieldDecl(
                  name='light_castshadow',
                  type=PointerType(
@@ -6702,6 +6710,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='type (mjtLightType)',
              ),
+             StructFieldDecl(
+                 name='texid',
+                 type=ValueType(name='int'),
+                 doc='texture id for image lights',
+             ),
              StructFieldDecl(
                  name='attenuation',
                  type=ArrayType(
@@ -8996,6 +9009,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtLightType'),
                  doc='type of light',
              ),
+             StructFieldDecl(
+                 name='texture',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjString'),
+                 ),
+                 doc='texture name for image lights',
+             ),
              StructFieldDecl(
                  name='castshadow',
                  type=ValueType(name='mjtByte'),
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index dc98e3dd..1b92c61a 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -1074,6 +1074,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(exponent);
   X(headlight);
   X(type);
+  X(texid);
   X(castshadow);
   X(bulbradius);
   X(intensity);
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 6f9364f1..d0d57b3f 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -2143,8 +2143,12 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
     // set default properties
     memset(thislight, 0, sizeof(mjvLight));
     thislight->headlight = 1;
+    thislight->texid = -1;
     thislight->type = mjLIGHT_DIRECTIONAL;
     thislight->castshadow = 0;
+    thislight->bulbradius = 0.02;
+    thislight->intensity = 1000;
+    thislight->range = 10;
 
     // compute head position and gaze direction in model space
     mjtNum hpos[3], hfwd[3];
@@ -2170,6 +2174,7 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
       // copy properties
       memset(thislight, 0, sizeof(mjvLight));
       thislight->type = m->light_type[i];
+      thislight->texid = m->light_texid[i];
       thislight->castshadow = m->light_castshadow[i];
       thislight->bulbradius = m->light_bulbradius[i];
       thislight->intensity = m->light_intensity[i];
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index d7f862eb..e3d4544a 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2670,6 +2670,7 @@ void mjCModel::CopyTree(mjModel* m) {
       m->light_mode[lid] = (int)pl->mode;
       m->light_targetbodyid[lid] = pl->targetbodyid;
       m->light_type[lid] = pl->type;
+      m->light_texid[lid] = pl->texid;
       m->light_castshadow[lid] = (mjtByte)pl->castshadow;
       m->light_active[lid] = (mjtByte)pl->active;
       mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 688c9729..80d57a8d 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -3553,7 +3553,10 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
   // clear private variables
   body = 0;
   targetbodyid = -1;
+  texid = -1;
   spec_targetbody_.clear();
+  spec_texture_.clear();
+
 
   // reset to default if given
   if (_def) {
@@ -3593,6 +3596,7 @@ void mjCLight::PointToLocal() {
   spec.element = static_cast<mjsElement*>(this);
   spec.name = &name;
   spec.targetbody = &spec_targetbody_;
+  spec.texture = &spec_texture_;
   spec.info = &info;
   targetbody = nullptr;
 }
@@ -3604,6 +3608,9 @@ void mjCLight::NameSpace(const mjCModel* m) {
   if (!spec_targetbody_.empty()) {
     spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
   }
+  if (!spec_texture_.empty()) {
+    spec_texture_ = m->prefix + spec_texture_ + m->suffix;
+  }
 }
 
 
@@ -3611,6 +3618,7 @@ void mjCLight::NameSpace(const mjCModel* m) {
 void mjCLight::CopyFromSpec() {
   *static_cast<mjsLight*>(this) = spec;
   targetbody_ = spec_targetbody_;
+  texture_ = spec_texture_;
 }
 
 
@@ -3643,6 +3651,16 @@ void mjCLight::Compile(void) {
       throw mjCError(this, "unknown target body in light");
     }
   }
+
+  // get texture
+  if (!texture_.empty()) {
+    mjCTexture* tex = (mjCTexture*)model->FindObject(mjOBJ_TEXTURE, texture_);
+    if (tex) {
+      texid = tex->id;
+    } else {
+      throw mjCError(this, "unknown target body in light");
+    }
+  }
 }
 
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index db01349a..9c150646 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -793,6 +793,9 @@ class mjCLight_ : public mjCBase {
  protected:
   mjCBody* body;                  // light's body
   int targetbodyid;               // id of target body; -1: none
+  int texid;                      // id of texture; -1: none
+  std::string texture_;
+  std::string spec_texture_;
   std::string targetbody_;
   std::string spec_targetbody_;
 };
@@ -814,6 +817,7 @@ class mjCLight : public mjCLight_, private mjsLight {
 
   // used by mjXWriter and mjCModel
   const std::string& get_targetbody() const { return targetbody_; }
+  const std::string& get_texture() const { return texture_; }
 
   void SetParent(mjCBody* _body) { body = _body; }
   mjCBody* GetParent() const { return body; }
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 02908ed2..c5ad9c8f 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -281,9 +281,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"camera", "*", "20", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
             "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
             "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "*", "19", "name", "class", "directional", "type", "castshadow", "active",
+        {"light", "*", "20", "name", "class", "directional", "type", "castshadow", "active",
             "pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
-            "exponent", "ambient", "diffuse", "specular", "mode", "target"},
+            "exponent", "ambient", "diffuse", "specular", "mode", "target", "texture"},
         {"plugin", "*", "2", "plugin", "instance"},
         {"<"},
           {"config", "*", "2", "key", "value"},
@@ -1864,12 +1864,15 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
 void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
   int n;
   bool has_directional = false;
-  string text, name, targetbody;
+  string text, name, texture, targetbody;
 
   // read attributes
   if (ReadAttrTxt(elem, "name", name)) {
     mjs_setString(light->name, name.c_str());
   }
+  if (ReadAttrTxt(elem, "texture", texture)) {
+    mjs_setString(light->texture, texture.c_str());
+  }
   if (ReadAttrTxt(elem, "target", targetbody)) {
     mjs_setString(light->targetbody, targetbody.c_str());
   }
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 9f9a1b9d..f28041a8 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -608,6 +608,7 @@ void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
   WriteAttr(elem, "intensity", 1, &light->intensity, &def->Light().intensity);
   WriteAttr(elem, "range", 1, &light->range, &def->Light().range);
   WriteAttrKey(elem, "type", lighttype_map, lighttype_sz, light->type, def->Light().type);
+  WriteAttrTxt(elem, "texture", light->get_texture());
   WriteAttrKey(elem, "castshadow", bool_map, 2, light->castshadow, def->Light().castshadow);
   WriteAttrKey(elem, "active", bool_map, 2, light->active, def->Light().active);
   WriteAttr(elem, "attenuation", 3, light->attenuation, def->Light().attenuation);
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index 37bec917..396b2ea0 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -2294,6 +2294,29 @@ TEST_F(UserObjectsTest, FrameTransformsLight) {
   mj_deleteModel(m);
 }
 
+TEST_F(ContentTypeTest, ImageLightsReferenceTexture) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <asset>
+      <texture name="texture" type="cube" builtin="flat" mark="cross" width="8"
+       rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
+    </asset>
+
+    <worldbody>
+      <light type="image" texture="texture"/>
+    </worldbody>
+  </mujoco>
+  )";
+
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(m, NotNull());
+  EXPECT_EQ(m->ntex, 1);
+  EXPECT_EQ(m->nlight, 1);
+  EXPECT_THAT(m->light_texid[0], 0);
+  mj_deleteModel(m);
+}
+
 
 // ------------- test bvh ------------------------------------------------------
 TEST_F(UserObjectsTest, RobustBVH) {
diff --git a/test/xml/testdata/lights.xml b/test/xml/testdata/lights.xml
new file mode 100644
index 00000000..7937e1e7
--- /dev/null
+++ b/test/xml/testdata/lights.xml
@@ -0,0 +1,12 @@
+<mujoco>
+  <asset>
+    <texture name="texture1" type="2d" file="hfield.png"/>
+  </asset>
+  <worldbody>
+    <light name="light1" type="spot" pos="1 2 3" dir="0 0 1" diffuse="0.1 0.2 0.3" ambient="0.4 0.5 0.6" specular="0.7 0.8 0.95"/>
+    <light name="light2" type="spot" attenuation="0.1 0.2 0.3" cutoff="0.4" exponent="0.5"/>
+    <light name="light3" type="point" range="2" intensity="300" bulbradius="0.5"/>
+    <light name="light4" type="directional" dir="1 0 0" active="false" castshadow="false"/>
+    <light name="light5" type="image" texture="texture1"/>
+  </worldbody>
+</mujoco>
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index d15803a7..11698ed6 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5441,6 +5441,7 @@ public unsafe struct mjModel_ {
   public int* light_bodyid;
   public int* light_targetbodyid;
   public int* light_type;
+  public int* light_texid;
   public byte* light_castshadow;
   public float* light_bulbradius;
   public float* light_intensity;
@@ -6082,6 +6083,7 @@ public unsafe struct mjvLight_ {
   public fixed float pos[3];
   public fixed float dir[3];
   public int type;
+  public int texid;
   public fixed float attenuation[3];
   public float cutoff;
   public float exponent;

From 1fbbfd8079411519f9e60dd31437c178604034bc Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 28 May 2025 03:46:54 -0700
Subject: [PATCH 177/191] Correct `frame` property in MjsBody from method to
 read-only attribute.

PiperOrigin-RevId: 764188923
Change-Id: I7c753f7f431b79aa320681c45b7614f68b63852c
---
 python/mujoco/specs.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 3ec74da8..51846d2a 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -750,7 +750,7 @@ PYBIND11_MODULE(_specs, m) {
         return frame;
       },
       py::return_value_policy::reference_internal);
-  mjsBody.def(
+  mjsBody.def_property_readonly(
     "frame",
       [](raw::MjsBody* self) -> raw::MjsFrame* {
         return mjs_getFrame(self->element);

From 56b88b59f05e9a8d6ec8631cfc0fa1fb10673cb1 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Wed, 28 May 2025 04:18:01 -0700
Subject: [PATCH 178/191] Support 0-simplex in GJK code, and refactor code for
 efficiency and readability.

PiperOrigin-RevId: 764197889
Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a
---
 src/engine/engine_collision_gjk.c        | 108 +++++++++++++----------
 test/engine/engine_collision_gjk_test.cc |   2 +-
 2 files changed, 61 insertions(+), 49 deletions(-)

diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
index 268de4c2..a0a76004 100644
--- a/src/engine/engine_collision_gjk.c
+++ b/src/engine/engine_collision_gjk.c
@@ -17,6 +17,7 @@
 #include <stddef.h>
 #include <stdint.h>
 #include <stdlib.h>
+#include <string.h>
 
 #include <mujoco/mjtnum.h>
 #include <mujoco/mjmodel.h>
@@ -30,11 +31,10 @@
 // subdistance algorithm for GJK that computes the barycentric coordinates of the point in a
 // simplex closest to the origin
 // implementation adapted from Montanari et al, ToG 2017
-static void subdistance(mjtNum lambda[4], int n, const mjtNum s1[3], const mjtNum s2[3],
-                        const mjtNum s3[3], const mjtNum s4[3]);
+static void subdistance(mjtNum lambda[4], int n, const Vertex simplex[4]);
 
 // compute the barycentric coordinates of the closest point to the origin in the n-simplex,
-// where n = 3, 2, 1 respectively
+// for n = 3, 2, 1 respectively
 static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3], const mjtNum s3[3],
                 const mjtNum s4[3]);
 static void S2D(mjtNum lambda[3], const mjtNum s1[3], const mjtNum s2[3], const mjtNum s3[3]);
@@ -42,7 +42,7 @@ static void S1D(mjtNum lambda[2], const mjtNum s1[3], const mjtNum s2[3]);
 
 // compute the support point for GJK
 static void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
-                       const mjtNum x_k[3]);
+                       const mjtNum x_k[3], mjtNum x_norm);
 
 // compute the linear combination of 1 - 4 3D vectors
 static inline void lincomb(mjtNum res[3], const mjtNum* coef, int n, const mjtNum v1[3],
@@ -182,21 +182,27 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
   mjtNum cutoff2 = status->dist_cutoff * status->dist_cutoff;
 
   // if both geoms are discrete, finite convergence is guaranteed; set tolerance to 0
-  mjtNum epsilon = discreteGeoms(obj1, obj2) ? 0 : status->tolerance * status->tolerance;
+  mjtNum epsilon = discreteGeoms(obj1, obj2) ? 0 : 0.5 * status->tolerance * status->tolerance;
+  mjtNum x_norm;
 
   // set initial guess
   sub3(x_k, x1_k, x2_k);
 
   for (; k < kmax; k++) {
     // compute the kth support point
-    gjkSupport(simplex + n, obj1, obj2, x_k);
+    x_norm = dot3(x_k, x_k);
+    if (x_norm < mjMINVAL2) {
+      break;
+    }
+    x_norm = mju_sqrt(x_norm);
+    gjkSupport(simplex + n, obj1, obj2, x_k, x_norm);
     mjtNum *s_k = simplex[n].vert;
 
     // stopping criteria using the Frank-Wolfe duality gap given by
     //  |f(x_k) - f(x_min)|^2 <= < grad f(x_k), (x_k - s_k) >
     mjtNum diff[3];
     sub3(diff, x_k, s_k);
-    if (2*dot3(x_k, diff) < epsilon) {
+    if (dot3(x_k, diff) < epsilon) {
       if (!k) n = 1;
       break;
     }
@@ -238,12 +244,12 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
 
     // run the distance subalgorithm to compute the barycentric coordinates
     // of the closest point to the origin in the simplex
-    subdistance(lambda, n + 1, simplex[0].vert, simplex[1].vert, simplex[2].vert, simplex[3].vert);
+    subdistance(lambda, n + 1, simplex);
 
     // remove vertices from the simplex no longer needed
     n = 0;
     for (int i = 0; i < 4; i++) {
-      if (lambda[i] == 0) continue;
+      if (!lambda[i]) continue;
       simplex[n] = simplex[i];
       lambda[n++] = lambda[i];
     }
@@ -285,7 +291,7 @@ static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
   status->nx = 1;
   status->gjk_iterations = k;
   status->nsimplex = n;
-  status->dist = norm3(x_k);
+  status->dist = x_norm;
 }
 
 
@@ -322,17 +328,13 @@ static inline void support(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
 
 
 // compute the support points in obj1 and obj2 for the kth approximation point
-static void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
-                       const mjtNum x_k[3]) {
-  mjtNum dir[3] = {-1, 0, 0}, dir_neg[3] = {1, 0, 0};
+static inline void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
+                              const mjtNum x_k[3], mjtNum x_norm) {
+  mjtNum dir[3], dir_neg[3];
 
   // mjc_support requires a normalized direction
-  mjtNum norm = dot3(x_k, x_k);
-  if (norm > mjMINVAL2) {
-    norm = 1/mju_sqrt(norm);
-    scl3(dir_neg, x_k, norm);
-    scl3(dir, dir_neg, -1);
-  }
+  scl3(dir_neg, x_k, 1 / x_norm);
+  scl3(dir, dir_neg, -1);
   support(v, obj1, obj2, dir, dir_neg);
 }
 
@@ -537,24 +539,33 @@ static inline int sameSign2(mjtNum a, mjtNum b) {
 // subdistance algorithm for GJK that computes the barycentric coordinates of the point in a
 // simplex closest to the origin
 // implementation adapted from Montanari et al, ToG 2017
-static inline void subdistance(mjtNum lambda[4], int n, const mjtNum s1[3],
-                               const mjtNum s2[3], const mjtNum s3[3], const mjtNum s4[3]) {
-  lambda[0] = lambda[1] = lambda[2] = lambda[3] = 0;
-  if (n == 4) {
-    S3D(lambda, s1, s2, s3, s4);
-  } else if (n == 3) {
-    S2D(lambda, s1, s2, s3);
-  } else if (n == 2) {
-    S1D(lambda, s1, s2);
-  } else {
+static inline void subdistance(mjtNum lambda[4], int n, const Vertex simplex[4]) {
+  memset(lambda, 0, 4 * sizeof(mjtNum));
+  const mjtNum* s1 = simplex[0].vert;
+  const mjtNum* s2 = simplex[1].vert;
+  const mjtNum* s3 = simplex[2].vert;
+  const mjtNum* s4 = simplex[3].vert;
+
+  switch (n) {
+  case 4:
+     S3D(lambda, s1, s2, s3, s4);
+     break;
+  case 3:
+     S2D(lambda, s1, s2, s3);
+      break;
+  case 2:
+     S1D(lambda, s1, s2);
+     break;
+  default:
     lambda[0] = 1;
+    break;
   }
 }
 
 
 
-static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3], const mjtNum s3[3],
-                const mjtNum s4[3]) {
+static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3],
+                const mjtNum s3[3], const mjtNum s4[3]) {
   // the matrix M is given by
   //  [[ s1_x, s2_x, s3_x, s4_x ],
   //   [ s1_y, s2_y, s3_y, s4_y ],
@@ -639,7 +650,6 @@ static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3], const
       lambda[0] = lambda_2d[0];
       lambda[1] = lambda_2d[1];
       lambda[2] = lambda_2d[2];
-      lambda[3] = 0;
     }
   }
 }
@@ -786,27 +796,29 @@ static void S1D(mjtNum lambda[2], const mjtNum s1[3], const mjtNum s2[3]) {
   projectOriginLine(p_o, s1, s2);
 
   // find the axis with the largest projection "shadow" of the simplex
-  mjtNum mu_max = 0;
-  int index;
-  for (int i = 0; i < 3; i++) {
-    mjtNum mu = s1[i] - s2[i];
-    if (mju_abs(mu) >= mju_abs(mu_max)) {
-      mu_max = mu;
-      index = i;
-    }
+  mjtNum mu = s1[0] - s2[0];
+  mjtNum mu_max = mu;
+  int index = 0;
+
+  mu = s1[1] - s2[1];
+  if (mju_abs(mu) >= mju_abs(mu_max)) {
+    mu_max = mu;
+    index = 1;
+  }
+
+  mu = s1[2] - s2[2];
+  if (mju_abs(mu) >= mju_abs(mu_max)) {
+    mu_max = mu;
+    index = 2;
   }
 
   mjtNum C1 = p_o[index] - s2[index];
   mjtNum C2 = s1[index] - p_o[index];
 
-  // inside the simplex
-  if (sameSign2(mu_max, C1) && sameSign2(mu_max, C2)) {
-    lambda[0] = C1 / mu_max;
-    lambda[1] = C2 / mu_max;
-  } else {
-    lambda[0] = 0;
-    lambda[1] = 1;
-  }
+  // determine if projection of origin lies inside 1-simplex
+  int same = sameSign2(mu_max, C1) && sameSign2(mu_max, C2);
+  lambda[0] = same ? C1 / mu_max : 0;
+  lambda[1] = same ? C2 / mu_max : 1;
 }
 
 
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 9237aef4..9e5fa5e1 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -468,7 +468,7 @@ TEST_F(MjGjkTest, BoxBoxTouching) {
   int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
 
   EXPECT_EQ(ncons, 0);
-  EXPECT_GT(status.epa_status, 0);
+  EXPECT_EQ(status.epa_status, -1);
 
   mj_deleteData(data);
   mj_deleteModel(model);

From 3a4b6e6c5bbf14963e77ebb9ca1fa80f74416b27 Mon Sep 17 00:00:00 2001
From: Tom Power <tjpower@google.com>
Date: Wed, 28 May 2025 06:12:22 -0700
Subject: [PATCH 179/191] Added terrain generation to mjspec tutorial

PiperOrigin-RevId: 764229337
Change-Id: Ic541eefc4b561d3c39c5ee99c7d38466d7e75903
---
 doc/changelog.rst                             |   9 +
 .../procedural_terrain_generation.png         | Bin 0 -> 85112 bytes
 python/mjspec.ipynb                           | 844 +++++++++++++++++-
 3 files changed, 848 insertions(+), 5 deletions(-)
 create mode 100644 doc/images/changelog/procedural_terrain_generation.png

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 8f5135b6..b425416f 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -24,6 +24,15 @@ Simulate
   ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
   and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
 
+.. image:: images/changelog/procedural_terrain_generation.png
+   :width: 25%
+   :align: right
+
+Python bindings
+^^^^^^^^^^^^^^^
+
+- Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
+
 Version 3.3.2 (April 28, 2025)
 ------------------------------
 
diff --git a/doc/images/changelog/procedural_terrain_generation.png b/doc/images/changelog/procedural_terrain_generation.png
new file mode 100644
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HcmV?d00001

