From 7062c6f6772909ec573deb43481b588acaa856b1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Fri, 17 Nov 2023 14:43:10 +0000
Subject: [PATCH 001/121] Enable mouse spring perturbations when clicking on a
 geom in scene view

---
 unity/Editor/Components/MjMouseSpring.cs          | 8 ++++++--
 unity/Editor/Components/MjShapeComponentEditor.cs | 2 +-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/unity/Editor/Components/MjMouseSpring.cs b/unity/Editor/Components/MjMouseSpring.cs
index b2264727..c502e551 100644
--- a/unity/Editor/Components/MjMouseSpring.cs
+++ b/unity/Editor/Components/MjMouseSpring.cs
@@ -23,7 +23,7 @@ namespace Mujoco {
   // and left mouse drag will apply a force on the body.  Holding shift down will change the applied
   // force direction between World XZ plane and Y[camera-up].
 
-  [CustomEditor(typeof(MjBody))]
+  [CustomEditor(typeof(MjComponent), true)]
   public class MjMouseSpring : Editor {
     private bool _lastShiftKeyState = false;
 
@@ -102,7 +102,11 @@ namespace Mujoco {
         return;
       }
 
-      MjBody body = target as MjBody;
+      var targetObject = target as MjComponent;
+      MjBody body = targetObject.GetComponentInParent<MjBody>();
+      if(!body) 
+        return;
+
       Vector3 bodyPosition =
           body != null ? body.transform.position : Vector3.zero;
       var scene = MjScene.Instance;
diff --git a/unity/Editor/Components/MjShapeComponentEditor.cs b/unity/Editor/Components/MjShapeComponentEditor.cs
index 41b8ba22..3d0d687c 100644
--- a/unity/Editor/Components/MjShapeComponentEditor.cs
+++ b/unity/Editor/Components/MjShapeComponentEditor.cs
@@ -22,7 +22,7 @@ namespace Mujoco {
 
 [CustomEditor(typeof(MjShapeComponent), true)]
 [CanEditMultipleObjects]
-public class MjShapeComponentEditor : Editor {
+public class MjShapeComponentEditor : MjMouseSpring {
 
   public override void OnInspectorGUI() {
 

From f99e9abc3c8dde43eb51aa2b59322568de7e23ae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Fri, 17 Nov 2023 15:00:19 +0000
Subject: [PATCH 002/121] Remove no longer necessary directive for editor only
 compilation (solved by assembly definition)

---
 unity/Editor/Components/MjMouseSpring.cs | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/unity/Editor/Components/MjMouseSpring.cs b/unity/Editor/Components/MjMouseSpring.cs
index c502e551..33ead857 100644
--- a/unity/Editor/Components/MjMouseSpring.cs
+++ b/unity/Editor/Components/MjMouseSpring.cs
@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#if UNITY_EDITOR
 using System;
 using UnityEditor;
 using UnityEngine;
@@ -191,5 +190,4 @@ namespace Mujoco {
       }
     }
   }
-}
-#endif
+}
\ No newline at end of file

From dbf44fe2b4f17f68b6c5190b2a2a26af39ce8a79 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 20 Nov 2023 05:05:42 -0800
Subject: [PATCH 003/121] New SDF objective function.

This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).

The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)

PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
---
 doc/XMLreference.rst              |  2 +-
 doc/programming/extension.rst     |  2 +-
 src/engine/engine_collision_sdf.c | 42 +++++++++++++++++++++++++++----
 src/engine/engine_collision_sdf.h |  9 ++++---
 4 files changed, 44 insertions(+), 11 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 1a168853..b77547d3 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1877,7 +1877,7 @@ adjust it properly through the XML.
 .. _option-sdf_initpoints:
 
 :at:`sdf_initpoints`: :at-val:`int, "40"`
-   Number of starting points used for fining contacts with Signed Distance Field collisions.
+   Number of starting points used for finding contacts with Signed Distance Field collisions.
 
 .. _option-actuatorgroupdisable:
 
diff --git a/doc/programming/extension.rst b/doc/programming/extension.rst
index f41c9629..54674089 100644
--- a/doc/programming/extension.rst
+++ b/doc/programming/extension.rst
@@ -269,7 +269,7 @@ Currently, there are three directories of first-party plugins:
   <https://github.com/google-deepmind/mujoco/blob/main/plugin/sdf/README.md>`__. The rest of this section will give more
   detail concerning the collision algorithm and the plugin engine interface.
 
