Skip deprecated mju_rotVecMat and mju_rotVecMatT in Python bindings.

PiperOrigin-RevId: 647275284
Change-Id: I371236182b22eb399041959901085bb82af3f670

doc/changelog.rst

@@ -12,12 +12,17 @@ General
 
    1. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions.
 
-      **Migration:** Use ``mj_addBufferVFS`` to copy a buffer into a VFS file directly.
+      **Migration:** Use:ref:`mj_addBufferVFS` to copy a buffer into a VFS file directly.
 
-   2. Calls to ``mj_defaultVFS`` may allocate memory inside VFS, and the corresponding
+   2. Calls to:ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
-      ``mj_deleteVFS`` must be called to deallocate any internal allocated memory.
+      :ref:`mj_deleteVFS` must be called to deallocate any internal allocated memory.
 
-3. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
+   3. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
+      :ref:`mju_mulMatTVec3`. These function names and argument order are more consistent with the rest of the API.
+      The older functions have been removed from the Python bindings and will be removed from the C API in the next
+      release.
+
+4. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
    Still missing:
 
    - Detailed documentation.
@@ -27,14 +32,12 @@ General
    :align: right
    :width: 240px
 
-4. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
+5. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
    :ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
    attributes, respectively.
-5. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
+6. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
-6. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
+7. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
-7. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
+8. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
-8. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
-   :ref:`mju_mulMatTVec3`. These functions names and argument ordering are more consistent with the rest of the API.
 9. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
    `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
    with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
@@ -231,10 +234,10 @@ General
    :at:`ctrlrange` or :at:`actrange` (respectively), according to the range of the transmission
    target (joint or tendon). See :ref:`position/inheritrange<actuator-position-inheritrange>` for
    details.
-2. Deprecated :ref:`mj_makeEmptyFileVFS` in favor of :ref:`mj_addBufferVFS`. :ref:`mjVFS` now computes checksums of
+2. Deprecated ``mj_makeEmptyFileVFS`` in favor of :ref:`mj_addBufferVFS`. :ref:`mjVFS` now computes checksums of
    its internal file buffers. :ref:`mj_addBufferVFS` allocates an empty buffer with a given name in an mjVFS and
    copies the data buffer into it, combining and replacing the deprecated two-step process of calling
-   :ref:`mj_makeEmptyFileVFS` followed by a direct copy into the given mjVFS internal file buffer.
+   ``mj_makeEmptyFileVFS`` followed by a direct copy into the given mjVFS internal file buffer.
 3. Added :ref:`mj_angmomMat` which computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear
    mapping from generalized velocities to subtree angular momentum :math:`h = H \dot q`. Contribution by
    :github:user:`v-r-a`.

python/mujoco/functions.cc

@@ -17,7 +17,6 @@
 #include <array>
 #include <cstdint>
 #include <memory>
-#include <sstream>
 #include <string>
 #include <optional>
 
@@ -29,6 +28,7 @@
 #include "functions.h"
 #include "private.h"
 #include "raw.h"
+#include "structs.h"
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
@@ -108,9 +108,10 @@ PYBIND11_MODULE(_functions, pymodule) {
   // Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
   pymodule.def(
       "mj_saveModel",
-      [](const MjModelWrapper& m, const std::optional<std::string>& filename = std::nullopt,
+      [](const MjModelWrapper& m,
-         std::optional<
+         const std::optional<std::string>& filename = std::nullopt,
-             Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer = std::nullopt) {
+         std::optional<Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>>
+             buffer = std::nullopt) {
         void* buffer_ptr = nullptr;
         int buffer_sz = 0;
         if (buffer.has_value()) {
@@ -122,8 +123,7 @@ PYBIND11_MODULE(_functions, pymodule) {
             buffer_ptr, buffer_sz);
       },
       py::arg("m"), py::arg_v("filename", std::nullopt),
-      py::arg_v("buffer", std::nullopt),
+      py::arg_v("buffer", std::nullopt), py::doc(traits::mj_saveModel::doc),
-      py::doc(traits::mj_saveModel::doc),
       py::call_guard<py::gil_scoped_release>());
   // Skipped: mj_loadModel (have MjModel.from_binary_path)
   // Skipped: mj_deleteModel (have MjModel.__del__)
@@ -700,8 +700,8 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mju_dist3>(pymodule);
   Def<traits::mju_mulMatVec3>(pymodule);
   Def<traits::mju_mulMatTVec3>(pymodule);
-  Def<traits::mju_rotVecMat>(pymodule);
+  // skipped: mju_rotVecMat
-  Def<traits::mju_rotVecMatT>(pymodule);
+  // skipped: mju_rotVecMatT
   Def<traits::mju_cross>(pymodule);
   Def<traits::mju_zero4>(pymodule);
   Def<traits::mju_unit4>(pymodule);

src/engine/engine_collision_box.c

@@ -806,8 +806,8 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
   if (q2) {
     mju_mulMatMatT3(r, rotmore, rot);
 
-    // mju_rotVecMat(p,pos12,rotmore);
+    // mju_mulMatVec3(p,rotmore,pos12);
-    // mju_rotVecMat(tmp1,size2,rotmore);
+    // mju_mulMatVec3(tmp1,rotmore,size2);
 
     rotaxis(p, pos12);
     rotaxis(tmp1, size2);
@@ -818,8 +818,8 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
 
     rotmatx(r, rot);
 
-    // mju_rotVecMat(p,pos21,rotmore);
+    // mju_mulMatVec3(p,rotmore,pos21);
-    // mju_rotVecMat(tmp1,size1,rotmore);
+    // mju_mulMatVec3(tmp1,rotmore,size1);
 
     rotaxis(p, pos21);
     rotaxis(tmp1, size1);
@@ -1074,8 +1074,8 @@ edgeedge:
     f2 = -1;
   }
 
-  // mju_rotVecMat(p,pos21,rotmore);
+  // mju_mulMatVec3(p,rotmore,pos21);
-  // mju_rotVecMat(rnorm,clnorm,rotmore);
+  // mju_mulMatVec3(rnorm,rotmore,clnorm);
   rotaxis(p, pos21);
   rotaxis(rnorm, clnorm);