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index 60500902..b933fac3 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -81,7 +81,7 @@
     "print('Setting environment variable to use GPU rendering:')\n",
     "%env MUJOCO_GL=egl\n",
     "\n",
-    "# Check if installation was succesful.\n",
+    "# Check if installation was successful.\n",
     "try:\n",
     "  print('Checking that the installation succeeded:')\n",
     "  import mujoco as mj\n",
@@ -539,7 +539,7 @@
     "\n",
     "  Args:\n",
     "      shape: The shape of the generated array (tuple of two ints).\n",
-    "          This must be a multple of res.\n",
+    "          This must be a multiple of res.\n",
     "      res: The number of periods of noise to generate along each\n",
     "          axis (tuple of two ints). Note shape must be a multiple of\n",
     "          res.\n",
@@ -851,6 +851,839 @@
     "media.show_video(frames, fps=framerate )"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {
+    "id": "bZ-mpAKhSBHw"
+   },
+   "source": [
+    "## Terrain Generation\n",
+    "Here we will create a terrain out of different tiles. We start by creating each sinlge tile. Then we move on to putting tiles side by side to create a complete terrain."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "cellView": "form",
+    "id": "d9oHHP6ZSZeK"
+   },
+   "outputs": [],
+   "source": [
+    "#@title Utilities\n",
+    "def render_tile(tile_func, direction=None, cam_distance=6, cam_elevation=-30):\n",
+    "  arena_xml = \"\"\"\n",
+    "  <mujoco>\n",
+    "    <visual>\n",
+    "      <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
+    "      <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
+    "      <quality shadowsize=\"8192\"/>\n",
+    "    </visual>\n",
+    "\n",
+    "    <asset>\n",
+    "      <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".5 .5 .5\" rgb2=\"0 0 0\" width=\"10\" height=\"10\"/>\n",
+    "      <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
+    "      <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.3\"/>\n",
+    "    </asset>\n",
+    "\n",
+    "    <worldbody>\n",
+    "      <light pos=\"0 0 5\" diffuse=\"1 1 1\" specular=\"1 1 1\"/>\n",
+    "    </worldbody>\n",
+    "  </mujoco>\n",
+    "  \"\"\"\n",
+    "\n",
+    "  spec = mj.MjSpec.from_string(arena_xml)\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  name = 'base_tile'\n",
+    "\n",
+    "  spec.worldbody.add_body(pos=[-3, 0, 0], name=name)\n",
+    "  if direction:\n",
+    "    tile_func(spec, direction=direction)\n",
+    "  else:\n",
+    "    tile_func(spec)\n",
+    "\n",
+    "  model = spec.compile()\n",
+    "  data = mj.MjData(model)\n",
+    "\n",
+    "  cam = mj.MjvCamera()\n",
+    "  mj.mjv_defaultCamera(cam)\n",
+    "  cam.lookat = [0, 0, 0]\n",
+    "  cam.distance = cam_distance\n",
+    "  cam.elevation = cam_elevation\n",
+    "\n",
+    "  height = 300\n",
+    "\n",
+    "  with mj.Renderer(model, 480, 640) as renderer:\n",
+    "    mj.mj_forward(model, data)\n",
+    "    renderer.update_scene(data,cam)\n",
+    "    media.show_image(renderer.render(), height=height)\n",
+    "\n",
+    "\n",
+    "def interpolant(t):\n",
+    "    return t*t*t*(t*(t*6 - 15) + 10)\n",
+    "\n",
+    "def perlin(shape, res, tileable=(False, False), interpolant=interpolant):\n",
+    "  \"\"\"Generate a 2D numpy array of perlin noise.\n",
+    "\n",
+    "  Args:\n",
+    "      shape: The shape of the generated array (tuple of two ints).\n",
+    "          This must be a multiple of res.\n",
+    "      res: The number of periods of noise to generate along each\n",
+    "          axis (tuple of two ints). Note shape must be a multiple of\n",
+    "          res.\n",
+    "      tileable: If the noise should be tileable along each axis\n",
+    "          (tuple of two bools). Defaults to (False, False).\n",
+    "      interpolant: The interpolation function, defaults to\n",
+    "          t*t*t*(t*(t*6 - 15) + 10).\n",
+    "\n",
+    "  Returns:\n",
+    "      A numpy array of shape shape with the generated noise.\n",
+    "\n",
+    "  Raises:\n",
+    "      ValueError: If shape is not a multiple of res.\n",
+    "  \"\"\"\n",
+    "  delta = (res[0] / shape[0], res[1] / shape[1])\n",
+    "  d = (shape[0] // res[0], shape[1] // res[1])\n",
+    "  grid = np.mgrid[0:res[0]:delta[0], 0:res[1]:delta[1]]\\\n",
+    "            .transpose(1, 2, 0) % 1\n",
+    "  # Gradients\n",
+    "  angles = 2*np.pi*np.random.rand(res[0]+1, res[1]+1)\n",
+    "  gradients = np.dstack((np.cos(angles), np.sin(angles)))\n",
+    "  if tileable[0]:\n",
+    "    gradients[-1,:] = gradients[0,:]\n",
+    "  if tileable[1]:\n",
+    "    gradients[:,-1] = gradients[:,0]\n",
+    "  gradients = gradients.repeat(d[0], 0).repeat(d[1], 1)\n",
+    "  g00 = gradients[    :-d[0],    :-d[1]]\n",
+    "  g10 = gradients[d[0]:     ,    :-d[1]]\n",
+    "  g01 = gradients[    :-d[0],d[1]:     ]\n",
+    "  g11 = gradients[d[0]:     ,d[1]:     ]\n",
+    "  # Ramps\n",
+    "  n00 = np.sum(np.dstack((grid[:,:,0]  , grid[:,:,1]  )) * g00, 2)\n",
+    "  n10 = np.sum(np.dstack((grid[:,:,0]-1, grid[:,:,1]  )) * g10, 2)\n",
+    "  n01 = np.sum(np.dstack((grid[:,:,0]  , grid[:,:,1]-1)) * g01, 2)\n",
+    "  n11 = np.sum(np.dstack((grid[:,:,0]-1, grid[:,:,1]-1)) * g11, 2)\n",
+    "  # Interpolation\n",
+    "  t = interpolant(grid)\n",
+    "  n0 = n00*(1-t[:,:,0]) + t[:,:,0]*n10\n",
+    "  n1 = n01*(1-t[:,:,0]) + t[:,:,0]*n11\n",
+    "  return np.sqrt(2)*((1-t[:,:,1])*n0 + t[:,:,1]*n1)\n",
+    "\n",
+    "def edge_slope(size, border_width=5, blur_iterations=20):\n",
+    "  \"\"\"Creates a grayscale image with a white center and fading black edges using convolution.\"\"\"\n",
+    "  img = np.ones((size, size), dtype=np.float32)\n",
+    "  img[:border_width, :] = 0\n",
+    "  img[-border_width:, :] = 0\n",
+    "  img[:, :border_width] = 0\n",
+    "  img[:, -border_width:] = 0\n",
+    "\n",
+    "  kernel = np.array([[1, 1, 1],\n",
+    "                      [1, 1, 1],\n",
+    "                      [1, 1, 1]]) / 9.0\n",
+    "\n",
+    "  for _ in range(blur_iterations):\n",
+    "    img = convolve2d(img, kernel, mode='same', boundary='symm')\n",
+    "\n",
+    "  return img"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "dtFWSSwWSgeD"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Stairs\n",
+    "def stairs(spec=None, grid_loc=[0, 0] , num_stairs=4, direction=1, name='stair'):\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  V_SIZE = 0.076\n",
+    "  H_SIZE = 0.12\n",
+    "  H_STEP = H_SIZE * 2\n",
+    "  V_STEP = V_SIZE * 2\n",
+    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  # Offset\n",
+    "  x_beginning, y_end = [-SQUARE_LENGTH + H_SIZE] * 2\n",
+    "  x_end, y_beginning = [SQUARE_LENGTH - H_SIZE] * 2\n",
+    "  # Dimension\n",
+    "  size_one = [H_SIZE, SQUARE_LENGTH, V_SIZE]\n",
+    "  size_two =  [SQUARE_LENGTH, H_SIZE, V_SIZE]\n",
+    "  # Geoms positions\n",
+    "  x_pos_l = [x_beginning, 0, direction * V_SIZE]\n",
+    "  x_pos_r = [x_end, 0, direction * V_SIZE]\n",
+    "  y_pos_up = [0, y_beginning, direction * V_SIZE]\n",
+    "  y_pos_down = [0, y_end, direction * V_SIZE]\n",
+    "\n",
+    "  for i in range(num_stairs):\n",
+    "    size_one[1] = SQUARE_LENGTH - H_STEP * i\n",
+    "    size_two[0] = SQUARE_LENGTH - H_STEP * i\n",
+    "\n",
+    "    x_pos_l[2], x_pos_r[2], y_pos_up[2], y_pos_down[2]  = [\n",
+    "      direction * ( V_SIZE + V_STEP * i)] * 4\n",
+    "\n",
+    "    # Left side\n",
+    "    x_pos_l[0] = x_beginning + H_STEP * i\n",
+    "    body.add_geom(pos=x_pos_l, size=size_one, rgba=BROWN)\n",
+    "    # Right side\n",
+    "    x_pos_r[0] = x_end - H_STEP * i\n",
+    "    body.add_geom(pos=x_pos_r, size=size_one, rgba=BROWN)\n",
+    "    # Top\n",
+    "    y_pos_up[1] = y_beginning - H_STEP * i\n",
+    "    body.add_geom(pos=y_pos_up, size=size_two, rgba=BROWN)\n",
+    "    # Bottom\n",
+    "    y_pos_down[1] = y_end + H_STEP * i\n",
+    "    body.add_geom(pos=y_pos_down, size=size_two, rgba=BROWN)\n",
+    "\n",
+    "  # Closing\n",
+    "  size = [SQUARE_LENGTH - H_STEP * num_stairs,\n",
+    "          SQUARE_LENGTH - H_STEP * num_stairs,\n",
+    "          V_SIZE]\n",
+    "  pos = [0, 0,\n",
+    "         direction * (V_SIZE + V_STEP * num_stairs)]\n",
+    "  body.add_geom(pos=pos, size=size, rgba=BROWN)\n",
+    "\n",
+    "render_tile(stairs, direction=random.choice([-1, 1]))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "YwX50AtzSmnT"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Debris (Geoms)\n",
+    "def debris_with_simple_geoms(spec=None, grid_loc=[0, 0], name='plane'):\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  THICKNESS = 0.05\n",
+    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
+    "  RED = [0.6, 0.12, 0.15, 1.0]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  # Create tile\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN )\n",
+    "\n",
+    "  # Simple Geoms\n",
+    "  x_beginning, y_end = [-SQUARE_LENGTH + THICKNESS] * 2\n",
+    "  x_end, y_beginning = [SQUARE_LENGTH - THICKNESS] * 2\n",
+    "\n",
+    "  x_grid = np.linspace(x_beginning, x_end, 10)\n",
+    "  y_grid = np.linspace(y_beginning, y_end, 10)\n",
+    "\n",
+    "  for i in range(10):\n",
+    "    x = np.random.choice(x_grid)\n",
+    "    y = np.random.choice(y_grid)\n",
+    "\n",
+    "    pos=[grid_loc[0] + x, grid_loc[1] + y, 0.2]\n",
+    "\n",
+    "    g_type = None\n",
+    "    size = None\n",
+    "    if random.randint(0, 1):\n",
+    "      g_type = mj.mjtGeom.mjGEOM_BOX\n",
+    "      size = [0.1, 0.1, 0.02]\n",
+    "    else:\n",
+    "      g_type = mj.mjtGeom.mjGEOM_CYLINDER\n",
+    "      size = [0.1, 0.02, 0]\n",
+    "\n",
+    "    body = spec.worldbody.add_body(pos=pos, name=f'g{i}_{name}', mass=1)\n",
+    "    body.add_geom(type=g_type, size=size, rgba=RED)\n",
+    "    body.add_freejoint()\n",
+    "\n",
+    "render_tile(debris_with_simple_geoms)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "Wm_0DHK8S2kQ"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Debris (Mesh)\n",
+    "def debris(spec=None, grid_loc=[0, 0] , name='debris'):\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  THICKNESS = 0.05\n",
+    "  STEP = THICKNESS * 8\n",
+    "  SCALE = 0.1\n",
+    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
+    "  RED = [0.6, 0.12, 0.15, 1.0]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "  main.mesh.scale = np.array([SCALE]*3, dtype=np.float64)\n",
+    "\n",
+    "  x_beginning = -SQUARE_LENGTH + THICKNESS\n",
+    "  y_beginning = SQUARE_LENGTH - THICKNESS\n",
+    "\n",
+    "  # Create tile\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN)\n",
+    "\n",
+    "  # Place debris on the tile\n",
+    "  for i in range(10):\n",
+    "    for j in range(10):\n",
+    "      # draw on xy plane\n",
+    "      drawing = np.random.normal(size=(4, 2))\n",
+    "      drawing /= np.linalg.norm(drawing, axis=1, keepdims=True)\n",
+    "      z = np.zeros((drawing.shape[0], 1))\n",
+    "      # Add z value to drawing\n",
+    "      base = np.concatenate((drawing, z), axis=1)\n",
+    "      # Extrude drawing\n",
+    "      z_extrusion = np.full((drawing.shape[0], 1), THICKNESS * 4)\n",
+    "      top = np.concatenate((drawing, z_extrusion), axis=1)\n",
+    "      # Combine to get a mesh\n",
+    "      mesh = np.vstack((base, top))\n",
+    "\n",
+    "      # Create body and add the mesh to the geom of the body\n",
+    "      spec.add_mesh(name=f'd{i}_{j}_{name}', uservert=mesh.flatten())\n",
+    "      pos=[grid_loc[0] + x_beginning + i * STEP,\n",
+    "           grid_loc[1] + y_beginning - j * STEP,\n",
+    "           0.2]\n",
+    "\n",
+    "      body = spec.worldbody.add_body(pos=pos, name=f'd{i}_{j}_{name}', mass=1)\n",
+    "      body.add_geom(type=mj.mjtGeom.mjGEOM_MESH, meshname=f'd{i}_{j}_{name}',\n",
+    "                    rgba=RED)\n",
+    "      body.add_freejoint()\n",
+    "\n",
+    "render_tile(debris)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "BqTG_K8uS3v_"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Boxy Terrain\n",
+    "def boxy_terrain(spec=None, grid_loc=[0, 0], name='boxy_terrain'):\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  CUBE_LENGTH = 0.05\n",
+    "  GRID_SIZE = int(SQUARE_LENGTH / CUBE_LENGTH)\n",
+    "  STEP = CUBE_LENGTH * 2\n",
+    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec=mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  # Create tile\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "\n",
+    "  x_beginning = -SQUARE_LENGTH + CUBE_LENGTH\n",
+    "  y_beginning = SQUARE_LENGTH - CUBE_LENGTH\n",
+    "  for i in range(GRID_SIZE):\n",
+    "    for j in range(GRID_SIZE):\n",
+    "      body.add_geom(\n",
+    "        pos=[x_beginning + i * STEP ,\n",
+    "             y_beginning - j * STEP ,\n",
+    "             random.randint(-1, 1) * CUBE_LENGTH\n",
+    "        ],\n",
+    "        size=[CUBE_LENGTH] * 3,\n",
+    "        rgba=BROWN\n",
+    "      )\n",
+    "\n",
+    "render_tile(boxy_terrain)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "gfQ1CafnS7hs"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Box (Extrusion | Cut)\n",
+    "def box_extrusions(spec=None, grid_loc=[0, 0], complex=False,\n",
+    "                   name='box_extrusions'):\n",
+    "  # Warning! complex sometimes leads to creation of holes\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  CUBE_LENGTH = 0.05\n",
+    "  GRID_SIZE = int(SQUARE_LENGTH / CUBE_LENGTH)\n",
+    "  STEP = CUBE_LENGTH * 2\n",
+    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  # Create tile\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "\n",
+    "  x_beginning = -SQUARE_LENGTH + CUBE_LENGTH\n",
+    "  y_beginning = SQUARE_LENGTH - CUBE_LENGTH\n",
+    "\n",
+    "  # Create initial grid and store geoms ref\n",
+    "  grid = [[ 0 for _ in range(GRID_SIZE)] for _ in range(GRID_SIZE)]\n",
+    "  for i in range(GRID_SIZE):\n",
+    "    for j in range(GRID_SIZE):\n",
+    "      ref = body.add_geom(\n",
+    "        pos=[x_beginning + i * STEP, y_beginning - j * STEP, 0],\n",
+    "        size=[CUBE_LENGTH] * 3,\n",
+    "        rgba = BROWN\n",
+    "      )\n",
+    "      grid[i][j] = ref\n",
+    "\n",
+    "  # Extrude or Cut operation using the boxes\n",
+    "  for _ in range(random.randint(4, 50)):\n",
+    "    box = None\n",
+    "    while box == None:\n",
+    "      # Create a box\n",
+    "      start = (random.randint(0, GRID_SIZE - 2), random.randint(0, GRID_SIZE - 2))\n",
+    "      dim = (random.randint(0, GRID_SIZE - 2), random.randint(0, GRID_SIZE-2))\n",
+    "      # Make suer box is valid\n",
+    "      if start[0] + dim [0] < len(grid) and start[1] + dim [1] < len(grid):\n",
+    "        box = {\"start\":start, \"dim\":dim}\n",
+    "\n",
+    "    # Use the box to Cut or Extrude\n",
+    "    operation = random.choice([1, -1])\n",
+    "    start = box[\"start\"]\n",
+    "    dim = box[\"dim\"]\n",
+    "    for i in range(start[0], dim[0]):\n",
+    "      for j in range(start[1], dim[1]):\n",
+    "        tile = grid[i][j]\n",
+    "        if complex:\n",
+    "          tile.pos[2] += operation * CUBE_LENGTH\n",
+    "        else:\n",
+    "          tile.pos[2] = operation * CUBE_LENGTH\n",
+    "\n",
+    "render_tile(box_extrusions)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "e1PEGQ37S_ee"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Heightfield\n",
+    "def h_field(spec=None, grid_loc=[0, 0], name='h_field'):\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  HEIGHT = 0.1\n",
+    "  BROWN_RGBA = [0.460, 0.362, 0.216, 1.0]\n",
+    "\n",
+    "  if spec is None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  size = 128\n",
+    "  noise = perlin((size, size), (8, 8))\n",
+    "\n",
+    "  # Remap noise to 0 to 1\n",
+    "  noise = (noise + 1)/2\n",
+    "  noise -= np.min(noise)\n",
+    "  noise /= np.max(noise)\n",
+    "\n",
+    "  # Makes the edges slope down to avoid sharp boundary\n",
+    "  noise *= edge_slope(size)\n",
+    "\n",
+    "  # Create height field\n",
+    "  hfield = spec.add_hfield(name=name,\n",
+    "                           size=[SQUARE_LENGTH, SQUARE_LENGTH,\n",
+    "                                 HEIGHT, HEIGHT/10],\n",
+    "                           nrow=noise.shape[0],\n",
+    "                           ncol=noise.shape[1],\n",
+    "                           userdata=noise.flatten())\n",
+    "\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  body.add_geom(type=mj.mjtGeom.mjGEOM_HFIELD, hfieldname=name,\n",
+    "                rgba=BROWN_RGBA)\n",
+    "\n",
+    "render_tile(h_field)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "UwDVd6aUTRKF"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Floating platform\n",
+    "def floating_platform(spec=None, gird_loc=[0, 0, 0], name='platform'):\n",
+    "  PLATFORM_LENGTH = 0.5\n",
+    "  WIDTH = 0.12\n",
+    "  INWARD_OFFSET = 0.008\n",
+    "  THICKNESS = 0.005\n",
+    "  SIZE = [PLATFORM_LENGTH, WIDTH, THICKNESS]\n",
+    "  TENDON_LENGTH = 0.5\n",
+    "  Z_OFFSET = 0.1\n",
+    "\n",
+    "  GOLD = [0.850, 0.838, 0.119, 1]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  # Platform with sites\n",
+    "  gird_loc[2] += Z_OFFSET\n",
+    "  platform = spec.worldbody.add_body(pos=gird_loc, name=name)\n",
+    "  platform.add_geom(size=SIZE, rgba=GOLD)\n",
+    "  platform.add_freejoint()\n",
+    "\n",
+    "  for x_dir in [-1, 1]:\n",
+    "    for y_dir in [-1, 1]:\n",
+    "      # Add site to world\n",
+    "      vector = np.array([x_dir *  PLATFORM_LENGTH,\n",
+    "                         y_dir * (WIDTH - INWARD_OFFSET)])\n",
+    "      x_w = gird_loc[0] + vector[0]\n",
+    "      y_w = gird_loc[1] + vector[1]\n",
+    "      z_w = gird_loc[2] + TENDON_LENGTH\n",
+    "      # Rotate sites by theta\n",
+    "      spec.worldbody.add_site(name=f'{name}_hook_{x_dir}_{y_dir}',\n",
+    "                              pos=[ x_w, y_w, z_w],\n",
+    "                              size=[0.01, 0, 0])\n",
+    "      # Add site to platform\n",
+    "      x_p = x_dir *  PLATFORM_LENGTH\n",
+    "      y_p = y_dir * (WIDTH - INWARD_OFFSET)\n",
+    "      platform.add_site(name=f'{name}_anchor_{x_dir}_{y_dir}',\n",
+    "                        pos=[ x_p, y_p, THICKNESS * 2],\n",
+    "                        size=[0.01, 0, 0])\n",
+    "\n",
+    "      # Connect tendon to sites\n",
+    "      thread = spec.add_tendon(name=f'{name}_thread_{x_dir}_{y_dir}',\n",
+    "                               limited=True,\n",
+    "                               range=[0, TENDON_LENGTH], width=0.01 )\n",
+    "      thread.wrap_site(f'{name}_hook_{x_dir}_{y_dir}')\n",
+    "      thread.wrap_site(f'{name}_anchor_{x_dir}_{y_dir}')\n",
+    "\n",
+    "render_tile(floating_platform, cam_distance=2, cam_elevation=-20)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "Wb4GmZewTSVI"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Simple stairs\n",
+    "def simple_suspended_stair(spec=None, grid_loc=[0, 0], num_stair=20,\n",
+    "                           name=\"simple_suspended_stair\"):\n",
+    "  BROWN= [0.460, 0.362, 0.216, 1.0]\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  THICKNESS = 0.05\n",
+    "  OFFSET_Y = -4/5 * SQUARE_LENGTH\n",
+    "\n",
+    "  V_STEP = 0.076\n",
+    "  H_STEP = 0.12\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  # Create tile\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN)\n",
+    "\n",
+    "  # Create Stairs\n",
+    "  for i in range(num_stair):\n",
+    "    floating_platform(spec,[grid_loc[0],\n",
+    "                            OFFSET_Y + grid_loc[1] + i * 2 * H_STEP,\n",
+    "                            i * V_STEP],\n",
+    "                       name =f'{name}_p_{i}')\n",
+    "\n",
+    "render_tile(simple_suspended_stair,cam_distance=7, cam_elevation=-30)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "AaoLjrKeTXu-"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Sinusoidal stairs\n",
+    "def sin_suspended_stair(spec, grid_loc=[0, 0], num_stair=40,\n",
+    "                        name=\"sin_suspended_stair\"):\n",
+    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  THICKNESS = 0.05\n",
+    "  OFFSET_Y = -4/5 * SQUARE_LENGTH\n",
+    "\n",
+    "  V_STEP = 0.076\n",
+    "  H_STEP = 0.12\n",
+    "  AMPLITUDE = 0.2\n",
+    "  FREQUENCY = 0.5\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "\n",
+    "  # Plane\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN)\n",
+    "\n",
+    "  for i in range(num_stair):\n",
+    "    x_step = AMPLITUDE * np.sin(2 * np.pi * FREQUENCY * (i * H_STEP))\n",
+    "    floating_platform(spec, [grid_loc[0] + x_step,\n",
+    "                            OFFSET_Y + grid_loc[1] + i * 2 * H_STEP,\n",
+    "                            i * V_STEP],\n",
+    "                           name=f'{name}_p_{i}')\n",
+    "\n",
+    "render_tile(sin_suspended_stair,cam_distance=7, cam_elevation=-30)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "2_Ux8h-PTqbW"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Floating platform for circular stair\n",
+    "def floating_platform_for_circular_stair(spec=None, gird_loc=[0, 0, 0] ,theta=0,\n",
+    "                                         name='platform'):\n",
+    "  PLATFORM_LENGTH = 0.5\n",
+    "  TENDON_LENGTH = 0.5\n",
+    "  WIDTH = 0.12/4 # Platform (body) is made of 4 separate geoms\n",
+    "  THICKNESS = 0.005\n",
+    "  SIZE = [PLATFORM_LENGTH, WIDTH, THICKNESS]\n",
+    "  Z_OFFSET = 0.1\n",
+    "\n",
+    "  GOLD = [0.850, 0.838, 0.119, 1]\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "  spec.compiler.degree = False\n",
+    "\n",
+    "  # Platform with sites\n",
+    "  gird_loc[2] += Z_OFFSET\n",
+    "  platform = spec.worldbody.add_body(pos=gird_loc, name=name, euler=[0, 0, theta])\n",
+    "  platform.add_geom(pos=[0, 0, 0] , size=SIZE, euler=[0, 0, 0],rgba=GOLD)\n",
+    "  platform.add_geom(pos=[0, 0.02, 0], size=SIZE, euler=[0, 0, 0.05],rgba=GOLD)\n",
+    "  platform.add_geom(pos=[0, 0.05, 0], size=SIZE, euler=[0, 0, 0.1],rgba=GOLD)\n",
+    "  platform.add_geom(pos=[0, 0.08, 0], size=SIZE, euler=[0, 0, 0.15],rgba=GOLD)\n",
+    "  platform.add_freejoint()\n",
+    "\n",
+    "  for i, x_dir in enumerate([-1, 1]):\n",
+    "    for j, y_dir in enumerate([-1, 1]):\n",
+    "      # Rotate sites by theta\n",
+    "      rotation_matrix = np.array([[np.cos(-theta), -np.sin(-theta)],\n",
+    "                                  [np.sin(-theta), np.cos(-theta)]])\n",
+    "      vector = np.array([x_dir * PLATFORM_LENGTH, y_dir * WIDTH ])\n",
+    "      if i + j == 2:\n",
+    "        vector = np.array([x_dir * PLATFORM_LENGTH, y_dir * 6 * WIDTH ])\n",
+    "      vector = np.dot(vector , rotation_matrix)\n",
+    "      x_w = gird_loc[0] + vector[0]\n",
+    "      y_w = gird_loc[1] + vector[1]\n",
+    "      z_w = gird_loc[2] + TENDON_LENGTH\n",
+    "\n",
+    "      # Add site to world\n",
+    "      spec.worldbody.add_site(name=f'{name}_hook_{x_dir}_{y_dir}',\n",
+    "                              pos=[ x_w, y_w, z_w],\n",
+    "                              size=[0.01, 0, 0])\n",
+    "      # Add site to platform\n",
+    "      x_p = x_dir *  PLATFORM_LENGTH\n",
+    "      y_p = y_dir * WIDTH\n",
+    "      if i + j == 2:\n",
+    "        y_p = y_dir * 6 * WIDTH\n",
+    "      platform.add_site(name=f'{name}_anchor_{x_dir}_{y_dir}',\n",
+    "                        pos=[x_p, y_p, THICKNESS * 2],\n",
+    "                        size=[0.01, 0, 0])\n",
+    "\n",
+    "      # Connect tendon to sites\n",
+    "      thread = spec.add_tendon(name=f'{name}_thread_{x_dir}_{y_dir}', limited=True,\n",
+    "                               range=[0, TENDON_LENGTH], width=0.01 )\n",
+    "      thread.wrap_site(f'{name}_hook_{x_dir}_{y_dir}')\n",
+    "      thread.wrap_site(f'{name}_anchor_{x_dir}_{y_dir}')\n",
+    "\n",
+    "render_tile(floating_platform_for_circular_stair,cam_distance=2, cam_elevation=-40)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "UXSDdVF8TwmQ"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Circular stairs\n",
+    "def circular_stairs(spec, grid_loc=[0, 0], num_stair=60, name=\"circular_stairs\"):\n",
+    "  BROWN_RGBA = [0.460, 0.362, 0.216, 1.0]\n",
+    "  SQUARE_LENGTH = 2\n",
+    "  THICKNESS = 0.05\n",
+    "\n",
+    "  RADIUS = 1.5\n",
+    "  V_STEP = 0.076\n",
+    "\n",
+    "  if spec == None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  # Defaults\n",
+    "  main = spec.default\n",
+    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
+    "  spec.compiler.degree = False\n",
+    "\n",
+    "  # Plane\n",
+    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
+    "  body.add_geom(size = [SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba = BROWN_RGBA )\n",
+    "\n",
+    "  theta_step = 2 * np.pi / num_stair\n",
+    "  for i in range(num_stair):\n",
+    "    theta = i * theta_step\n",
+    "    x = grid_loc[0] + RADIUS * np.cos(theta)\n",
+    "    y = grid_loc[1] + RADIUS * np.sin(theta)\n",
+    "    z = i * V_STEP\n",
+    "\n",
+    "    floating_platform_for_circular_stair(spec, [x, y, z], theta=theta, name=f'{name}_p_{i}')\n",
+    "\n",
+    "render_tile(circular_stairs,cam_distance=12, cam_elevation=-30)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "lsDky1KjT30W"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Tile Generator\n",
+    "def add_tile(spec=None, grid_loc=[0, 0]):\n",
+    "  if spec is None:\n",
+    "    spec = mj.MjSpec()\n",
+    "\n",
+    "  tile_type = random.randint(0, 9)\n",
+    "\n",
+    "  if tile_type == 0:\n",
+    "    debris_with_simple_geoms(spec, grid_loc, name=f\"plane_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 1:\n",
+    "    stairs(spec, grid_loc, name=f\"stairs_up_{grid_loc[0]}_{grid_loc[1]}\",direction=1)\n",
+    "  elif tile_type == 2:\n",
+    "    stairs(spec, grid_loc, name=f\"stairs_down_{grid_loc[0]}_{grid_loc[1]}\",direction=-1)\n",
+    "  elif tile_type == 3:\n",
+    "    debris(spec, grid_loc, name=f\"debris_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 4:\n",
+    "    box_extrusions(spec, grid_loc, name=f\"box_extrusions_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 5:\n",
+    "    boxy_terrain(spec, grid_loc, name=f\"boxy_terrain_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 6:\n",
+    "    h_field(spec, grid_loc, name=f\"h_field_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 7:\n",
+    "    simple_suspended_stair(spec, grid_loc, name=f\"sss_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 8:\n",
+    "    sin_suspended_stair(spec, grid_loc, name=f\"sinss_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  elif tile_type == 9:\n",
+    "    circular_stairs(spec, grid_loc, name=f\"circular_s_{grid_loc[0]}_{grid_loc[1]}\")\n",
+    "  return spec"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "metadata": {
+    "id": "P2F0ObC2T8w8"
+   },
+   "outputs": [],
+   "source": [
+    "# @title Generate Terrain\n",
+    "arena_xml = \"\"\"\n",
+    "<mujoco>\n",
+    "  <visual>\n",
+    "    <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
+    "    <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
+    "    <quality shadowsize=\"8192\"/>\n",
+    "  </visual>\n",
+    "\n",
+    "  <asset>\n",
+    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".5 .5 .5\" rgb2=\"0 0 0\" width=\"10\" height=\"10\"/>\n",
+    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
+    "    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.3\"/>\n",
+    "  </asset>\n",
+    "\n",
+    "  <worldbody>\n",
+    "  </worldbody>\n",
+    "</mujoco>\n",
+    "\"\"\"\n",
+    "\n",
+    "spec = mj.MjSpec.from_string(arena_xml)\n",
+    "\n",
+    "spec.option.enableflags |= mj.mjtEnableBit.mjENBL_OVERRIDE\n",
+    "spec.option.enableflags |= mj.mjtEnableBit.mjENBL_MULTICCD\n",
+    "spec.option.timestep = 0.0001\n",
+    "spec.compiler.degree = False\n",
+    "\n",
+    "main = spec.default\n",
+    "main.geom.solref = [0.001, 1]\n",
+    "\n",
+    "# Add lights\n",
+    "for x in [-1, 1]:\n",
+    "  for y in [-1, 1]:\n",
+    "    spec.worldbody.add_light(pos=[x, y, 40], dir=[-x, -y, -15])\n",
+    "\n",
+    "SQUARE_LENGTH = 2\n",
+    "for i in range(-2, 2):\n",
+    "  for j in range(-2, 2):\n",
+    "    add_tile(spec=spec, grid_loc=[i * 2 * SQUARE_LENGTH, j * 2 * SQUARE_LENGTH])\n",
+    "\n",
+    "model = spec.compile()\n",
+    "data = mj.MjData(model)\n",
+    "\n",
+    "cam = mj.MjvCamera()\n",
+    "mj.mjv_defaultCamera(cam)\n",
+    "cam.lookat = [-2, 0, -2]\n",
+    "cam.distance = 18\n",
+    "cam.elevation = -30\n",
+    "\n",
+    "with mj.Renderer(model, 720, 1280) as renderer:\n",
+    "  mj.mj_forward(model, data)\n",
+    "  renderer.update_scene(data,cam)\n",
+    "  media.show_image(renderer.render())"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {
@@ -864,6 +1697,7 @@
    "cell_type": "code",
    "execution_count": 0,
    "metadata": {
+    "cellView": "form",
     "id": "223KzKAzLdEJ"
    },
    "outputs": [],
@@ -1263,7 +2097,7 @@
     "id": "RYbaTPNmLdEK"
    },
    "source": [
-    "We can scale the size of a model by traversing the kinematic tree and applying the the scale to the relevant geoms. Above we can see humanoids of three different sizes."
+    "We can scale the size of a model by traversing the kinematic tree and applying the scale to the relevant geoms. Above we can see humanoids of three different sizes."
    ]
   },
   {
@@ -1605,7 +2439,7 @@
     "Note that:\n",
     "\n",
     "- MJCF attributes correspond directly to arguments of the `add_()` methods.\n",
-    "- When referencing elements, e.g when specifying the joint to which an actuator is attached, the name string of the MJCF elements is used."
+    "- When referencing elements, e.g. when specifying the joint to which an actuator is attached, the name string of the MJCF elements is used."
    ]
   },
   {
@@ -1792,7 +2626,7 @@
   "accelerator": "GPU",
   "colab": {
    "collapsed_sections": [
-    "yXY7HGfVsVlo"
+    "sJFuNetilv4m"
    ],
    "gpuClass": "premium",
    "private_outputs": true,