-  Collision points are found by minimizing the maximum of the two colliding SDFs via gradient descent.
+  Collision points are found by minimizing a quadratic form of the two colliding SDFs via gradient descent.
   Because SDFs are non-convex, multiple starting points are required in order to converge to multiple local minima.
   The number of starting points is set using :ref:`sdf_initpoints<option-sdf_initpoints>`, and are
   initialized using the Halton sequence inside the intersection of the axis-aligned bounding boxes.
diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index 1e557e1a..ed5b8d06 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -186,6 +186,18 @@ mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjt
     mju_addTo3(y, s->relpos);
     return mju_max(geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]),
                    geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]));
+  case mjSDFTYPE_MIDSURFACE:
+    mju_rotVecMat(y, x, s->relmat);
+    mju_addTo3(y, s->relpos);
+    return geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]) -
+           geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
+  case mjSDFTYPE_QUADRATIC:
+    mju_rotVecMat(y, x, s->relmat);
+    mju_addTo3(y, s->relpos);
+    mjtNum A = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
+    mjtNum B = geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
+    return .5 * mju_max(A, 0) * mju_max(A, 0) +
+           .5 * mju_max(B, 0) * mju_max(B, 0) - mju_min(A, 0) * mju_min(B, 0);
   default:
     mjERROR("SDF type not available");
     return 0;
@@ -197,6 +209,7 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
                   mjtNum gradient[3], const mjtNum x[3]) {
   mjtNum y[3];
   const mjtNum* point[2] = {x, y};
+  mjtNum grad1[3], grad2[3];
 
   switch (s->type) {
   case mjSDFTYPE_INTERSECTION:
@@ -209,10 +222,9 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
       mju_rotVecMatT(gradient, gradient, s->relmat);
     }
     break;
-  case mjSDFTYPE_AVERAGE:
+  case mjSDFTYPE_MIDSURFACE:
     mju_rotVecMat(y, x, s->relmat);
     mju_addTo3(y, s->relpos);
-    mjtNum grad1[3], grad2[3];
     geomGradient(grad1, m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
     mju_normalize3(grad1);
     geomGradient(grad2, m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
@@ -221,6 +233,24 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
     mju_sub3(gradient, grad1, grad2);
     mju_normalize3(gradient);
     break;
+  case mjSDFTYPE_QUADRATIC:
+    mju_rotVecMat(y, x, s->relmat);
+    mju_addTo3(y, s->relpos);
+    mjtNum A = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
+    mjtNum B = geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
+    geomGradient(grad1, m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
+    geomGradient(grad2, m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
+    mju_rotVecMatT(grad2, grad2, s->relmat);
+    gradient[0] = grad1[0] * mju_max(A, 0) + grad2[0] * mju_max(B, 0);
+    gradient[1] = grad1[1] * mju_max(A, 0) + grad2[1] * mju_max(B, 0);
+    gradient[2] = grad1[2] * mju_max(A, 0) + grad2[2] * mju_max(B, 0);
+    if (A < 0 && B < 0) {
+      gradient[0] = - grad1[0] * B - grad2[0] * A;
+      gradient[1] = - grad1[1] * B - grad2[1] * A;
+      gradient[2] = - grad1[2] * B - grad2[2] * A;
+    }
+    mju_normalize3(gradient);
+    break;
   case mjSDFTYPE_SINGLE:
     geomGradient(gradient, m, d, s->plugin[0], s->id[0], point[0], s->geomtype[0]);
     break;
@@ -716,10 +746,12 @@ int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, m
     // start counters
     sdf_ptr[0]->compute(m, (mjData*)d, instance[0], mjPLUGIN_SDF);
 
-    // gradient descent
-    sdf.type = mjSDFTYPE_INTERSECTION;
+    // gradient descent - we use a quadratic form of the two SDF as objective
+    sdf.type = mjSDFTYPE_QUADRATIC;
     dist = stepGradient(x, m, &sdf, (mjData*)d);
-    sdf.type = mjSDFTYPE_AVERAGE;
+
+    // contact point and normal - we use the midsurface where SDF1=SDF2 as zero level set
+    sdf.type = mjSDFTYPE_MIDSURFACE;
     cnt = addContact(contacts, con, x, pos2true, squat2, dist, cnt, m, &sdf, (mjData*)d);
 