From 9b2b7cf92a26c9f06677daa49b333943df391338 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 28 May 2025 07:46:43 -0700
Subject: [PATCH 180/191] Set light intensity to 0 by default (not 1000).

PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
---
 doc/XMLreference.rst              | 2 +-
 src/engine/engine_vis_visualize.c | 2 +-
 src/user/user_init.c              | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 2e716ca5..588235ab 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -2968,7 +2968,7 @@ Attributes may be applied or ignored depending on the lighting model being used.
 
 .. _body-light-intensity:
 
-:at:`intensity`: :at-val:`real, "1000.0"`
+:at:`intensity`: :at-val:`real, "0.0"`
    The intensity of the light source, measured in candela, used for physically-based lighting models.
    This is unused by the default Phong lighting model.
 
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index d0d57b3f..adcc410c 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -2147,7 +2147,7 @@ void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
     thislight->type = mjLIGHT_DIRECTIONAL;
     thislight->castshadow = 0;
     thislight->bulbradius = 0.02;
-    thislight->intensity = 1000;
+    thislight->intensity = 0;
     thislight->range = 10;
 
     // compute head position and gaze direction in model space
diff --git a/src/user/user_init.c b/src/user/user_init.c
index fd8a7132..34199812 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -203,7 +203,7 @@ void mjs_defaultLight(mjsLight* light) {
   // intrinsics
   light->castshadow = 1;
   light->bulbradius = 0.02;
-  light->intensity = 1000.0;
+  light->intensity = 0.0;
   light->range = 10.0;
   light->active = 1;
   light->attenuation[0] = 1;

From 18b0e68a5a7d43c263b741ab62299a658113c442 Mon Sep 17 00:00:00 2001
From: Tom Power <tjpower@google.com>
Date: Wed, 28 May 2025 08:27:42 -0700
Subject: [PATCH 181/191] Fix missing import in model editing colab

PiperOrigin-RevId: 764272427
Change-Id: I5623818489dca322a73fa19dd50bc24771b2832a
---
 python/mjspec.ipynb | 1 +
 1 file changed, 1 insertion(+)

diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index b933fac3..ff4b997e 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -97,6 +97,7 @@
     "\n",
     "# Other imports and helper functions\n",
     "import numpy as np\n",
+    "import random\n",
     "from scipy.signal import convolve2d\n",
     "\n",
     "# Graphics and plotting.\n",

From 287f46b220513dde292f47dc4eb7dd4647610123 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 28 May 2025 09:25:45 -0700
Subject: [PATCH 182/191] Ensure last XML is freed after tests.

This fixes undetected memory leaks in tests calling mj_loadXML.

Additionally, a specific test for `mj_freeLastXML` is introduced.

PiperOrigin-RevId: 764294041
Change-Id: I8b5a5683d8431ed920cdd52b06ad3515d8e19e14
---
 test/fixture.h           |  3 +++
 test/xml/xml_api_test.cc | 10 ++++++++++
 2 files changed, 13 insertions(+)

diff --git a/test/fixture.h b/test/fixture.h
index cbb71d5f..0569579d 100644
--- a/test/fixture.h
+++ b/test/fixture.h
@@ -53,6 +53,9 @@ class MujocoErrorTestGuard {
 // By default, any MuJoCo operation which triggers a warning or error will
 // trigger a test failure.
 class MujocoTest : public ::testing::Test {
+ public:
+  ~MujocoTest() { mj_freeLastXML(); }
+
  private:
   MujocoErrorTestGuard error_guard;
 };
diff --git a/test/xml/xml_api_test.cc b/test/xml/xml_api_test.cc
index fdd1421b..d8b7a58c 100644
--- a/test/xml/xml_api_test.cc
+++ b/test/xml/xml_api_test.cc
@@ -199,5 +199,15 @@ TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
   mj_deleteModel(saved_model);
 }
 
+TEST_F(MujocoTest, FreeLastXml) {
+  static constexpr char xml[] = "<mujoco/>";
+  mjModel* model = LoadModelFromString(xml, 0, 0);
+  ASSERT_THAT(model, NotNull());
+  mj_deleteModel(model);
+  ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
+  mj_freeLastXML();
+  ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
+}
+
 }  // namespace
 }  // namespace mujoco

From fc69ef1084936f8cd2b8c73031e98c15826069b3 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Wed, 28 May 2025 13:19:06 -0700
Subject: [PATCH 183/191] Fix authoring type mismatch for geoms sizes
 attributes.

Fixes wrong sizes being displayed in usdview.
Also introduce a new test to ensure we catch as many of those kinds of errors as possible in the future.

PiperOrigin-RevId: 764388588
Change-Id: Id3c878edd054fe5272c42c9f960c65c850655559
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 26 +++++-----
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 26 ++++++++++
 test/experimental/usd/test_utils.cc           | 48 +++++++++++++++++++
 test/experimental/usd/test_utils.h            |  4 ++
 4 files changed, 91 insertions(+), 13 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 69e03ebb..90dbf7e7 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -820,7 +820,7 @@ class ModelWriter {
     // MuJoCo uses half sizes.
     pxr::SdfPath size_attr_path =
         CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->size,
-                            pxr::SdfValueTypeNames->Float);
+                            pxr::SdfValueTypeNames->Double);
     pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
                        static_cast<float>(size[2]));
     SetAttributeDefault(data_, size_attr_path, 2.0);
@@ -857,14 +857,14 @@ class ModelWriter {
 
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, size[0]);
+                            pxr::SdfValueTypeNames->Double);
+    SetAttributeDefault(data_, radius_attr_path, (double)size[0]);
 
     pxr::SdfPath height_attr_path =
         CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->height,
-                            pxr::SdfValueTypeNames->Float);
+                            pxr::SdfValueTypeNames->Double);
     // MuJoCo uses half sizes.
-    SetAttributeDefault(data_, height_attr_path, size[1] * 2);
+    SetAttributeDefault(data_, height_attr_path, (double)(size[1] * 2));
     return capsule_path;
   }
 
@@ -885,14 +885,14 @@ class ModelWriter {
 
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, size[0]);
+                            pxr::SdfValueTypeNames->Double);
+    SetAttributeDefault(data_, radius_attr_path, (double)size[0]);
 
     pxr::SdfPath height_attr_path =
         CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->height,
-                            pxr::SdfValueTypeNames->Float);
+                            pxr::SdfValueTypeNames->Double);
     // MuJoCo uses half sizes.
-    SetAttributeDefault(data_, height_attr_path, size[1] * 2);
+    SetAttributeDefault(data_, height_attr_path, (double)(size[1] * 2));
     return cylinder_path;
   }
 
@@ -917,8 +917,8 @@ class ModelWriter {
 
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, ellipsoid_path, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, 1.0f);
+                            pxr::SdfValueTypeNames->Double);
+    SetAttributeDefault(data_, radius_attr_path, 1.0);
 
     WriteScaleXformOp(ellipsoid_path, scale);
     WriteXformOpOrder(ellipsoid_path,
@@ -943,8 +943,8 @@ class ModelWriter {
 
     pxr::SdfPath radius_attr_path =
         CreateAttributeSpec(data_, sphere_path, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, radius_attr_path, size[0]);
+                            pxr::SdfValueTypeNames->Double);
+    SetAttributeDefault(data_, radius_attr_path, (double)size[0]);
     return sphere_path;
   }
 
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 4d35eb89..df41c739 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -37,9 +37,11 @@
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
 #include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/modelAPI.h>
 #include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/primRange.h>  // IWYU pragma: keep, used for TraverseAll
 #include <pxr/usd/usd/stage.h>
 #include <pxr/usd/usdGeom/capsule.h>
 #include <pxr/usd/usdGeom/cube.h>
@@ -450,6 +452,30 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
                    pxr::KindTokens->subcomponent);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestAttributesMatchSchemaTypes) {
+  // TODO(robinalazard): Make the scene much more comprehensive. We ideally want
+  // to test all the prims that the plugin can generate.
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <geom type="plane" name="plane_geom" size="10 20 0.1"/>
+        <geom type="box" name="box_geom" size="10 20 30"/>
+        <geom type="sphere" name="sphere_geom" size="10 20 30"/>
+        <geom type="capsule" name="capsule_geom" size="10 20 30"/>
+        <geom type="cylinder" name="cylinder_geom" size="10 20 30"/>
+        <geom type="ellipsoid" name="ellipsoid_geom" size="10 20 30"/>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  for (const auto& prim : stage->TraverseAll()) {
+    ExpectAllAuthoredAttributesMatchSchemaTypes(prim);
+  }
+}
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
   static constexpr char kXml[] = R"(
     <mujoco model="test">
diff --git a/test/experimental/usd/test_utils.cc b/test/experimental/usd/test_utils.cc
index 8b046793..aedb13b7 100644
--- a/test/experimental/usd/test_utils.cc
+++ b/test/experimental/usd/test_utils.cc
@@ -18,10 +18,13 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <pxr/base/tf/token.h>
 #include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/childrenPolicies.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
 #include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/modelAPI.h>
 #include <pxr/usd/usd/stage.h>
@@ -71,5 +74,50 @@ void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
   EXPECT_EQ(sources.size(), 1);
   EXPECT_EQ(sources[0], SdfPath(connection_path));
 }
+
+void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim) {
+  // Get all properties on the prim that have authored opinions.
+  for (const pxr::UsdProperty& prop : prim.GetAuthoredProperties()) {
+    // We only care about attributes, as they are the ones with a typeName.
+    if (pxr::UsdAttribute attr = prop.As<pxr::UsdAttribute>()) {
+      // 1. Get the official, composed schema type name for the attribute.
+      const pxr::TfToken schemaTypeName = attr.GetTypeName().GetAsToken();
+
+      // An empty schema type name means the attribute is not defined by
+      // a schema, or is of a dynamically-determined type. We can't
+      // check for a mismatch in this case.
+      if (schemaTypeName.IsEmpty()) {
+        continue;
+      }
+
+      // 2. Get the property stack to check for authored opinions.
+      // The stack is ordered from strongest to weakest.
+      const pxr::SdfPropertySpecHandleVector propStack =
+          attr.GetPropertyStack();
+
+      for (const pxr::SdfPropertySpecHandle& spec : propStack) {
+        // We only care about attribute specs.
+        if (auto attrSpec = TfDynamic_cast<pxr::SdfAttributeSpecHandle>(spec)) {
+          // 3. Check if this spec has an authored `typeName`.
+          if (attrSpec->HasField(pxr::SdfFieldKeys->TypeName)) {
+            const pxr::TfToken authoredTypeName =
+                attrSpec->GetTypeName().GetAsToken();
+
+            EXPECT_EQ(authoredTypeName, schemaTypeName)
+                << "Type mismatch for attribute <" << attr.GetPath()
+                << ">: expected schema-defined type '"
+                << schemaTypeName.GetString() << "', got authored type '"
+                << authoredTypeName.GetString() << "' in layer @"
+                << attrSpec->GetLayer()->GetIdentifier() << "@";
+
+            // We've found the strongest authored opinion for `typeName`,
+            // so we can stop checking the stack for this attribute.
+            break;
+          }
+        }
+      }
+    }
+  }
+}
 }  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/test_utils.h b/test/experimental/usd/test_utils.h
index 655f06c9..77dd4ad9 100644
--- a/test/experimental/usd/test_utils.h
+++ b/test/experimental/usd/test_utils.h
@@ -103,6 +103,10 @@ void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
 
 void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
                                   const char* connection_path);
+
+// Checks that all authored attributes on the given prim have types that match
+// the schema types.
+void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim);
 }  // namespace usd
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_

From 6b919162d1ecc32ee36d2cd48c99b86d867d4830 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Wed, 28 May 2025 13:31:59 -0700
Subject: [PATCH 184/191] Add write_physics_ as a state variable on
 ModelWriter.

This way we don't have to worry about passing the write_physics param everywhere.

PiperOrigin-RevId: 764394280
Change-Id: I2c879ae57bdc30f50189960864097c932f967330
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 38 ++++++++++---------
 1 file changed, 21 insertions(+), 17 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 90dbf7e7..f66cb77c 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -166,6 +166,9 @@ class ModelWriter {
     // Create the world body.
     body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex);
 
+    // Set working parameters.
+    write_physics_ = write_physics;
+
     SetLayerMetadata(data_, pxr::SdfFieldKeys->Documentation,
                      "Generated by mujoco model writer.");
     // Mujoco is Z up by default.
@@ -181,9 +184,9 @@ class ModelWriter {
     WritePhysicsScene();
 
     // Author mesh scope + mesh prims to be referenced.
-    WriteMeshes(write_physics);
+    WriteMeshes();
     WriteMaterials();
-    WriteBodies(write_physics);
+    WriteBodies();
   }
 
  private:
@@ -199,6 +202,8 @@ class ModelWriter {
   std::vector<pxr::SdfPath> body_paths_;
   // Mapping from mesh names to Mesh prim path.
   std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
+  // Whether to write physics data.
+  bool write_physics_ = false;
 
   // Given a name index and a parent prim path this returns a
   // token such that appending it to the parent prim path does not
@@ -299,8 +304,7 @@ class ModelWriter {
     SetAttributeDefault(data_, xform_op_order_path, new_order);
   }
 
-  void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path,
-                 bool write_physics) {
+  void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path) {
     auto name = GetAvailablePrimName(*mesh->name, pxr::UsdGeomTokens->Mesh,
                                      parent_path);
     pxr::SdfPath subcomponent_path =
@@ -310,7 +314,7 @@ class ModelWriter {
                        pxr::UsdGeomTokens->Mesh);
     mesh_paths_[*mesh->name] = subcomponent_path;
 
-    if (write_physics) {
+    if (write_physics_) {
       ApplyApiSchema(data_, mesh_path, MjcPhysicsTokens->MeshCollisionAPI);
 
       pxr::TfToken inertia = MjcPhysicsTokens->legacy;
@@ -602,7 +606,7 @@ class ModelWriter {
     }
   }
 
-  void WriteMeshes(bool write_physics) {
+  void WriteMeshes() {
     // Create a scope for the meshes to keep things organized
     pxr::SdfPath scope_path =
         CreatePrimSpec(data_, body_paths_[kWorldIndex], kTokens->meshScope,
@@ -614,7 +618,7 @@ class ModelWriter {
 
     mjsMesh *mesh = mjs_asMesh(mjs_firstElement(spec_, mjOBJ_MESH));
     while (mesh) {
-      WriteMesh(mesh, scope_path, write_physics);
+      WriteMesh(mesh, scope_path);
       mesh = mjs_asMesh(mjs_nextElement(spec_, mesh->element));
     }
   }
@@ -1016,7 +1020,7 @@ class ModelWriter {
         site_path, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
   }
 
-  void WriteGeom(mjsGeom *geom, const mjsBody *body, bool write_physics) {
+  void WriteGeom(mjsGeom *geom, const mjsBody *body) {
     const int body_id = mjs_getId(body->element);
     const auto &body_path = body_paths_[body_id];
 
@@ -1052,8 +1056,8 @@ class ModelWriter {
 
     // Apply the physics schemas if we are writing physics and the
     // geom participates in collisions.
-    if (write_physics && (model_->geom_contype[geom_id] != 0 ||
-                          model_->geom_conaffinity[geom_id] != 0)) {
+    if (write_physics_ && (model_->geom_contype[geom_id] != 0 ||
+                           model_->geom_conaffinity[geom_id] != 0)) {
       ApplyApiSchema(data_, geom_path,
                      pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
       ApplyApiSchema(data_, geom_path, MjcPhysicsTokens->CollisionAPI);
@@ -1178,10 +1182,10 @@ class ModelWriter {
     }
   }
 
-  void WriteGeoms(mjsBody *body, bool write_physics) {
+  void WriteGeoms(mjsBody *body) {
     mjsGeom *geom = mjs_asGeom(mjs_firstChild(body, mjOBJ_GEOM, false));
     while (geom) {
-      WriteGeom(geom, body, write_physics);
+      WriteGeom(geom, body);
       geom = mjs_asGeom(mjs_nextChild(body, geom->element, false));
     }
   }
@@ -1268,7 +1272,7 @@ class ModelWriter {
     }
   }
 
-  void WriteBody(mjsBody *body, bool write_physics) {
+  void WriteBody(mjsBody *body) {
     int body_id = mjs_getId(body->element);
     // This should be safe as we process parent bodies before children.
     mjsBody *parent = mjs_getParent(body->element);
@@ -1286,7 +1290,7 @@ class ModelWriter {
     SetPrimKind(data_, body_path, kind);
 
     // Apply the PhysicsRigidBodyAPI schema if we are writing physics.
-    if (write_physics) {
+    if (write_physics_) {
       // If the body had a mass specified then it must have either inertia or
       // fullinertia specified per inertia element XML documentation.
       // Therefore it is sufficient to check if the mass is non-zero to see if
@@ -1373,17 +1377,17 @@ class ModelWriter {
     body_paths_[body_id] = body_path;
   }
 
-  void WriteBodies(bool write_physics) {
+  void WriteBodies() {
     mjsBody *body = mjs_asBody(mjs_firstElement(spec_, mjOBJ_BODY));
     while (body) {
       // Only write a rigidbody if we are not the world body.
       // We fall through since the world body might have static
       // geom children.
       if (mjs_getId(body->element) != kWorldIndex) {
-        WriteBody(body, write_physics);
+        WriteBody(body);
       }
       WriteSites(body);
-      WriteGeoms(body, write_physics);
+      WriteGeoms(body);
       WriteCameras(body);
       WriteLights(body);
       body = mjs_asBody(mjs_nextElement(spec_, body->element));

From b2e8589e7ab483890edad9205f16fca48318ffa3 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 29 May 2025 08:28:52 -0700
Subject: [PATCH 185/191] Add support for actuators to Mujoco USD interop.

PiperOrigin-RevId: 764740692
Change-Id: Ib045653fee840087bc3891ee7e770bdaac08548c
---
 .../usd/mjcPhysics/actuatorAPI.cpp            | 391 +++++++++
 src/experimental/usd/mjcPhysics/actuatorAPI.h | 828 ++++++++++++++++++
 .../usd/mjcPhysics/generatedSchema.usda       |  87 ++
 src/experimental/usd/mjcPhysics/plugInfo.json |  10 +
 src/experimental/usd/mjcPhysics/schema.usda   | 115 +++
 src/experimental/usd/mjcPhysics/tokens.cpp    |  76 +-
 src/experimental/usd/mjcPhysics/tokens.h      | 163 +++-
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 157 +++-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 123 +++
 test/experimental/usd/test_utils.h            |   8 +
 10 files changed, 1952 insertions(+), 6 deletions(-)
 create mode 100644 src/experimental/usd/mjcPhysics/actuatorAPI.cpp
 create mode 100644 src/experimental/usd/mjcPhysics/actuatorAPI.h

diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
new file mode 100644
index 00000000..fb43eee7
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
@@ -0,0 +1,391 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "./actuatorAPI.h"
+
+#include "pxr/usd/sdf/assetPath.h"
+#include "pxr/usd/sdf/types.h"
+#include "pxr/usd/usd/schemaRegistry.h"
+#include "pxr/usd/usd/typed.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsActuatorAPI, TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsActuatorAPI::~MjcPhysicsActuatorAPI() {}
+
+/* static */
+MjcPhysicsActuatorAPI MjcPhysicsActuatorAPI::Get(const UsdStagePtr &stage,
+                                                 const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsActuatorAPI();
+  }
+  return MjcPhysicsActuatorAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsActuatorAPI::_GetSchemaKind() const {
+  return MjcPhysicsActuatorAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsActuatorAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsActuatorAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsActuatorAPI MjcPhysicsActuatorAPI::Apply(const UsdPrim &prim) {
+  if (prim.ApplyAPI<MjcPhysicsActuatorAPI>()) {
+    return MjcPhysicsActuatorAPI(prim);
+  }
+  return MjcPhysicsActuatorAPI();
+}
+
+/* static */
+const TfType &MjcPhysicsActuatorAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsActuatorAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsActuatorAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsActuatorAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlLimited);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcCtrlLimitedAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcCtrlLimited, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceLimited);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcForceLimitedAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcForceLimited, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcActLimitedAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActLimited);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcActLimitedAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActLimited, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcCtrlRangeMinAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMin);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcCtrlRangeMinAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcCtrlRangeMin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcCtrlRangeMaxAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMax);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcCtrlRangeMaxAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcCtrlRangeMax, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcForceRangeMinAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMin);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcForceRangeMinAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcForceRangeMin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcForceRangeMaxAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMax);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcForceRangeMaxAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcForceRangeMax, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcActRangeMinAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMin);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcActRangeMinAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActRangeMin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcActRangeMaxAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMax);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcActRangeMaxAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActRangeMax, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcLengthRangeMinAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMin);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcLengthRangeMinAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcLengthRangeMin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcLengthRangeMaxAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMax);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcLengthRangeMaxAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcLengthRangeMax, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcGearAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGear);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcGearAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcGear, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcCrankLengthAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCrankLength);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcCrankLengthAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcCrankLength, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcJointInParentAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcJointInParent);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcJointInParentAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcJointInParent, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcActDimAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActDim);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcActDimAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActDim, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcDynTypeAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynType);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcDynTypeAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcDynType, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcGainTypeAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainType);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcGainTypeAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcGainType, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasType);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcBiasTypeAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcBiasType, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcDynPrmAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynPrm);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcDynPrmAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcDynPrm, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcGainPrmAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainPrm);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcGainPrmAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcGainPrm, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcBiasPrmAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasPrm);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcBiasPrmAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcBiasPrm, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::GetMjcActEarlyAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActEarly);
+}
+
+UsdAttribute MjcPhysicsActuatorAPI::CreateMjcActEarlyAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActEarly, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdRelationship MjcPhysicsActuatorAPI::GetMjcRefSiteRel() const {
+  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcRefSite);
+}
+
+UsdRelationship MjcPhysicsActuatorAPI::CreateMjcRefSiteRel() const {
+  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcRefSite,
+                                      /* custom = */ false);
+}
+
+UsdRelationship MjcPhysicsActuatorAPI::GetMjcCrankSiteRel() const {
+  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcCrankSite);
+}
+
+UsdRelationship MjcPhysicsActuatorAPI::CreateMjcCrankSiteRel() const {
+  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcCrankSite,
+                                      /* custom = */ false);
+}
+
+UsdRelationship MjcPhysicsActuatorAPI::GetMjcSliderSiteRel() const {
+  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSliderSite);
+}
+
+UsdRelationship MjcPhysicsActuatorAPI::CreateMjcSliderSiteRel() const {
+  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcSliderSite,
+                                      /* custom = */ false);
+}
+
+namespace {
+static inline TfTokenVector _ConcatenateAttributeNames(
+    const TfTokenVector &left, const TfTokenVector &right) {
+  TfTokenVector result;
+  result.reserve(left.size() + right.size());
+  result.insert(result.end(), left.begin(), left.end());
+  result.insert(result.end(), right.begin(), right.end());
+  return result;
+}
+}  // namespace
+
+/*static*/
+const TfTokenVector &MjcPhysicsActuatorAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcCtrlLimited,    MjcPhysicsTokens->mjcForceLimited,
+      MjcPhysicsTokens->mjcActLimited,     MjcPhysicsTokens->mjcCtrlRangeMin,
+      MjcPhysicsTokens->mjcCtrlRangeMax,   MjcPhysicsTokens->mjcForceRangeMin,
+      MjcPhysicsTokens->mjcForceRangeMax,  MjcPhysicsTokens->mjcActRangeMin,
+      MjcPhysicsTokens->mjcActRangeMax,    MjcPhysicsTokens->mjcLengthRangeMin,
+      MjcPhysicsTokens->mjcLengthRangeMax, MjcPhysicsTokens->mjcGear,
+      MjcPhysicsTokens->mjcCrankLength,    MjcPhysicsTokens->mjcJointInParent,
+      MjcPhysicsTokens->mjcActDim,         MjcPhysicsTokens->mjcDynType,
+      MjcPhysicsTokens->mjcGainType,       MjcPhysicsTokens->mjcBiasType,
+      MjcPhysicsTokens->mjcDynPrm,         MjcPhysicsTokens->mjcGainPrm,
+      MjcPhysicsTokens->mjcBiasPrm,        MjcPhysicsTokens->mjcActEarly,
+  };
+  static TfTokenVector allNames = _ConcatenateAttributeNames(
+      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.h b/src/experimental/usd/mjcPhysics/actuatorAPI.h
new file mode 100644
index 00000000..49e6721a
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.h
@@ -0,0 +1,828 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_ACTUATORAPI_H
+#define MJCPHYSICS_GENERATED_ACTUATORAPI_H
+
+/// \file mjcPhysics/actuatorAPI.h
+
+#include "./api.h"
+#include "./tokens.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/vec3d.h"
+#include "pxr/base/gf/vec3f.h"
+#include "pxr/base/tf/token.h"
+#include "pxr/base/tf/type.h"
+#include "pxr/base/vt/value.h"
+#include "pxr/pxr.h"
+#include "pxr/usd/usd/apiSchemaBase.h"
+#include "pxr/usd/usd/prim.h"
+#include "pxr/usd/usd/stage.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// PHYSICSACTUATORAPI                                                         //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsActuatorAPI
+///
+/// API describing a Mujoco actuator.
+///
+/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
+/// below that are text/tokens, the actual token is published and defined in
+/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
+/// use MjcPhysicsTokens->rightHanded as the value.
+///
+class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsActuatorAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsActuatorAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsActuatorAPI(const UsdPrim &prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsActuatorAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsActuatorAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsActuatorAPI(const UsdSchemaBase &schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsActuatorAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsActuatorAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsActuatorAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsActuatorAPI Get(const UsdStagePtr &stage,
+                                   const SdfPath &path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "PhysicsActuatorAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsActuatorAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsActuatorAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsActuatorAPI Apply(const UsdPrim &prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRLLIMITED
+  // --------------------------------------------------------------------- //
+  /// If true, the control input to this actuator is automatically clamped to
+  /// ctrlrange at runtime. If false, control input clamping is disabled. If
+  /// 'auto' and autolimits is set in compiler, control clamping will
+  /// automatically be set to true if ctrlrange is defined without explicitly
+  /// setting this attribute to 'true'. Note that control input clamping can
+  /// also be globally disabled with the clampctrl attribute of option/flag.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:ctrlLimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlLimitedAttr() const;
+
+  /// See GetMjcCtrlLimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFORCELIMITED
+  // --------------------------------------------------------------------- //
+  /// If true, the force output of this actuator is automatically clamped to
+  /// forcerange at runtime. If false, force clamping is disabled. If 'auto' and
+  /// autolimits is set in compiler, force clamping will automatically be set to
+  /// true if forcerange is defined without explicitly setting this attribute to
+  /// 'true'.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:forceLimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcForceLimitedAttr() const;
+
+  /// See GetMjcForceLimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcForceLimitedAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTLIMITED
+  // --------------------------------------------------------------------- //
+  /// If true, the internal state (activation) associated with this actuator is
+  /// automatically clamped to actrange at runtime. If false, activation
+  /// clamping is disabled. If 'auto' and autolimits is set in compiler,
+  /// activation clamping will automatically be set to true if actrange is
+  /// defined without explicitly setting this attribute to 'true'. See the
+  /// Activation clamping section for more details.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:actLimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActLimitedAttr() const;
+
+  /// See GetMjcActLimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActLimitedAttr(VtValue const &defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRLRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping the control input. The first value must be
+  /// smaller than the second value. Setting this attribute without specifying
+  /// ctrllimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:ctrlRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlRangeMinAttr() const;
+
+  /// See GetMjcCtrlRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlRangeMinAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRLRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping the control input. The first value must be
+  /// smaller than the second value. Setting this attribute without specifying
+  /// ctrllimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:ctrlRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlRangeMaxAttr() const;
+
+  /// See GetMjcCtrlRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlRangeMaxAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFORCERANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping the force output. The first value must be no
+  /// greater than the second value. Setting this attribute without specifying
+  /// forcelimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:forceRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcForceRangeMinAttr() const;
+
+  /// See GetMjcForceRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcForceRangeMinAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFORCERANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping the force output. The first value must be no
+  /// greater than the second value. Setting this attribute without specifying
+  /// forcelimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:forceRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcForceRangeMaxAttr() const;
+
+  /// See GetMjcForceRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcForceRangeMaxAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping the activation state. The first value must be
+  /// no greater than the second value. See the Activation clamping section for
+  /// more details. Setting this attribute without specifying actlimited is an
+  /// error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:actRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActRangeMinAttr() const;
+
+  /// See GetMjcActRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActRangeMinAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping the activation state. The first value must be
+  /// no greater than the second value. See the Activation clamping section for
+  /// more details. Setting this attribute without specifying actlimited is an
+  /// error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:actRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActRangeMaxAttr() const;
+
+  /// See GetMjcActRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActRangeMaxAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCLENGTHRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range of feasible lengths of the actuator’s transmission.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:lengthRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcLengthRangeMinAttr() const;
+
+  /// See GetMjcLengthRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcLengthRangeMinAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCLENGTHRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range of feasible lengths of the actuator’s transmission.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:lengthRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcLengthRangeMaxAttr() const;
+
+  /// See GetMjcLengthRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcLengthRangeMaxAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCGEAR
+  // --------------------------------------------------------------------- //
+  /// This attribute scales the length (and consequently moment arms, velocity
+  /// and force) of the actuator, for all transmission types. It is different
+  /// from the gain in the force generation mechanism, because the gain only
+  /// scales the force output and does not affect the length, moment arms and
+  /// velocity. For actuators with scalar transmission, only the first element
+  /// of this vector is used. The remaining elements are needed for joint,
+  /// jointinparent and site transmissions where this attribute is used to
+  /// specify 3D force and torque axes.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcGearAttr() const;
+
+  /// See GetMjcGearAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcGearAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCRANKLENGTH
+  // --------------------------------------------------------------------- //
+  /// Used only for the slider-crank transmission type. Specifies the length of
+  /// the connecting rod. The compiler expects this value to be positive when a
+  /// slider-crank transmission is present.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:crankLength = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCrankLengthAttr() const;
+
+  /// See GetMjcCrankLengthAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCrankLengthAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCJOINTINPARENT
+  // --------------------------------------------------------------------- //
+  /// If true and applied to ball and free joints, the 3d rotation axis given by
+  /// gear is defined in the parent frame (which is the world frame for free
+  /// joints) rather than the child frame.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:jointInParent = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcJointInParentAttr() const;
+
+  /// See GetMjcJointInParentAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcJointInParentAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTDIM
+  // --------------------------------------------------------------------- //
+  /// Dimension of the activation state. The default value of -1 instructs the
+  /// compiler to set the dimension according to the dyntype. Values larger than
+  /// 1 are only allowed for user-defined activation dynamics, as native types
+  /// require dimensions of only 0 or 1. For activation dimensions bigger than
+  /// 1, the last element is used to generate force.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:actDim = -1` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActDimAttr() const;
+
+  /// See GetMjcActDimAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActDimAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCDYNTYPE
+  // --------------------------------------------------------------------- //
+  /// Activation dynamics type for the actuator. The available dynamics types
+  /// were already described in the Actuation model section.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:dynType = "none"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | none, integrator, filter,
+  /// filterexact, muscle, user |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcDynTypeAttr() const;
+
+  /// See GetMjcDynTypeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcDynTypeAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCGAINTYPE
+  // --------------------------------------------------------------------- //
+  /// The gain and bias together determine the output of the force generation
+  /// mechanism, which is currently assumed to be affine.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:gainType = "fixed"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | fixed, affine, muscle, user |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcGainTypeAttr() const;
+
+  /// See GetMjcGainTypeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcGainTypeAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCBIASTYPE
+  // --------------------------------------------------------------------- //
+  /// The gain and bias together determine the output of the force generation
+  /// mechanism, which is currently assumed to be affine.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:biasType = "none"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | none, affine, muscle, user |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcBiasTypeAttr() const;
+
+  /// See GetMjcBiasTypeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcBiasTypeAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCDYNPRM
+  // --------------------------------------------------------------------- //
+  /// Activation dynamics parameters. The built-in activation types (except for
+  /// muscle) use only the first parameter, but we provide additional parameters
+  /// in case user callbacks implement a more elaborate model. The length of
+  /// this array is not enforced by the parser, so the user can enter as many
+  /// parameters as needed. These defaults are not compatible with muscle
+  /// actuators.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0,
+  /// 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcDynPrmAttr() const;
+
+  /// See GetMjcDynPrmAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcDynPrmAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCGAINPRM
+  // --------------------------------------------------------------------- //
+  /// Gain parameters. The built-in gain types (except for muscle) use only the
+  /// first parameter, but we provide additional parameters in case user
+  /// callbacks implement a more elaborate model. The length of this array is
+  /// not enforced by the parser, so the user can enter as many parameters as
+  /// needed. These defaults are not compatible with muscle actuators.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0,
+  /// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcGainPrmAttr() const;
+
+  /// See GetMjcGainPrmAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcGainPrmAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCBIASPRM
+  // --------------------------------------------------------------------- //
+  /// Bias parameters. The affine bias type uses three parameters. The length of
+  /// this array is not enforced by the parser, so the user can enter as many
+  /// parameters as needed. These defaults are not compatible with muscle
+  /// actuators.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0,
+  /// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcBiasPrmAttr() const;
+
+  /// See GetMjcBiasPrmAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcBiasPrmAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTEARLY
+  // --------------------------------------------------------------------- //
+  /// If true, force computation will use the next value of the activation
+  /// variable rather than the current one. Setting this flag reduces the delay
+  /// between the control and accelerations by one time-step.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:actEarly = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActEarlyAttr() const;
+
+  /// See GetMjcActEarlyAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActEarlyAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCREFSITE
+  // --------------------------------------------------------------------- //
+  /// When applied to a site, measure the translation and rotation w.r.t the
+  /// frame of the refsite. In this case the actuator does have length and
+  /// position actuators can be used to directly control an end effector, see
+  /// refsite.xml example model. As above, the length is the dot product of the
+  /// gear vector and the frame difference. So gear='0 1 0 0 0 0' means
+  /// 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means
+  /// rotation 'Z- rotation of site in the refsite frame'. It is recommended to
+  /// use a normalized gear vector with nonzeros in only the first 3 or the last
+  /// 3 elements of gear, so the actuator length will be in either length units
+  /// or radians, respectively. As with ball joints (see joint above), for
+  /// rotations which exceed a total angle of pi will wrap around, so tighter
+  /// limits are recommended.
+  ///
+  MJCPHYSICS_API
+  UsdRelationship GetMjcRefSiteRel() const;
+
+  /// See GetMjcRefSiteRel(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
+  MJCPHYSICS_API
+  UsdRelationship CreateMjcRefSiteRel() const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCRANKSITE
+  // --------------------------------------------------------------------- //
+  /// If specified, the actuator acts on a slider-crank mechanism which is
+  /// implicitly determined by the actuator (i.e., it is not a separate model
+  /// element). The target site corresponds to the pin joining the crank and the
+  /// connecting rod.
+  ///
+  MJCPHYSICS_API
+  UsdRelationship GetMjcCrankSiteRel() const;
+
+  /// See GetMjcCrankSiteRel(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
+  MJCPHYSICS_API
+  UsdRelationship CreateMjcCrankSiteRel() const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSLIDERSITE
+  // --------------------------------------------------------------------- //
+  /// Used only for the slider-crank transmission type. The target site is the
+  /// pin joining the slider and the connecting rod. The slider moves along the
+  /// z-axis of the slidersite frame. Therefore the site should be oriented as
+  /// needed when it is defined in the kinematic tree; its orientation cannot be
+  /// changed in the actuator definition.
+  ///
+  MJCPHYSICS_API
+  UsdRelationship GetMjcSliderSiteRel() const;
+
+  /// See GetMjcSliderSiteRel(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
+  MJCPHYSICS_API
+  UsdRelationship CreateMjcSliderSiteRel() const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index 6b70af62..b911cf59 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -247,3 +247,90 @@ class "MeshCollisionAPI" (
     )
 }
 
+class "PhysicsActuatorAPI" (
+    doc = "API describing a Mujoco actuator."
+)
+{
+    uniform int mjc:actDim = -1 (
+        doc = "Dimension of the activation state. The default value of -1 instructs the compiler to set the dimension according to the dyntype. Values larger than 1 are only allowed for user-defined activation dynamics, as native types require dimensions of only 0 or 1. For activation dimensions bigger than 1, the last element is used to generate force."
+    )
+    uniform bool mjc:actEarly = 0 (
+        doc = "If true, force computation will use the next value of the activation variable rather than the current one. Setting this flag reduces the delay between the control and accelerations by one time-step."
+    )
+    uniform token mjc:actLimited = "auto" (
+        allowedTokens = ["false", "true", "auto"]
+        doc = "If true, the internal state (activation) associated with this actuator is automatically clamped to actrange at runtime. If false, activation clamping is disabled. If 'auto' and autolimits is set in compiler, activation clamping will automatically be set to true if actrange is defined without explicitly setting this attribute to 'true'. See the Activation clamping section for more details."
+    )
+    uniform double mjc:actRange:max = 0 (
+        doc = "Maximum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
+    )
+    uniform double mjc:actRange:min = 0 (
+        doc = "Minimum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
+    )
+    uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
+        doc = "Bias parameters. The affine bias type uses three parameters. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
+    )
+    uniform token mjc:biasType = "none" (
+        allowedTokens = ["none", "affine", "muscle", "user"]
+        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
+    )
+    uniform double mjc:crankLength = 0 (
+        doc = "Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects this value to be positive when a slider-crank transmission is present."
+    )
+    rel mjc:crankSite (
+        doc = "If specified, the actuator acts on a slider-crank mechanism which is implicitly determined by the actuator (i.e., it is not a separate model element). The target site corresponds to the pin joining the crank and the connecting rod."
+    )
+    uniform token mjc:ctrlLimited = "auto" (
+        allowedTokens = ["false", "true", "auto"]
+        doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
+    )
+    uniform double mjc:ctrlRange:max = 0 (
+        doc = "Maximum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
+    )
+    uniform double mjc:ctrlRange:min = 0 (
+        doc = "Minimum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
+    )
+    uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
+        doc = "Activation dynamics parameters. The built-in activation types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
+    )
+    uniform token mjc:dynType = "none" (
+        allowedTokens = ["none", "integrator", "filter", "filterexact", "muscle", "user"]
+        doc = "Activation dynamics type for the actuator. The available dynamics types were already described in the Actuation model section."
+    )
+    uniform token mjc:forceLimited = "auto" (
+        allowedTokens = ["false", "true", "auto"]
+        doc = "If true, the force output of this actuator is automatically clamped to forcerange at runtime. If false, force clamping is disabled. If 'auto' and autolimits is set in compiler, force clamping will automatically be set to true if forcerange is defined without explicitly setting this attribute to 'true'."
+    )
+    uniform double mjc:forceRange:max = 0 (
+        doc = "Maximum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
+    )
+    uniform double mjc:forceRange:min = 0 (
+        doc = "Minimum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
+    )
+    uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
+        doc = "Gain parameters. The built-in gain types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
+    )
+    uniform token mjc:gainType = "fixed" (
+        allowedTokens = ["fixed", "affine", "muscle", "user"]
+        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
+    )
+    uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0] (
+        doc = "This attribute scales the length (and consequently moment arms, velocity and force) of the actuator, for all transmission types. It is different from the gain in the force generation mechanism, because the gain only scales the force output and does not affect the length, moment arms and velocity. For actuators with scalar transmission, only the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site transmissions where this attribute is used to specify 3D force and torque axes."
+    )
+    uniform bool mjc:jointInParent = 0 (
+        doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
+    )
+    uniform double mjc:lengthRange:max = 0 (
+        doc = "Maximum range of feasible lengths of the actuator’s transmission."
+    )
+    uniform double mjc:lengthRange:min = 0 (
+        doc = "Minimum range of feasible lengths of the actuator’s transmission."
+    )
+    rel mjc:refSite (
+        doc = "When applied to a site, measure the translation and rotation w.r.t the frame of the refsite. In this case the actuator does have length and position actuators can be used to directly control an end effector, see refsite.xml example model. As above, the length is the dot product of the gear vector and the frame difference. So gear='0 1 0 0 0 0' means 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means rotation 'Z- rotation of site in the refsite frame'. It is recommended to use a normalized gear vector with nonzeros in only the first 3 or the last 3 elements of gear, so the actuator length will be in either length units or radians, respectively. As with ball joints (see joint above), for rotations which exceed a total angle of pi will wrap around, so tighter limits are recommended."
+    )
+    rel mjc:sliderSite (
+        doc = "Used only for the slider-crank transmission type. The target site is the pin joining the slider and the connecting rod. The slider moves along the z-axis of the slidersite frame. Therefore the site should be oriented as needed when it is defined in the kinematic tree; its orientation cannot be changed in the actuator definition."
+    )
+}
+
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index efc5fe13..908651ba 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -6,6 +6,16 @@
     {
       "Info": {
         "Types": {
+          "MjcPhysicsActuatorAPI": {
+            "alias": {
+              "UsdSchemaBase": "PhysicsActuatorAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          },
           "MjcPhysicsCollisionAPI": {
             "alias": {
               "UsdSchemaBase": "CollisionAPI"
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 7996e5b5..a59c6bb9 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -548,3 +548,118 @@ class "MeshCollisionAPI"
     )
 }
 
+class "PhysicsActuatorAPI"
+(
+    customData = {
+        string className = "ActuatorAPI"
+    }
+    doc = """API describing a Mujoco actuator."""
+
+    inherits = </APISchemaBase>
+)
+{
+    # Control/Force/Activation Limits
+    uniform token mjc:ctrlLimited = "auto" (
+        doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
+        allowedTokens = ["false", "true", "auto"]
+    )
+    uniform token mjc:forceLimited = "auto" (
+        doc = "If true, the force output of this actuator is automatically clamped to forcerange at runtime. If false, force clamping is disabled. If 'auto' and autolimits is set in compiler, force clamping will automatically be set to true if forcerange is defined without explicitly setting this attribute to 'true'."
+        allowedTokens = ["false", "true", "auto"]
+    )
+    uniform token mjc:actLimited = "auto" (
+        doc = "If true, the internal state (activation) associated with this actuator is automatically clamped to actrange at runtime. If false, activation clamping is disabled. If 'auto' and autolimits is set in compiler, activation clamping will automatically be set to true if actrange is defined without explicitly setting this attribute to 'true'. See the Activation clamping section for more details."
+        allowedTokens = ["false", "true", "auto"]
+    )
+
+    uniform double mjc:ctrlRange:min = 0 (
+        doc = "Minimum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
+    )
+
+    uniform double mjc:ctrlRange:max = 0 (
+        doc = "Maximum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
+    )
+
+    uniform double mjc:forceRange:min = 0 (
+        doc = "Minimum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
+    )
+
+    uniform double mjc:forceRange:max = 0 (
+        doc = "Maximum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
+    )
+
+    uniform double mjc:actRange:min = 0 (
+        doc = "Minimum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
+    )
+
+    uniform double mjc:actRange:max = 0 (
+        doc = "Maximum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
+    )
+
+    uniform double mjc:lengthRange:min = 0 (
+        doc = "Minimum range of feasible lengths of the actuator’s transmission."
+    )
+
+    uniform double mjc:lengthRange:max = 0 (
+        doc = "Maximum range of feasible lengths of the actuator’s transmission."
+    )
+
+    # Transmission Properties
+    uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0] (
+        doc = "This attribute scales the length (and consequently moment arms, velocity and force) of the actuator, for all transmission types. It is different from the gain in the force generation mechanism, because the gain only scales the force output and does not affect the length, moment arms and velocity. For actuators with scalar transmission, only the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site transmissions where this attribute is used to specify 3D force and torque axes."
+    )
+
+    uniform double mjc:crankLength = 0.0 (
+        doc = "Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects this value to be positive when a slider-crank transmission is present."
+    )
+
+    uniform bool mjc:jointInParent = False (
+        doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
+    )
+
+    rel mjc:refSite (
+        doc = "When applied to a site, measure the translation and rotation w.r.t the frame of the refsite. In this case the actuator does have length and position actuators can be used to directly control an end effector, see refsite.xml example model. As above, the length is the dot product of the gear vector and the frame difference. So gear='0 1 0 0 0 0' means 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means rotation 'Z- rotation of site in the refsite frame'. It is recommended to use a normalized gear vector with nonzeros in only the first 3 or the last 3 elements of gear, so the actuator length will be in either length units or radians, respectively. As with ball joints (see joint above), for rotations which exceed a total angle of pi will wrap around, so tighter limits are recommended."
+    )
+
+    rel mjc:sliderSite (
+        doc = "Used only for the slider-crank transmission type. The target site is the pin joining the slider and the connecting rod. The slider moves along the z-axis of the slidersite frame. Therefore the site should be oriented as needed when it is defined in the kinematic tree; its orientation cannot be changed in the actuator definition."
+    )
+
+    # Activation Dynamics and Force Generation
+    uniform int mjc:actDim = -1 (
+        doc = "Dimension of the activation state. The default value of -1 instructs the compiler to set the dimension according to the dyntype. Values larger than 1 are only allowed for user-defined activation dynamics, as native types require dimensions of only 0 or 1. For activation dimensions bigger than 1, the last element is used to generate force."
+    )
+
+    uniform token mjc:dynType = "none" (
+        doc = "Activation dynamics type for the actuator. The available dynamics types were already described in the Actuation model section."
+        allowedTokens = ["none", "integrator", "filter", "filterexact", "muscle", "user"]
+    )
+
+    uniform token mjc:gainType = "fixed" (
+        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
+        allowedTokens = ["fixed", "affine", "muscle", "user"]
+    )
+
+    uniform token mjc:biasType = "none" (
+        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
+        allowedTokens = ["none", "affine", "muscle", "user"]
+    )
+
+    uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
+        doc = "Activation dynamics parameters. The built-in activation types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
+    )
+
+    uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
+        doc = "Gain parameters. The built-in gain types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
+    )
+
+    uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
+        doc = "Bias parameters. The affine bias type uses three parameters. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
+    )
+
+    uniform bool mjc:actEarly = False (
+        doc = "If true, force computation will use the next value of the activation variable rather than the current one. Setting this flag reduces the delay between the control and accelerations by one time-step."
+    )
+}
+
+
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index fc442b3f..2f33d763 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -17,16 +17,36 @@
 PXR_NAMESPACE_OPEN_SCOPE
 
 MjcPhysicsTokensType::MjcPhysicsTokensType()
-    : auto_("auto", TfToken::Immortal),
+    : affine("affine", TfToken::Immortal),
+      auto_("auto", TfToken::Immortal),
       cg("cg", TfToken::Immortal),
       convex("convex", TfToken::Immortal),
       dense("dense", TfToken::Immortal),
       elliptic("elliptic", TfToken::Immortal),
       euler("euler", TfToken::Immortal),
       exact("exact", TfToken::Immortal),
+      false_("false", TfToken::Immortal),
+      filter("filter", TfToken::Immortal),
+      filterexact("filterexact", TfToken::Immortal),
+      fixed("fixed", TfToken::Immortal),
       implicit("implicit", TfToken::Immortal),
       implicitfast("implicitfast", TfToken::Immortal),
+      integrator("integrator", TfToken::Immortal),
       legacy("legacy", TfToken::Immortal),
+      mjcActDim("mjc:actDim", TfToken::Immortal),
+      mjcActEarly("mjc:actEarly", TfToken::Immortal),
+      mjcActLimited("mjc:actLimited", TfToken::Immortal),
+      mjcActRangeMax("mjc:actRange:max", TfToken::Immortal),
+      mjcActRangeMin("mjc:actRange:min", TfToken::Immortal),
+      mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
+      mjcBiasType("mjc:biasType", TfToken::Immortal),
+      mjcCrankLength("mjc:crankLength", TfToken::Immortal),
+      mjcCrankSite("mjc:crankSite", TfToken::Immortal),
+      mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
+      mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
+      mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
+      mjcDynPrm("mjc:dynPrm", TfToken::Immortal),
+      mjcDynType("mjc:dynType", TfToken::Immortal),
       mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
       mjcFlagAutoreset("mjc:flag:autoreset", TfToken::Immortal),
       mjcFlagClampctrl("mjc:flag:clampctrl", TfToken::Immortal),
@@ -50,7 +70,16 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcFlagRefsafe("mjc:flag:refsafe", TfToken::Immortal),
       mjcFlagSensor("mjc:flag:sensor", TfToken::Immortal),
       mjcFlagWarmstart("mjc:flag:warmstart", TfToken::Immortal),
+      mjcForceLimited("mjc:forceLimited", TfToken::Immortal),
+      mjcForceRangeMax("mjc:forceRange:max", TfToken::Immortal),
+      mjcForceRangeMin("mjc:forceRange:min", TfToken::Immortal),
+      mjcGainPrm("mjc:gainPrm", TfToken::Immortal),
+      mjcGainType("mjc:gainType", TfToken::Immortal),
+      mjcGear("mjc:gear", TfToken::Immortal),
       mjcInertia("mjc:inertia", TfToken::Immortal),
+      mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
+      mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
+      mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
       mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
                                     TfToken::Immortal),
       mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
@@ -80,27 +109,54 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
       mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
       mjcOptionWind("mjc:option:wind", TfToken::Immortal),
+      mjcRefSite("mjc:refSite", TfToken::Immortal),
       mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
+      mjcSliderSite("mjc:sliderSite", TfToken::Immortal),
+      muscle("muscle", TfToken::Immortal),
       newton("newton", TfToken::Immortal),
+      none("none", TfToken::Immortal),
       pgs("pgs", TfToken::Immortal),
       pyramidal("pyramidal", TfToken::Immortal),
       rk4("rk4", TfToken::Immortal),
       shell("shell", TfToken::Immortal),
       sparse("sparse", TfToken::Immortal),
+      true_("true", TfToken::Immortal),
+      user("user", TfToken::Immortal),
       CollisionAPI("CollisionAPI", TfToken::Immortal),
       MeshCollisionAPI("MeshCollisionAPI", TfToken::Immortal),
+      PhysicsActuatorAPI("PhysicsActuatorAPI", TfToken::Immortal),
       SceneAPI("SceneAPI", TfToken::Immortal),
       SiteAPI("SiteAPI", TfToken::Immortal),
-      allTokens({auto_,
+      allTokens({affine,
+                 auto_,
                  cg,
                  convex,
                  dense,
                  elliptic,
                  euler,
                  exact,
+                 false_,
+                 filter,
+                 filterexact,
+                 fixed,
                  implicit,
                  implicitfast,
+                 integrator,
                  legacy,
+                 mjcActDim,
+                 mjcActEarly,
+                 mjcActLimited,
+                 mjcActRangeMax,
+                 mjcActRangeMin,
+                 mjcBiasPrm,
+                 mjcBiasType,
+                 mjcCrankLength,
+                 mjcCrankSite,
+                 mjcCtrlLimited,
+                 mjcCtrlRangeMax,
+                 mjcCtrlRangeMin,
+                 mjcDynPrm,
+                 mjcDynType,
                  mjcFlagActuation,
                  mjcFlagAutoreset,
                  mjcFlagClampctrl,
@@ -124,7 +180,16 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcFlagRefsafe,
                  mjcFlagSensor,
                  mjcFlagWarmstart,
+                 mjcForceLimited,
+                 mjcForceRangeMax,
+                 mjcForceRangeMin,
+                 mjcGainPrm,
+                 mjcGainType,
+                 mjcGear,
                  mjcInertia,
+                 mjcJointInParent,
+                 mjcLengthRangeMax,
+                 mjcLengthRangeMin,
                  mjcOptionActuatorgroupdisable,
                  mjcOptionApirate,
                  mjcOptionCcd_iterations,
@@ -151,15 +216,22 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcOptionTolerance,
                  mjcOptionViscosity,
                  mjcOptionWind,
+                 mjcRefSite,
                  mjcShellinertia,
+                 mjcSliderSite,
+                 muscle,
                  newton,
+                 none,
                  pgs,
                  pyramidal,
                  rk4,
                  shell,
                  sparse,
+                 true_,
+                 user,
                  CollisionAPI,
                  MeshCollisionAPI,
+                 PhysicsActuatorAPI,
                  SceneAPI,
                  SiteAPI}) {}
 
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 1624ce6a..862d2ef8 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -49,14 +49,22 @@ PXR_NAMESPACE_OPEN_SCOPE
 /// Use MjcPhysicsTokens like so:
 ///
 /// \code
-///     gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->auto_);
+///     gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->affine);
 /// \endcode
 struct MjcPhysicsTokensType {
   MJCPHYSICS_API MjcPhysicsTokensType();
+  /// \brief "affine"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
+  const TfToken affine;
   /// \brief "auto"
   ///
-  /// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
-  /// represents the auto constraint Jacobian and matrices computed from it.
+  /// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
+  /// for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Fallback value for
+  /// MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Fallback value for
+  /// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(),  This token represents
+  /// the auto constraint Jacobian and matrices computed from it.
   const TfToken auto_;
   /// \brief "cg"
   ///
@@ -86,6 +94,24 @@ struct MjcPhysicsTokensType {
   ///
   /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
   const TfToken exact;
+  /// \brief "false"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
+  /// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
+  /// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
+  const TfToken false_;
+  /// \brief "filter"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
+  const TfToken filter;
+  /// \brief "filterexact"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
+  const TfToken filterexact;
+  /// \brief "fixed"
+  ///
+  /// Fallback value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
+  const TfToken fixed;
   /// \brief "implicit"
   ///
   /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
@@ -96,10 +122,70 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
   /// represents the implicitfast numerical integrator.
   const TfToken implicitfast;
+  /// \brief "integrator"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
+  const TfToken integrator;
   /// \brief "legacy"
   ///
   /// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
   const TfToken legacy;
+  /// \brief "mjc:actDim"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcActDim;
+  /// \brief "mjc:actEarly"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcActEarly;
+  /// \brief "mjc:actLimited"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcActLimited;
+  /// \brief "mjc:actRange:max"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcActRangeMax;
+  /// \brief "mjc:actRange:min"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcActRangeMin;
+  /// \brief "mjc:biasPrm"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcBiasPrm;
+  /// \brief "mjc:biasType"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcBiasType;
+  /// \brief "mjc:crankLength"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcCrankLength;
+  /// \brief "mjc:crankSite"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcCrankSite;
+  /// \brief "mjc:ctrlLimited"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcCtrlLimited;
+  /// \brief "mjc:ctrlRange:max"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcCtrlRangeMax;
+  /// \brief "mjc:ctrlRange:min"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcCtrlRangeMin;
+  /// \brief "mjc:dynPrm"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcDynPrm;
+  /// \brief "mjc:dynType"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcDynType;
   /// \brief "mjc:flag:actuation"
   ///
   /// MjcPhysicsSceneAPI
@@ -192,10 +278,46 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcFlagWarmstart;
+  /// \brief "mjc:forceLimited"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcForceLimited;
+  /// \brief "mjc:forceRange:max"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcForceRangeMax;
+  /// \brief "mjc:forceRange:min"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcForceRangeMin;
+  /// \brief "mjc:gainPrm"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcGainPrm;
+  /// \brief "mjc:gainType"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcGainType;
+  /// \brief "mjc:gear"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcGear;
   /// \brief "mjc:inertia"
   ///
   /// MjcPhysicsMeshCollisionAPI
   const TfToken mjcInertia;
+  /// \brief "mjc:jointInParent"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcJointInParent;
+  /// \brief "mjc:lengthRange:max"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcLengthRangeMax;
+  /// \brief "mjc:lengthRange:min"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcLengthRangeMin;
   /// \brief "mjc:option:actuatorgroupdisable"
   ///
   /// MjcPhysicsSceneAPI
@@ -300,15 +422,34 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcOptionWind;
+  /// \brief "mjc:refSite"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcRefSite;
   /// \brief "mjc:shellinertia"
   ///
   /// MjcPhysicsCollisionAPI
   const TfToken mjcShellinertia;
+  /// \brief "mjc:sliderSite"
+  ///
+  /// MjcPhysicsActuatorAPI
+  const TfToken mjcSliderSite;
+  /// \brief "muscle"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
+  /// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
+  const TfToken muscle;
   /// \brief "newton"
   ///
   /// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
   /// represents the Newton constraint solver algorithm.
   const TfToken newton;
+  /// \brief "none"
+  ///
+  /// Fallback value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Fallback
+  /// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
+  const TfToken none;
   /// \brief "pgs"
   ///
   /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
@@ -333,6 +474,18 @@ struct MjcPhysicsTokensType {
   /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
   /// represents the sparse constraint Jacobian and matrices computed from it.
   const TfToken sparse;
+  /// \brief "true"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
+  /// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
+  /// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
+  const TfToken true_;
+  /// \brief "user"
+  ///
+  /// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
+  /// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
+  const TfToken user;
   /// \brief "CollisionAPI"
   ///
   /// Schema identifer and family for MjcPhysicsCollisionAPI
@@ -341,6 +494,10 @@ struct MjcPhysicsTokensType {
   ///
   /// Schema identifer and family for MjcPhysicsMeshCollisionAPI
   const TfToken MeshCollisionAPI;
+  /// \brief "PhysicsActuatorAPI"
+  ///
+  /// Schema identifer and family for MjcPhysicsActuatorAPI
+  const TfToken PhysicsActuatorAPI;
   /// \brief "SceneAPI"
   ///
   /// Schema identifer and family for MjcPhysicsSceneAPI
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index f66cb77c..aa5f7232 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -42,6 +42,7 @@
 #include <pxr/base/tf/token.h>
 #include <pxr/base/vt/array.h>
 #include <pxr/base/vt/dictionary.h>
+#include <pxr/base/vt/types.h>
 #include <pxr/base/vt/value.h>
 #include <pxr/usd/kind/registry.h>
 #include <pxr/usd/sdf/abstractData.h>
@@ -105,7 +106,7 @@ using Arch_PerLibInit = pxr::Arch_PerLibInit<T>;
 #if defined(ARCH_OS_DARWIN)
 using Arch_ConstructorEntry = pxr::Arch_ConstructorEntry;
 #endif
-enum ErrorCodes { UnsupportedGeomTypeError, MujocoCompilationError };
+enum ErrorCodes { UnsupportedActuatorTypeError, UnsupportedGeomTypeError, MujocoCompilationError };
 
 TF_REGISTRY_FUNCTION(pxr::TfEnum) {
   TF_ADD_ENUM_NAME(UnsupportedGeomTypeError, "UsdGeom type is unsupported.")
@@ -155,6 +156,7 @@ class ModelWriter {
   ModelWriter(mjSpec *spec, mjModel *model, pxr::SdfAbstractDataRefPtr &data)
       : spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
     body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
+    site_paths_ = std::vector<pxr::SdfPath>(model->nsite);
   }
   ~ModelWriter() { mj_deleteModel(model_); }
 
@@ -187,6 +189,9 @@ class ModelWriter {
     WriteMeshes();
     WriteMaterials();
     WriteBodies();
+    if (write_physics_) {
+      WriteActuators();
+    }
   }
 
  private:
@@ -200,6 +205,8 @@ class ModelWriter {
   pxr::SdfPath class_path_;
   // Mapping from Mujoco body id to SdfPath.
   std::vector<pxr::SdfPath> body_paths_;
+  // Mapping from Mujoco site id to SdfPath.
+  std::vector<pxr::SdfPath> site_paths_;
   // Mapping from mesh names to Mesh prim path.
   std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
   // Whether to write physics data.
@@ -764,6 +771,152 @@ class ModelWriter {
     }
   }
 
+  void WriteActuator(mjsActuator *actuator) {
+    pxr::SdfPath transmission_path;
+    if (actuator->trntype == mjtTrn::mjTRN_BODY) {
+      int body_id = mj_name2id(model_, mjOBJ_BODY, actuator->target->c_str());
+      transmission_path = body_paths_[body_id];
+    } else if (actuator->trntype == mjtTrn::mjTRN_SITE ||
+               actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) {
+      int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str());
+      transmission_path = site_paths_[site_id];
+    } else {
+      TF_WARN(UnsupportedActuatorTypeError,
+              "Unsupported actuator type for actuator %d",
+              mjs_getId(actuator->element));
+      return;
+    }
+
+    ApplyApiSchema(data_, transmission_path,
+                   MjcPhysicsTokens->PhysicsActuatorAPI);
+
+    if (!actuator->refsite->empty()) {
+      int refsite_id = mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
+      pxr::SdfPath refsite_path = site_paths_[refsite_id];
+      CreateRelationshipSpec(data_, transmission_path,
+                             MjcPhysicsTokens->mjcRefSite,
+                             refsite_path, pxr::SdfVariabilityUniform);
+    }
+
+    if (!actuator->slidersite->empty()) {
+      int slidersite_id = mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str());
+      pxr::SdfPath slidersite_path = site_paths_[slidersite_id];
+      CreateRelationshipSpec(data_, transmission_path,
+                             MjcPhysicsTokens->mjcSliderSite,
+                             slidersite_path, pxr::SdfVariabilityUniform);
+    }
+
+
+    const std::vector<std::pair<pxr::TfToken, int>> limited_attributes = {
+        {MjcPhysicsTokens->mjcCtrlLimited, actuator->ctrllimited},
+        {MjcPhysicsTokens->mjcForceLimited, actuator->forcelimited},
+        {MjcPhysicsTokens->mjcActLimited, actuator->actlimited},
+    };
+    for (const auto &[token, value] : limited_attributes) {
+      pxr::TfToken limited_token = pxr::MjcPhysicsTokens->auto_;
+      if (value == mjLIMITED_TRUE) {
+        limited_token = pxr::MjcPhysicsTokens->true_;
+      } else if (value == mjLIMITED_FALSE) {
+        limited_token = pxr::MjcPhysicsTokens->false_;
+      }
+      WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
+                            token, limited_token);
+    }
+
+    const std::vector<std::pair<pxr::TfToken, double>>
+        actuator_double_attributes = {
+            {MjcPhysicsTokens->mjcCtrlRangeMin, actuator->ctrlrange[0]},
+            {MjcPhysicsTokens->mjcCtrlRangeMax, actuator->ctrlrange[1]},
+            {MjcPhysicsTokens->mjcForceRangeMin, actuator->forcerange[0]},
+            {MjcPhysicsTokens->mjcForceRangeMax, actuator->forcerange[1]},
+            {MjcPhysicsTokens->mjcActRangeMin, actuator->actrange[0]},
+            {MjcPhysicsTokens->mjcActRangeMax, actuator->actrange[1]},
+            {MjcPhysicsTokens->mjcLengthRangeMin, actuator->lengthrange[0]},
+            {MjcPhysicsTokens->mjcLengthRangeMax, actuator->lengthrange[1]},
+            {MjcPhysicsTokens->mjcCrankLength, actuator->cranklength},
+        };
+    for (const auto &[token, value] : actuator_double_attributes) {
+      WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Double,
+                            token, value);
+    }
+
+    WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Int,
+                          MjcPhysicsTokens->mjcActDim, actuator->actdim);
+    WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Bool,
+                          MjcPhysicsTokens->mjcActEarly,
+                          (bool)actuator->actearly);
+
+    WriteUniformAttribute(
+        transmission_path, pxr::SdfValueTypeNames->DoubleArray,
+        MjcPhysicsTokens->mjcGear,
+        pxr::VtDoubleArray(actuator->gear, actuator->gear + 6));
+
+    pxr::TfToken dyn_type;
+    if (actuator->dyntype == mjtDyn::mjDYN_NONE) {
+      dyn_type = MjcPhysicsTokens->none;
+    } else if (actuator->dyntype == mjtDyn::mjDYN_INTEGRATOR) {
+      dyn_type = MjcPhysicsTokens->integrator;
+    } else if (actuator->dyntype == mjtDyn::mjDYN_FILTER) {
+      dyn_type = MjcPhysicsTokens->filter;
+    } else if (actuator->dyntype == mjtDyn::mjDYN_FILTEREXACT) {
+      dyn_type = MjcPhysicsTokens->filterexact;
+    } else if (actuator->dyntype == mjtDyn::mjDYN_MUSCLE) {
+      dyn_type = MjcPhysicsTokens->muscle;
+    } else if (actuator->dyntype == mjtDyn::mjDYN_USER) {
+      dyn_type = MjcPhysicsTokens->user;
+    }
+    WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
+                          MjcPhysicsTokens->mjcDynType, dyn_type);
+    WriteUniformAttribute(
+        transmission_path, pxr::SdfValueTypeNames->DoubleArray,
+        MjcPhysicsTokens->mjcDynPrm,
+        pxr::VtDoubleArray(actuator->dynprm, actuator->dynprm + 10));
+
+
+    pxr::TfToken gain_type;
+    if (actuator->gaintype == mjtGain::mjGAIN_FIXED) {
+      gain_type = MjcPhysicsTokens->fixed;
+    } else if (actuator->gaintype == mjtGain::mjGAIN_AFFINE) {
+      gain_type = MjcPhysicsTokens->affine;
+    } else if (actuator->gaintype == mjtGain::mjGAIN_MUSCLE) {
+      gain_type = MjcPhysicsTokens->muscle;
+    } else if (actuator->gaintype == mjtGain::mjGAIN_USER) {
+      gain_type = MjcPhysicsTokens->user;
+    }
+    WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
+                          MjcPhysicsTokens->mjcGainType, gain_type);
+    WriteUniformAttribute(
+        transmission_path, pxr::SdfValueTypeNames->DoubleArray,
+        MjcPhysicsTokens->mjcGainPrm,
+        pxr::VtDoubleArray(actuator->gainprm, actuator->gainprm + 10));
+
+    pxr::TfToken bias_type;
+    if (actuator->biastype == mjtBias::mjBIAS_NONE) {
+      bias_type = MjcPhysicsTokens->fixed;
+    } else if (actuator->biastype == mjtBias::mjBIAS_AFFINE) {
+      bias_type = MjcPhysicsTokens->affine;
+    } else if (actuator->biastype == mjtBias::mjBIAS_MUSCLE) {
+      bias_type = MjcPhysicsTokens->muscle;
+    } else if (actuator->biastype == mjtBias::mjBIAS_USER) {
+      bias_type = MjcPhysicsTokens->user;
+    }
+    WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
+                          MjcPhysicsTokens->mjcBiasType, bias_type);
+    WriteUniformAttribute(
+        transmission_path, pxr::SdfValueTypeNames->DoubleArray,
+        MjcPhysicsTokens->mjcBiasPrm,
+        pxr::VtDoubleArray(actuator->biasprm, actuator->biasprm + 10));
+  }
+
+  void WriteActuators() {
+    mjsActuator *actuator =
+        mjs_asActuator(mjs_firstElement(spec_, mjOBJ_ACTUATOR));
+    while (actuator) {
+      WriteActuator(actuator);
+      actuator = mjs_asActuator(mjs_nextElement(spec_, actuator->element));
+    }
+  }
+
   pxr::SdfPath WriteMeshGeom(const mjsGeom *geom,
                              const pxr::SdfPath &body_path) {
     std::string mj_name = geom->name->empty() ? *geom->meshname : *geom->name;
@@ -1018,6 +1171,8 @@ class ModelWriter {
 
     PrependToXformOpOrder(
         site_path, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
+
+    site_paths_[site_id] = site_path;
   }
 
   void WriteGeom(mjsGeom *geom, const mjsBody *body) {
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index df41c739..b8f57bca 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -17,6 +17,7 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include "src/experimental/usd/mjcPhysics/actuatorAPI.h"
 #include "src/experimental/usd/mjcPhysics/collisionAPI.h"
 #include "src/experimental/usd/mjcPhysics/meshCollisionAPI.h"
 #include "src/experimental/usd/mjcPhysics/sceneAPI.h"
@@ -31,6 +32,7 @@
 #include <pxr/base/tf/staticTokens.h>
 #include <pxr/base/tf/token.h>
 #include <pxr/base/vt/array.h>
+#include <pxr/base/vt/types.h>
 #include <pxr/pxr.h>
 #include <pxr/usd/kind/registry.h>
 #include <pxr/usd/sdf/assetPath.h>
@@ -1320,6 +1322,127 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIDensity) {
   ExpectAttributeEqual(stage, "/test/body/box.physics:density", 1234.0f);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
+        <site name="site"/>
+        <site name="ref"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <general
+        name="general"
+        site="site"
+        refsite="ref"
+        ctrllimited="true"
+        ctrlrange="0 1"
+        forcelimited="true"
+        forcerange="2 3"
+        actlimited="false"
+        actrange="4 5"
+        lengthrange="6 7"
+        actdim="1"
+        actearly="true"
+        dyntype="filter"
+        gaintype="user"
+        biastype="user"
+        gear="1 2 3 4 5 6"
+        dynprm="0 1 2 3 4 5 6 7 8 9"
+        gainprm="0 1 2 3 4 5 6 7 8 9"
+        biasprm="0 1 2 3 4 5 6 7 8 9"
+      />
+    </actuator>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body/site", pxr::MjcPhysicsActuatorAPI);
+  EXPECT_REL_HAS_TARGET(stage, "/test/body/site.mjc:refSite", "/test/body/ref");
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlLimited",
+                       pxr::MjcPhysicsTokens->true_);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlRange:min", 0.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlRange:max", 1.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:forceLimited",
+                       pxr::MjcPhysicsTokens->true_);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:forceRange:min", 2.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:forceRange:max", 3.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:actLimited",
+                       pxr::MjcPhysicsTokens->false_);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:actRange:min", 4.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:actRange:max", 5.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:lengthRange:min", 6.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:lengthRange:max", 7.0);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:actDim", 1);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:dynType",
+                       MjcPhysicsTokens->filter);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:gainType",
+                       MjcPhysicsTokens->user);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:biasType",
+                       MjcPhysicsTokens->user);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:actEarly", true);
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:gear",
+                       pxr::VtDoubleArray{{1, 2, 3, 4, 5, 6}});
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:dynPrm",
+                       pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:gainPrm",
+                       pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
+  ExpectAttributeEqual(stage, "/test/body/site.mjc:biasPrm",
+                       pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <general
+        name="general"
+        body="body"
+      />
+    </actuator>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body", pxr::MjcPhysicsActuatorAPI);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="body">
+        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
+        <site name="crank"/>
+        <site name="slider"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <general
+        name="general"
+        cranksite="crank"
+        slidersite="slider"
+        cranklength="1.23"
+      />
+    </actuator>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  EXPECT_PRIM_API_APPLIED(stage, "/test/body/crank",
+                          pxr::MjcPhysicsActuatorAPI);
+  EXPECT_REL_HAS_TARGET(stage, "/test/body/crank.mjc:sliderSite",
+                        "/test/body/slider");
+  ExpectAttributeEqual(stage, "/test/body/crank.mjc:crankLength", 1.23);
+}
+
 }  // namespace
 }  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/test_utils.h b/test/experimental/usd/test_utils.h
index 77dd4ad9..2aa62a6c 100644
--- a/test/experimental/usd/test_utils.h
+++ b/test/experimental/usd/test_utils.h
@@ -66,6 +66,14 @@
 #define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
   EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
 
+#define EXPECT_REL_HAS_TARGET(stage, path, target_path)                 \
+  {                                                                     \
+    pxr::SdfPathVector targets;                                         \
+    (stage)->GetRelationshipAtPath(SdfPath(path)).GetTargets(&targets); \
+    EXPECT_TRUE(std::find(targets.begin(), targets.end(),               \
+                          SdfPath(target_path)) != targets.end());      \
+  }
+
 namespace mujoco {
 namespace usd {
 

From f72a175a2c6feda0e59cb5c828b05c8e2b14db04 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 30 May 2025 01:52:00 -0700
Subject: [PATCH 186/191] Enable using sensor and SDF plugins in MJX:C.

PiperOrigin-RevId: 765089354
Change-Id: I3cacc2980ac8aeff68cfb927beb5b1dbb13261d4
---
 mjx/mujoco/mjx/_src/collision_driver.py | 8 ++++++--
 mjx/mujoco/mjx/_src/io.py               | 1 +
 mjx/mujoco/mjx/_src/types.py            | 7 ++++++-
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/collision_driver.py b/mjx/mujoco/mjx/_src/collision_driver.py
index 04a4a3d6..2f45bca8 100644
--- a/mjx/mujoco/mjx/_src/collision_driver.py
+++ b/mjx/mujoco/mjx/_src/collision_driver.py
@@ -363,8 +363,12 @@ def make_condim(m: Union[Model, mujoco.MjModel]) -> np.ndarray:
 
   condim_counts = {}
   for k, v in group_counts.items():
-    func = _COLLISION_FUNC[k.types]
-    num_contacts = condim_counts.get(k.condim, 0) + func.ncon * v  # pytype: disable=attribute-error
+    if k.types[1] == mujoco.mjtGeom.mjGEOM_SDF:
+      ncon = m.opt.sdf_initpoints
+    else:
+      func = _COLLISION_FUNC[k.types]
+      ncon = func.ncon  # pytype: disable=attribute-error
+    num_contacts = condim_counts.get(k.condim, 0) + ncon * v
     if max_contact_points > -1:
       num_contacts = min(max_contact_points, num_contacts)
     condim_counts[k.condim] = num_contacts
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index c5b94513..f8aaf565 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -626,6 +626,7 @@ def _make_data_c(
       'qLDiagInv': (m.nv, float_),
       'ten_velocity': (m.ntendon, float_),
       'actuator_velocity': (m.nu, float_),
+      'plugin_data': (m.nplugin, np.uint64),
       'B_rownnz': (m.nbody, np.int32),
       'B_rowadr': (m.nbody, np.int32),
       'B_colind': (m.nB, np.int32),
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 3beb6b54..a60a1dd6 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -485,6 +485,7 @@ class Option(PyTreeNode):
   disableflags: DisableBit
   enableflags: int
   disableactuator: int
+  sdf_initpoints: int
 
 
 class OptionC(Option):
@@ -495,7 +496,6 @@ class OptionC(Option):
   ccd_tolerance: jax.Array
   noslip_iterations: int
   ccd_iterations: int
-  sdf_initpoints: int
   sdf_iterations: int
 
 
@@ -519,6 +519,7 @@ class ModelC(PyTreeNode):
   nflexshelldata: jax.Array
   nflexevpair: jax.Array
   nflextexcoord: jax.Array
+  nplugin: jax.Array
   ntree: jax.Array
   narena: jax.Array
   body_bvhadr: jax.Array
@@ -526,6 +527,7 @@ class ModelC(PyTreeNode):
   bvh_child: jax.Array
   bvh_nodeid: jax.Array
   bvh_aabb: jax.Array
+  geom_plugin: jax.Array
   light_bodyid: jax.Array
   light_targetbodyid: jax.Array
   flex_contype: jax.Array
@@ -569,6 +571,8 @@ class ModelC(PyTreeNode):
   flex_bvhadr: jax.Array
   flex_bvhnum: jax.Array
   actuator_plugin: jax.Array
+  sensor_plugin: jax.Array
+  plugin: jax.Array
 
 
 class ModelJAX(PyTreeNode):
@@ -980,6 +984,7 @@ class DataC(PyTreeNode):
   ten_velocity: jax.Array
   actuator_velocity: jax.Array
   cdof_dot: jax.Array
+  plugin_data: jax.Array
   qH: jax.Array  # pylint:disable=invalid-name
   qHDiagInv: jax.Array  # pylint:disable=invalid-name
   B_rownnz: jax.Array  # pylint:disable=invalid-name

From 7932b4b202289a98d5bc9b8041d576a091ccddd3 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 30 May 2025 04:09:37 -0700
Subject: [PATCH 187/191] Accumulate `inertial` in mjs_bodyToFrame.

PiperOrigin-RevId: 765129145
Change-Id: Ib7caca42ef4272ebe762655eee9380dae471be7f
---
 src/user/user_model.cc     | 72 +----------------------------
 src/user/user_objects.cc   | 93 ++++++++++++++++++++++++++++++++++++++
 src/user/user_objects.h    |  4 ++
 test/user/user_api_test.cc | 30 ++++++++++++
 4 files changed, 128 insertions(+), 71 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index e3d4544a..12a69f17 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3852,78 +3852,8 @@ void mjCModel::FuseStatic(void) {
     }
 
     //------------- add mass and inertia (if parent not world)
-
     if (body->parent && body->parent->name != "world" && body->mass >= mjMINVAL) {
-      // body_ipose = body_pose * body_ipose
-      changeframe(body->ipos, body->iquat, body->pos, body->quat);
-
-      // organize data
-      double mass[2] = {
-        par->mass,
-        body->mass
-      };
-      double inertia[2][3] = {
-        {par->inertia[0], par->inertia[1], par->inertia[2]},
-        {body->inertia[0], body->inertia[1], body->inertia[2]}
-      };
-      double ipos[2][3] = {
-        {par->ipos[0], par->ipos[1], par->ipos[2]},
-        {body->ipos[0], body->ipos[1], body->ipos[2]}
-      };
-      double iquat[2][4] = {
-        {par->iquat[0], par->iquat[1], par->iquat[2], par->iquat[3]},
-        {body->iquat[0], body->iquat[1], body->iquat[2], body->iquat[3]}
-      };
-
-      // compute total mass
-      par->mass = 0;
-      mjuu_setvec(par->ipos, 0, 0, 0);
-      for (int j=0; j < 2; j++) {
-        par->mass += mass[j];
-        par->ipos[0] += mass[j]*ipos[j][0];
-        par->ipos[1] += mass[j]*ipos[j][1];
-        par->ipos[2] += mass[j]*ipos[j][2];
-      }
-
-      // small mass: allow for now, check for errors later
-      if (par->mass < mjMINVAL) {
-        par->mass = 0;
-        mjuu_setvec(par->inertia, 0, 0, 0);
-        mjuu_setvec(par->ipos, 0, 0, 0);
-        mjuu_setvec(par->iquat, 1, 0, 0, 0);
-      }
-
-      // proceed with regular computation
-      else {
-        // locipos = center-of-mass
-        par->ipos[0] /= par->mass;
-        par->ipos[1] /= par->mass;
-        par->ipos[2] /= par->mass;
-
-        // add inertias
-        double toti[6] = {0, 0, 0, 0, 0, 0};
-        for (int j=0; j < 2; j++) {
-          double inertA[6], inertB[6];
-          double dpos[3] = {
-            ipos[j][0] - par->ipos[0],
-            ipos[j][1] - par->ipos[1],
-            ipos[j][2] - par->ipos[2]
-          };
-
-          mjuu_globalinertia(inertA, inertia[j], iquat[j]);
-          mjuu_offcenter(inertB, mass[j], dpos);
-          for (int k=0; k < 6; k++) {
-            toti[k] += inertA[k] + inertB[k];
-          }
-        }
-
-        // compute principal axes of inertia
-        mjuu_copyvec(par->fullinertia, toti, 6);
-        const char* err1 = mjuu_fullInertia(par->iquat, par->inertia, par->fullinertia);
-        if (err1) {
-          throw mjCError(nullptr, "error '%s' in fusing static body inertias", err1);
-        }
-      }
+      par->AccumulateInertia(body);
     }
 
     //------------- replace body with its children in parent body list
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 80d57a8d..6a1b2451 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1422,6 +1422,15 @@ mjCFrame* mjCBody::ToFrame() {
   mjCFrame* newframe = parent->AddFrame(frame);
   mjuu_copyvec(newframe->spec.pos, spec.pos, 3);
   mjuu_copyvec(newframe->spec.quat, spec.quat, 4);
+  if (parent->name != "world" && mass >= mjMINVAL) {
+    if (!parent->explicitinertial) {
+      parent->MakeInertialExplicit();
+      mjuu_zerovec(parent->spec.ipos, 3);
+      mjuu_zerovec(parent->spec.iquat, 4);
+      mjuu_zerovec(parent->spec.inertia, 3);
+    }
+    parent->AccumulateInertia(&this->spec, &parent->spec);
+  }
   MapFrame(parent->bodies, bodies, newframe, parent);
   MapFrame(parent->geoms, geoms, newframe, parent);
   MapFrame(parent->joints, joints, newframe, parent);
@@ -1721,6 +1730,90 @@ void mjCBody::MakeInertialExplicit() {
 
 
 
+// accumulate inertia of another body into this body
+void mjCBody::AccumulateInertia(const mjsBody* other, mjsBody* result) {
+  if (!result) {
+    result = this;  // use the private mjsBody
+  }
+
+  // body_ipose = body_pose * body_ipose
+  double other_ipos[3];
+  double other_iquat[4];
+  mjuu_copyvec(other_ipos, other->ipos, 3);
+  mjuu_copyvec(other_iquat, other->iquat, 4);
+  mjuu_frameaccum(other_ipos, other_iquat, other->pos, other->quat);
+
+  // organize data
+  double mass[2] = {
+    result->mass,
+    other->mass
+  };
+  double inertia[2][3] = {
+    {result->inertia[0], result->inertia[1], result->inertia[2]},
+    {other->inertia[0], other->inertia[1], other->inertia[2]}
+  };
+  double ipos[2][3] = {
+    {result->ipos[0], result->ipos[1], result->ipos[2]},
+    {other_ipos[0], other_ipos[1], other_ipos[2]}
+  };
+  double iquat[2][4] = {
+    {result->iquat[0], result->iquat[1], result->iquat[2], result->iquat[3]},
+    {other->iquat[0], other->iquat[1], other->iquat[2], other->iquat[3]}
+  };
+
+  // compute total mass
+  result->mass = 0;
+  mjuu_setvec(result->ipos, 0, 0, 0);
+  for (int j=0; j < 2; j++) {
+    result->mass += mass[j];
+    result->ipos[0] += mass[j]*ipos[j][0];
+    result->ipos[1] += mass[j]*ipos[j][1];
+    result->ipos[2] += mass[j]*ipos[j][2];
+  }
+
+  // small mass: allow for now, check for errors later
+  if (result->mass < mjMINVAL) {
+    result->mass = 0;
+    mjuu_setvec(result->inertia, 0, 0, 0);
+    mjuu_setvec(result->ipos, 0, 0, 0);
+    mjuu_setvec(result->iquat, 1, 0, 0, 0);
+  }
+
+  // proceed with regular computation
+  else {
+    // locipos = center-of-mass
+    result->ipos[0] /= result->mass;
+    result->ipos[1] /= result->mass;
+    result->ipos[2] /= result->mass;
+
+    // add inertias
+    double toti[6] = {0, 0, 0, 0, 0, 0};
+    for (int j=0; j < 2; j++) {
+      double inertA[6], inertB[6];
+      double dpos[3] = {
+        ipos[j][0] - result->ipos[0],
+        ipos[j][1] - result->ipos[1],
+        ipos[j][2] - result->ipos[2]
+      };
+
+      mjuu_globalinertia(inertA, inertia[j], iquat[j]);
+      mjuu_offcenter(inertB, mass[j], dpos);
+      for (int k=0; k < 6; k++) {
+        toti[k] += inertA[k] + inertB[k];
+      }
+    }
+
+    // compute principal axes of inertia
+    mjuu_copyvec(result->fullinertia, toti, 6);
+    const char* err1 = mjuu_fullInertia(result->iquat, result->inertia, result->fullinertia);
+    if (err1) {
+      throw mjCError(nullptr, "error '%s' in fusing static body inertias", err1);
+    }
+  }
+}
+
+
+
 // compute bounding volume hierarchy
 void mjCBody::ComputeBVH() {
   if (geoms.empty()) {
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 9c150646..18158c5c 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -462,6 +462,10 @@ class mjCBody : public mjCBody_, private mjsBody {
   // getters
   std::vector<mjCBody*> Bodies() const { return bodies; }
 
+  // accumulate inertia of another body into this body, if `result` is not nullptr, the accumulated
+  // inertia will be stored in `result`, otherwise the body's private spec will be used.
+  void AccumulateInertia(const mjsBody* other, mjsBody* result = nullptr);
+
  private:
   mjCBody(const mjCBody& other, mjCModel* _model);  // copy constructor
   mjCBody& operator=(const mjCBody& other);         // copy assignment
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 1669ea20..a415d740 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -1622,6 +1622,36 @@ TEST_F(MujocoTest, BodyToFrame) {
   mj_deleteModel(expected);
 }
 
+TEST_F(MujocoTest, BodyToFrameWithInertial) {
+  static constexpr char xml_child[] = R"(
+    <mujoco>
+      <worldbody>
+        <body name="parent">
+          <body name="child">
+            <inertial mass="1" pos="0 0 0" quat="1 0 0 0" diaginertia="1 2 3"/>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>)";
+
+  std::array<char, 1000> er;
+  mjSpec* spec = mj_parseXMLString(xml_child, 0, er.data(), er.size());
+  EXPECT_THAT(spec, NotNull()) << er.data();
+  mjModel* model = mj_compile(spec, 0);
+  EXPECT_THAT(model, NotNull());
+  mjsBody* parent = mjs_findBody(spec, "parent");
+  EXPECT_THAT(parent, NotNull());
+  mjsBody* child = mjs_findBody(spec, "child");
+  EXPECT_THAT(child, NotNull());
+  mjs_bodyToFrame(&child);
+  EXPECT_THAT(parent->mass, 1);
+  EXPECT_THAT(parent->fullinertia[0], 1);
+  EXPECT_THAT(parent->fullinertia[1], 2);
+  EXPECT_THAT(parent->fullinertia[2], 3);
+  mj_deleteSpec(spec);
+  mj_deleteModel(model);
+}
+
 TEST_F(MujocoTest, AttachSpecToSite) {
   std::array<char, 1000> er;
   mjtNum tol = 0;

From 072c872deb3d8d41e85857674f3ec294a79e6f78 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Fri, 30 May 2025 07:09:22 -0700
Subject: [PATCH 188/191] Add helper methods for storing USD prim paths into
 mjsElements.

This way we fix a previously uncaught casting error due to using different types.

PiperOrigin-RevId: 765177079
Change-Id: I4f817f12c92fe578b25e8c53a94b3c91e22a3db0
---
 src/experimental/usd/utils.cc | 44 +++++++++++++++++++++++++++++++++++
 src/experimental/usd/utils.h  | 35 ++++++++++++++++++++++++++++
 2 files changed, 79 insertions(+)
 create mode 100644 src/experimental/usd/utils.cc
 create mode 100644 src/experimental/usd/utils.h

diff --git a/src/experimental/usd/utils.cc b/src/experimental/usd/utils.cc
new file mode 100644
index 00000000..220c4178
--- /dev/null
+++ b/src/experimental/usd/utils.cc
@@ -0,0 +1,44 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "third_party/mujoco/src/experimental/usd/utils.h"
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+
+namespace mujoco {
+namespace usd {
+
+constexpr const char* kUsdPrimPathKey = "usd_primpath";
+
+void SetUsdPrimPathUserValue(mjsElement* element,
+                             const pxr::SdfPath& prim_path) {
+  // The value is a pointer to a newly allocated SdfPath, which will be deleted
+  // when the mjsElement is deleted.
+  const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
+  mjs_setUserValueWithCleanup(
+      element, kUsdPrimPathKey, usd_primpath,
+      [](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
+}
+
+pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
+  const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
+  if (user_data) {
+    return *static_cast<const pxr::SdfPath*>(user_data);
+  }
+  return pxr::SdfPath();
+}
+
+}  // namespace usd
+}  // namespace mujoco
diff --git a/src/experimental/usd/utils.h b/src/experimental/usd/utils.h
new file mode 100644
index 00000000..f3dcd4b5
--- /dev/null
+++ b/src/experimental/usd/utils.h
@@ -0,0 +1,35 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+
+namespace mujoco {
+namespace usd {
+
+// Sets a user value on an mjsElement with the key "usd_primpath".
+void SetUsdPrimPathUserValue(mjsElement* element,
+                             const pxr::SdfPath& prim_path);
+
+// Gets the user value associated with the key "usd_primpath" from an
+// mjsElement. Returns empty pxr::SdfPath() if the value is not found.
+pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element);
+
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_

From 84ad22a5905a7d0b4e2e67ca8bb13ea90b6f74ef Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 30 May 2025 17:16:20 -0700
Subject: [PATCH 189/191] Add `mj_copyBack` for copying real-valued arrays from
 `mjModel` back to `mjSpec`.

Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.

PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
---
 doc/APIreference/functions.rst        |  9 ++++
 doc/changelog.rst                     |  1 +
 doc/includes/references.h             |  1 +
 include/mujoco/mujoco.h               |  3 ++
 python/mujoco/introspect/functions.py | 20 +++++++++
 src/user/user_api.cc                  |  8 ++++
 src/user/user_api.h                   |  3 ++
 src/user/user_model.cc                |  5 +++
 src/xml/xml.cc                        |  2 +-
 src/xml/xml.h                         |  2 +-
 src/xml/xml_api.cc                    |  5 ++-
 src/xml/xml_base.cc                   |  4 +-
 src/xml/xml_base.h                    |  2 +-
 src/xml/xml_native_writer.cc          |  4 +-
 src/xml/xml_native_writer.h           |  2 +-
 test/fixture.cc                       | 20 +++++++--
 test/fixture.h                        |  3 ++
 test/xml/xml_native_writer_test.cc    | 59 +++++++++++++++++++++++++++
 18 files changed, 139 insertions(+), 14 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index e413f772..2bba2a3c 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -51,6 +51,15 @@ Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multi
 :ref:`mjModel` instance that takes the edits into account.
 If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`.
 
+.. _mj_copyBack:
+
+`mj_copyBack <#mj_copyBack>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_copyBack
+
+Copy real-valued arrays from model to spec, returns 1 on success.
+
 .. _mj_recompile:
 
 `mj_recompile <#mj_recompile>`__
diff --git a/doc/changelog.rst b/doc/changelog.rst
index b425416f..324d41e7 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -17,6 +17,7 @@ General
 - Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
   introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
   ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
+- Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
 
 Simulate
 ^^^^^^^^
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 92aae862..3f725ad9 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2992,6 +2992,7 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int err
 mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
 mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
 mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
+int mj_copyBack(mjSpec* s, const mjModel* m);
 int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
 int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
 void mj_freeLastXML(void);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 467d888a..59283756 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -107,6 +107,9 @@ MJAPI mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error,
 // Compile spec to model.
 MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
 
+// Copy real-valued arrays from model to spec, returns 1 on success.
+MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
+
 // Recompile spec to model, preserving the state, return 0 on success.
 MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
 
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 44901fe4..1c4877b9 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -248,6 +248,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Compile spec to model.',
      )),
+    ('mj_copyBack',
+     FunctionDecl(
+         name='mj_copyBack',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='s',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjSpec'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Copy real-valued arrays from model to spec, returns 1 on success.',  # pylint: disable=line-too-long
+     )),
     ('mj_recompile',
      FunctionDecl(
          name='mj_recompile',
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 41cba2d2..c25049b1 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -375,6 +375,14 @@ int mjs_setDeepCopy(mjSpec* s, int deepcopy) {
 
 
 
+// copy real-valued arrays from model to spec, returns 1 on success
+int mj_copyBack(mjSpec* s, const mjModel* m) {
+  mjCModel* model = static_cast<mjCModel*>(s->element);
+  return model->CopyBack(m);
+}
+
+
+
 // delete object, return 0 on success
 int mjs_delete(mjsElement* element) {
   mjCModel* model;
diff --git a/src/user/user_api.h b/src/user/user_api.h
index cd228147..04cdf13e 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -66,6 +66,9 @@ MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
 // Turn deep copy on or off attach. Returns 0 on success.
 MJAPI int mjs_setDeepCopy(mjSpec* s, int deepcopy);
 
+// Copy real-valued arrays from model to spec, returns 1 on success.
+MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
+
 
 //---------------------------------- Attachment ----------------------------------------------------
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 12a69f17..8d4e2b5a 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -4759,6 +4759,11 @@ bool mjCModel::CopyBack(const mjModel* m) {
     return false;
   }
 
+  if (spec.element->signature != m->signature) {
+    errInfo = mjCError(0, "incompatible signatures in CopyBack");
+    return false;
+  }
+
   // option and visual
   option = m->opt;
   visual = m->vis;
diff --git a/src/xml/xml.cc b/src/xml/xml.cc
index 5277a534..57b1e123 100644
--- a/src/xml/xml.cc
+++ b/src/xml/xml.cc
@@ -395,7 +395,7 @@ mjSpec* ParseSpecFromString(std::string_view xml, const mjVFS* vfs, char* error,
 }
 
 // Main writer function - calls mjXWrite
-std::string WriteXML(const mjModel* m, const mjSpec* spec, char* error, int nerror) {
+std::string WriteXML(const mjModel* m, mjSpec* spec, char* error, int nerror) {
   LocaleOverride locale_override;
 
   // check for empty model
diff --git a/src/xml/xml.h b/src/xml/xml.h
index 44b9b23e..5f85d016 100644
--- a/src/xml/xml.h
+++ b/src/xml/xml.h
@@ -30,6 +30,6 @@ mjSpec* ParseSpecFromString(std::string_view xml, const mjVFS* vfs = nullptr,
                             char* error = nullptr, int nerror = 0);
 
 // Main writer function
-std::string WriteXML(const mjModel* m, const mjSpec* spec, char* error, int nerror);
+std::string WriteXML(const mjModel* m, mjSpec* spec, char* error, int nerror);
 
 #endif  // MUJOCO_SRC_XML_XML_H_
diff --git a/src/xml/xml_api.cc b/src/xml/xml_api.cc
index bde10787..b289adb3 100644
--- a/src/xml/xml_api.cc
+++ b/src/xml/xml_api.cc
@@ -230,7 +230,8 @@ mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int er
 
 // save spec to XML file, return 0 on success, -1 otherwise
 int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz) {
-  std::string result = WriteXML(NULL, s, error, error_sz);
+  // cast to mjSpec since WriteXML can in principle perform mj_copyBack (not here)
+  std::string result = WriteXML(NULL, (mjSpec*)s, error, error_sz);
   if (result.empty()) {
     return -1;
   }
@@ -247,7 +248,7 @@ int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz)
 // save spec to XML string, return 0 on success, -1 on failure
 // if length of the output buffer is too small, returns the required size
 int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz) {
-  std::string result = WriteXML(NULL, s, error, error_sz);
+  std::string result = WriteXML(NULL, (mjSpec*)s, error, error_sz);
   if (result.empty()) {
     return -1;
   } else if (result.size() >= xml_sz) {
diff --git a/src/xml/xml_base.cc b/src/xml/xml_base.cc
index 1a1dd1b9..914d99de 100644
--- a/src/xml/xml_base.cc
+++ b/src/xml/xml_base.cc
@@ -44,8 +44,8 @@ mjXBase::mjXBase() {
 
 
 // set model field
-void mjXBase::SetModel(const mjSpec* _model, const mjModel* m) {
-  spec = (mjSpec*)_model;
+void mjXBase::SetModel(mjSpec* _model, const mjModel* m) {
+  spec = _model;
 }
 
 
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
index f2aca5c8..9dc261b1 100644
--- a/src/xml/xml_base.h
+++ b/src/xml/xml_base.h
@@ -92,7 +92,7 @@ class mjXBase : public mjXUtil {
   };
 
   // set the model allocated externally
-  virtual void SetModel(const mjSpec*, const mjModel* = nullptr);
+  virtual void SetModel(mjSpec*, const mjModel* = nullptr);
 
   // read alternative orientation specification
   static int ReadAlternative(tinyxml2::XMLElement* elem, mjsOrientation& alt);
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index f28041a8..de2aef96 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -885,12 +885,12 @@ mjXWriter::mjXWriter(void) {
 
 
 // cast model
-void mjXWriter::SetModel(const mjSpec* _spec, const mjModel* m) {
+void mjXWriter::SetModel(mjSpec* _spec, const mjModel* m) {
   if (_spec) {
     model = static_cast<mjCModel*>(_spec->element);
   }
   if (m) {
-    model->CopyBack(m);
+    mj_copyBack(&model->spec, m);
   }
 }
 
diff --git a/src/xml/xml_native_writer.h b/src/xml/xml_native_writer.h
index b4941429..09962522 100644
--- a/src/xml/xml_native_writer.h
+++ b/src/xml/xml_native_writer.h
@@ -29,7 +29,7 @@ class mjXWriter : public mjXBase {
  public:
   mjXWriter();                                        // constructor
   virtual ~mjXWriter() = default;                     // destructor
-  void SetModel(const mjSpec* _spec, const mjModel* m = nullptr);
+  void SetModel(mjSpec* _spec, const mjModel* m = nullptr);
 
   // write XML document to string
   std::string Write(char *error, std::size_t error_sz);
diff --git a/test/fixture.cc b/test/fixture.cc
index 545691b4..cdf714b4 100644
--- a/test/fixture.cc
+++ b/test/fixture.cc
@@ -130,9 +130,7 @@ std::string GetFileContents(const char* path) {
   return sstream.str();
 }
 
-std::string SaveAndReadXml(const mjModel* model) {
-  EXPECT_THAT(model, testing::NotNull());
-
+std::string SaveAndReadXmlImpl(const mjModel* model, const mjSpec* spec) {
   constexpr int kMaxPathLen = 1024;
   std::string path_template =
       std::filesystem::temp_directory_path().append("tmp.XXXXXX").string();
@@ -148,7 +146,11 @@ std::string SaveAndReadXml(const mjModel* model) {
   EXPECT_NE(_mktemp_s(filepath), EINVAL);
 #endif
 
-  mj_saveLastXML(filepath, model, nullptr, 0);
+  if (spec) {
+    mj_saveXML(spec, filepath, nullptr, 0);
+  } else if (model) {
+    mj_saveLastXML(filepath, model, nullptr, 0);
+  }
   std::string contents = GetFileContents(filepath);
 
 #if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
@@ -159,6 +161,16 @@ std::string SaveAndReadXml(const mjModel* model) {
   return contents;
 }
 
+std::string SaveAndReadXml(const mjModel* model) {
+  EXPECT_THAT(model, testing::NotNull());
+  return SaveAndReadXmlImpl(model, nullptr);
+}
+
+std::string SaveAndReadXml(const mjSpec* spec) {
+  EXPECT_THAT(spec, testing::NotNull());
+  return SaveAndReadXmlImpl(nullptr, spec);
+}
+
 std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
                                  mjtNum ctrlnoise) {
   std::vector<mjtNum> ctrl;
diff --git a/test/fixture.h b/test/fixture.h
index 0569579d..f9d0cb1f 100644
--- a/test/fixture.h
+++ b/test/fixture.h
@@ -102,6 +102,9 @@ mjModel* LoadModelFromPath(const char* model_path);
 // Returns a string loaded from first saving the model given an input.
 std::string SaveAndReadXml(const mjModel* model);
 
+// Returns a string loaded from first saving the spec given an input.
+std::string SaveAndReadXml(const mjSpec* spec);
+
 // Adds control noise.
 std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
                                  mjtNum ctrlnoise = 0.01);
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index c938b465..fd87a86d 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1498,6 +1498,65 @@ TEST_F(DecompilerTest, SavesStatistics) {
   mj_deleteModel(model);
 }
 
+TEST_F(DecompilerTest, SaveAndReadXml) {
+  static constexpr char xml1[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom size="1"/>
+      <geom size="2"/>
+    </worldbody>
+  </mujoco>
+  )";
+  static constexpr char xml2[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom size="1"/>
+      <geom size="2"/>
+      <geom size="3"/>
+    </worldbody>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m1 = LoadModelFromString(xml1, error.data(), error.size());
+  ASSERT_THAT(m1, NotNull()) << error.data();
+  m1->geom_size[0] = 10;
+  m1->geom_size[3] = 20;
+  std::string saved_xml = SaveAndReadXml(m1);
+  EXPECT_THAT(saved_xml, HasSubstr("geom size=\"10\""));
+  EXPECT_THAT(saved_xml, HasSubstr("geom size=\"20\""));
+
+  // parse the mjSpec, save it and read it back
+  mjSpec* spec = mj_parseXMLString(xml2, nullptr, error.data(), error.size());
+  EXPECT_THAT(spec, NotNull()) << error.data();
+  mjModel* m2 = mj_compile(spec, nullptr);
+  std::string saved_xml1 = SaveAndReadXml(spec);
+  EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"1\""));
+  EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"2\""));
+  EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"3\""));
+
+  // modify the mjModel, save it and read it back
+  m2->geom_size[0] = .1;
+  m2->geom_size[3] = .2;
+  m2->geom_size[6] = .3;
+  EXPECT_EQ(mj_copyBack(spec, m1), 0);
+  EXPECT_THAT(mjs_getError(spec), HasSubstr("CopyBack"));
+  EXPECT_EQ(mj_copyBack(spec, m2), 1);
+  std::string saved_xml2 = SaveAndReadXml(spec);
+  EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.1\""));
+  EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.2\""));
+  EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.3\""));
+
+  // check that using mjModel as argument writes in the wrong mjSpec
+  std::string saved_xml3 = SaveAndReadXml(m2);
+  EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.1\"")));
+  EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.2\"")));
+  EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.3\"")));
+
+  mj_deleteSpec(spec);
+  mj_deleteModel(m1);
+  mj_deleteModel(m2);
+}
+
 TEST_F(DecompilerTest, DoesntSaveInferredStatistics) {
   static constexpr char xml[] = R"(
   <mujoco>

From fe81373ffe7e648a5cecef16c8cb72dac38fcfa6 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Sat, 31 May 2025 00:55:32 -0700
Subject: [PATCH 190/191] Enable WriteReadCompare for models with assets.

PiperOrigin-RevId: 765500742
Change-Id: I119dbea11ed6771839b5e81d04070e95a51d3ed0
---
 test/xml/xml_native_writer_test.cc | 76 +++++++++++++++++-------------
 1 file changed, 44 insertions(+), 32 deletions(-)

diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index fd87a86d..2ad13bc7 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1381,19 +1381,30 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
         std::string xml = p.path().string();
 
         // if file is meant to fail, skip it
-        if (absl::StrContains(p.path().string(), "100_humanoids") ||
-            absl::StrContains(p.path().string(), "malformed_") ||
+        if (absl::StrContains(p.path().string(), "malformed_") ||
+            // exclude files that are too slow to load
             absl::StrContains(p.path().string(), "cow") ||
             absl::StrContains(p.path().string(), "gmsh_") ||
             absl::StrContains(p.path().string(), "shark_") ||
-            absl::StrContains(p.path().string(), "frameless_contact_hfield") ||
-            absl::StrContains(p.path().string(), "spheremesh")) {
+            absl::StrContains(p.path().string(), "spheremesh") ||
+            // exclude files that fail the comparison test
+            absl::StrContains(p.path().string(), "usd") ||
+            absl::StrContains(p.path().string(), "torus_maxhull") ||
+            absl::StrContains(p.path().string(), "fitmesh_") ||
+            absl::StrContains(p.path().string(), "lengthrange") ||
+            absl::StrContains(p.path().string(), "hfield_xml") ||
+            absl::StrContains(p.path().string(), "fromto_convex") ||
+            absl::StrContains(p.path().string(), "cube_skin") ||
+            absl::StrContains(p.path().string(), "cube_3x3x3")) {
           continue;
         }
         // load model
         std::array<char, 1000> error;
-        mjModel* m = mj_loadXML(
-            xml.c_str(), nullptr, error.data(), error.size());
+        mjSpec* s =
+            mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
+        ASSERT_THAT(s, NotNull())
+            << "Failed to load " << xml.c_str() << ": " << error.data();
+        mjModel* m = mj_compile(s, nullptr);
         ASSERT_THAT(m, NotNull())
             << "Failed to load " << xml.c_str() << ": " << error.data();
 
@@ -1402,32 +1413,33 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
         ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
 
         // save and load back
-        mjModel* mtemp =
-            LoadModelFromString(SaveAndReadXml(m), error.data(), error.size());
+        auto abs_path = p.path();
+        mjSpec* stemp = mj_parseXMLString(SaveAndReadXml(s).c_str(), 0,
+                                          error.data(), error.size());
+        mjs_setString(stemp->modelfiledir,
+                      abs_path.remove_filename().string().c_str());
+        mjModel* mtemp = mj_compile(stemp, nullptr);
 
-        if (!mtemp) {
-          // if failing because assets are missing, accept the test
-          ASSERT_THAT(error.data(), HasSubstr("file"))
-              << error.data() << " from " << xml.c_str();
-        } else {
-          mjtNum tol = 0;
+        ASSERT_THAT(mtemp, NotNull())
+            << error.data() << " from " << xml.c_str();
 
-          // for particularly sensitive models, relax the tolerance
-          if (absl::StrContains(p.path().string(), "belt.xml") ||
-              absl::StrContains(p.path().string(), "cable.xml")) {
-            tol = 1e-13;
-          }
+        mjtNum tol = 0;
 
-          // compare and delete
-          std::string field = "";
-          mjtNum result = CompareModel(m, mtemp, field);
-          EXPECT_LE(result, tol)
-              << "Loaded and saved models are different!\n"
-              << "Affected file " << p.path().string() << '\n'
-              << "Different field: " << field << '\n';
-          mj_deleteModel(mtemp);
+        // for particularly sensitive models, relax the tolerance
+        if (absl::StrContains(p.path().string(), "belt.xml") ||
+            absl::StrContains(p.path().string(), "cable.xml")) {
+          tol = 1e-13;
         }
 
+        // compare and delete
+        std::string field = "";
+        mjtNum result = CompareModel(m, mtemp, field);
+        EXPECT_LE(result, tol)
+            << "Loaded and saved models are different!\n"
+            << "Affected file " << p.path().string() << '\n'
+            << "Different field: " << field << '\n';
+        mj_deleteModel(mtemp);
+
         // check for stack memory leak
         mj_step(m, d);
         EXPECT_EQ(d->pstack, 0) << "mjData stack memory leak detected in " <<
@@ -1452,21 +1464,21 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
         ASSERT_THAT(mtemp, NotNull());
 
         // compare with 0 tolerance
-        std::string field = "";
-        mjtNum result = CompareModel(m, mtemp, field);
+        field = "";
+        result = CompareModel(m, mtemp, field);
         EXPECT_EQ(result, 0)
             << "Loaded and saved binary models are different!\n"
             << "Affected file " << p.path().string() << '\n'
             << "Different field: " << field << '\n';
 
         // clean up
+        mj_deleteSpec(s);
+        mj_deleteSpec(stemp);
+        mj_deleteModel(m);
         mj_deleteModel(mtemp);
         mj_deleteVFS(vfs);
         mju_free(vfs);
         mju_free(buffer);
-
-        // delete model
-        mj_deleteModel(m);
       }
     }
   }

From 3eb31f56cd9645df8e4fa3bdaf7c266f5836a40f Mon Sep 17 00:00:00 2001
From: Levi Burner <leviburner@gmail.com>
Date: Tue, 3 Jun 2025 07:00:24 -0700
Subject: [PATCH 191/191] Copybara import of the project:

--
c9acc0a6f677951db34f2b607bd60fc18a43f72b by Levi Burner <leviburner@gmail.com>:

Fix race condition in Python viewers set_X methods

--
b89ab8f7a0f628ee7a02ebfbac2a97f113112076 by Levi Burner <leviburner@gmail.com>:

use std::swap to replace some copying

--
02625bed0cffbfc9ea4537f74689f0bbcb8bf44c by Levi Burner <leviburner@gmail.com>:

fix whitespace

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2613 from aftersomemath:simulate-set-race 02625bed0cffbfc9ea4537f74689f0bbcb8bf44c
PiperOrigin-RevId: 766646168
Change-Id: I1e1dc16afbfb1e69fb958d54bd1075cc9aed3569
---
 python/mujoco/simulate.cc | 92 +++++++++++++++++++++++++++------------
 simulate/simulate.cc      | 20 ++++++++-
 simulate/simulate.h       |  8 +++-
 3 files changed, 91 insertions(+), 29 deletions(-)

diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 336ffb71..a62d1b6b 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -96,7 +96,6 @@ class SimulateWrapper {
 
   void Destroy() {
     if (simulate_) {
-      ClearImages();
       delete simulate_;
       simulate_ = nullptr;
       destroyed_.store(1);
@@ -140,40 +139,71 @@ class SimulateWrapper {
 
   void SetFigures(
       const std::vector<std::pair<mjrRect, py::object>>& viewports_figures) {
-    // Pairs of [viewport, figure], where viewport corresponds to the location
-    // of the figure on the viewer window.
-    std::vector<std::pair<mjrRect, mjvFigure>> user_figures;
-    for (const auto& [viewport, figure] : viewports_figures) {
-      mjvFigure casted_figure = *figure.cast<MjvFigureWrapper&>().get();
-      user_figures.push_back(std::make_pair(viewport, casted_figure));
+
+    // TODO: replace with atomic wait when we migrate to C++20
+    while (simulate_ && simulate_->newfigurerequest.load() != 0) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
-    // Set them all at once to prevent figure flickering.
-    simulate_->user_figures_ = user_figures;
+    // Pairs of [viewport, figure], where viewport corresponds to the location
+    // of the figure on the viewer window.
+    for (const auto& [viewport, figure] : viewports_figures) {
+      mjvFigure casted_figure = *figure.cast<MjvFigureWrapper&>().get();
+      simulate_->user_figures_new_.push_back(std::make_pair(viewport, casted_figure));
+    }
+
+    int value = 0;
+    simulate_->newfigurerequest.compare_exchange_strong(value, 1);
   }
 
-  void ClearFigures() { simulate_->user_figures_.clear(); }
+  void ClearFigures() {
+    // TODO: replace with atomic wait when we migrate to C++20
+    while (simulate_ && simulate_->newfigurerequest.load() != 0) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
+
+    simulate_->user_figures_new_.clear();
+
+    int value = 0;
+    simulate_->newfigurerequest.compare_exchange_strong(value, 1);
+  }
 
   void SetTexts(
       const std::vector<std::tuple<int, int, std::string, std::string>>&
           texts) {
-    // Collection of [font, gridpos, text1, text2] tuples for overlay text
-    std::vector<std::tuple<int, int, std::string, std::string>> user_texts;
-    for (const auto& [font, gridpos, text1, text2] : texts) {
-      user_texts.push_back(std::make_tuple(font, gridpos, text1, text2));
+    // TODO: replace with atomic wait when we migrate to C++20
+    while (simulate_ && simulate_->newtextrequest.load() != 0) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
-    // Set them all at once to prevent text flickering.
-    simulate_->user_texts_ = user_texts;
+    // Collection of [font, gridpos, text1, text2] tuples for overlay text
+    for (const auto& [font, gridpos, text1, text2] : texts) {
+      simulate_->user_texts_new_.push_back(std::make_tuple(font, gridpos, text1, text2));
+    }
+
+    int value = 0;
+    simulate_->newtextrequest.compare_exchange_strong(value, 1);
   }
 
-  void ClearTexts() { simulate_->user_texts_.clear(); }
+  void ClearTexts() {
+    // TODO: replace with atomic wait when we migrate to C++20
+    while (simulate_ && simulate_->newtextrequest.load() != 0) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
+
+    simulate_->user_texts_new_.clear();
+
+    int value = 0;
+    simulate_->newtextrequest.compare_exchange_strong(value, 1);
+  }
 
   void SetImages(
     const std::vector<std::tuple<mjrRect, pybind11::array&>> viewports_images
   ) {
-    // Clear previous images to prevent memory leaks
-    ClearImages();
+    // TODO: replace with atomic wait when we migrate to C++20
+    while (simulate_ && simulate_->newimagerequest.load() != 0) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
 
     for (const auto& [viewport, image] : viewports_images) {
       auto buf = image.request();
@@ -192,20 +222,28 @@ class SimulateWrapper {
       size_t width = buf.shape[1];
       size_t size = height * width * 3;
 
-      // Make a copy of the image data to prevent flickering
-      unsigned char* image_copy = new unsigned char[size];
-      std::memcpy(image_copy, buf.ptr, size);
+      // Make a copy of the image data since Python is
+      // not required to keep it
+      std::unique_ptr<unsigned char[]> image_copy(new unsigned char[size]());
+      std::memcpy(image_copy.get(), buf.ptr, size);
 
-      simulate_->user_images_.push_back(std::make_tuple(viewport, image_copy));
+      simulate_->user_images_new_.push_back(std::make_tuple(viewport, std::move(image_copy)));
     }
+
+    int value = 0;
+    simulate_->newimagerequest.compare_exchange_strong(value, 1);
   }
 
   void ClearImages() {
-    // Free memory for each image before clearing the vector
-    for (const auto& [viewport, image_ptr] : simulate_->user_images_) {
-      delete[] image_ptr;
+    // TODO: replace with atomic wait when we migrate to C++20
+    while (simulate_ && simulate_->newimagerequest.load() != 0) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
-    simulate_->user_images_.clear();
+
+    simulate_->user_images_new_.clear();
+
+    int value = 0;
+    simulate_->newimagerequest.compare_exchange_strong(value, 1);
   }
 
  private:
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 66087397..b6a1b9e4 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -2632,18 +2632,36 @@ void Simulate::Render() {
   }
 
   // user figures
+  if (this->newfigurerequest.load() == 1) {
+    this->user_figures_.clear();
+    std::swap(this->user_figures_, this->user_figures_new_);
+    int value = 1;
+    this->newfigurerequest.compare_exchange_strong(value, 0);
+  }
   for (auto& [viewport, figure] : this->user_figures_) {
     ShowFigure(this, viewport, &figure);
   }
 
   // overlay text
+  if (this->newtextrequest.load() == 1) {
+    this->user_texts_.clear();
+    std::swap(this->user_texts_, this->user_texts_new_);
+    int value = 1;
+    this->newtextrequest.compare_exchange_strong(value, 0);
+  }
   for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
     ShowOverlayText(this, rect, font, gridpos, text1, text2);
   }
 
   // user images
+  if (this->newimagerequest.load() == 1) {
+    this->user_images_.clear();
+    std::swap(this->user_images_, this->user_images_new_);
+    int value = 1;
+    this->newimagerequest.compare_exchange_strong(value, 0);
+  }
   for (auto& [viewport, image] : this->user_images_) {
-    ShowImage(this, viewport, image);
+    ShowImage(this, viewport, image.get());
   }
 
   // finalize
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 70b4ddf4..38234e4c 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -206,6 +206,9 @@ class Simulate {
   std::atomic_int droploadrequest = 0;
   std::atomic_int screenshotrequest = 0;
   std::atomic_int uiloadrequest = 0;
+  std::atomic_int newfigurerequest = 0;
+  std::atomic_int newtextrequest = 0;
+  std::atomic_int newimagerequest = 0;
 
   // loadrequest
   //   3: display a loading message
@@ -263,8 +266,11 @@ class Simulate {
   mjvScene* user_scn = nullptr;
   mjtByte user_scn_flags_prev_[mjNRNDFLAG];
   std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
+  std::vector<std::pair<mjrRect, mjvFigure>> user_figures_new_;
   std::vector<std::tuple<int, int, std::string, std::string>> user_texts_;
-  std::vector<std::tuple<mjrRect, unsigned char*>> user_images_;
+  std::vector<std::tuple<int, int, std::string, std::string>> user_texts_new_;
+  std::vector<std::tuple<mjrRect, std::unique_ptr<unsigned char[]>>> user_images_;
+  std::vector<std::tuple<mjrRect, std::unique_ptr<unsigned char[]>>> user_images_new_;
 
   // OpenGL rendering and UI
   int refresh_rate = 60;