     // SHOULD NOT OCCUR
diff --git a/src/engine/engine_collision_sdf.h b/src/engine/engine_collision_sdf.h
index ef9f3f95..00ee5f07 100644
--- a/src/engine/engine_collision_sdf.h
+++ b/src/engine/engine_collision_sdf.h
@@ -24,10 +24,11 @@
 extern "C" {
 #endif
 
-typedef enum mjtSDFType_ {
-  mjSDFTYPE_SINGLE     = 0,
-  mjSDFTYPE_INTERSECTION,
-  mjSDFTYPE_AVERAGE,
+typedef enum mjtSDFType_ {        // signed distance function (SDF) type
+  mjSDFTYPE_SINGLE     = 0,       // single SDF
+  mjSDFTYPE_INTERSECTION,         // max(A, B)
+  mjSDFTYPE_MIDSURFACE,           // A - B
+  mjSDFTYPE_QUADRATIC,            // max(A, 0)^2/2 + max(B, 0)^2/2 + min(A, 0)*min(B, 0)
 } mjtSDFType;
 
 struct mjSDF_ {

From 0ea316ed7174e089811b56771024ae9680cad294 Mon Sep 17 00:00:00 2001
From: Viktor Sonesten <v@tmplt.dev>
Date: Sun, 12 Nov 2023 12:04:10 +0100
Subject: [PATCH 004/121] cmake: support system-wide pybind11

Original behavior remains.
---
 python/mujoco/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 8c263139..e5613fee 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -180,9 +180,10 @@ findorfetch(
 )
 
 # ==================== PYBIND11 ================================================
+option(MUJOCO_PYTHON_USE_SYSTEM_PYBIND11 "Use installed pybind11 version." OFF)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  MUJOCO_PYTHON_USE_SYSTEM_PYBIND11
   PACKAGE_NAME
   pybind11
   LIBRARY_NAME

From 8ca51b5318e9dfd8e212c41268b0e0c6e98f6075 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 20 Nov 2023 06:31:45 -0800
Subject: [PATCH 005/121] Backtracking line search for SDF collisions.

Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.

This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.

PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
---
 doc/changelog.rst                 | 10 ++++++++++
 model/plugin/sdf/nutbolt.xml      |  4 ++--
 plugin/sdf/bolt.cc                |  2 +-
 plugin/sdf/bowl.cc                |  2 +-
 plugin/sdf/gear.cc                |  2 +-
 plugin/sdf/nut.cc                 |  2 +-
 plugin/sdf/sdflib.cc              |  2 +-
 src/engine/engine_collision_sdf.c | 33 +++++++++++++++++++++++++------
 8 files changed, 44 insertions(+), 13 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 25d866a4..471e7105 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,6 +2,16 @@
 Changelog
 =========
 
+Upcoming version (not yet released)
+-----------------------------------
+
+General
+^^^^^^^
+
+- Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
+  for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
+  robust for very small or large geom sizes.
+
 Version 3.0.1 (November 15, 2023)
 ---------------------------------
 
diff --git a/model/plugin/sdf/nutbolt.xml b/model/plugin/sdf/nutbolt.xml
index d3d80ff7..51e2b554 100644
--- a/model/plugin/sdf/nutbolt.xml
+++ b/model/plugin/sdf/nutbolt.xml
@@ -8,7 +8,7 @@
     </plugin>
     <plugin plugin="mujoco.sdf.bolt">
       <instance name="bolt">
-        <config key="radius" value="0.26"/>
+        <config key="radius" value="0.255"/>
       </instance>
     </plugin>
   </extension>
@@ -30,7 +30,7 @@
     </mesh>
   </asset>
 
-  <option sdf_iterations="15" sdf_initpoints="60"/>
+  <option sdf_iterations="10" sdf_initpoints="20"/>
 
   <default>
     <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.01"/>
diff --git a/plugin/sdf/bolt.cc b/plugin/sdf/bolt.cc
index 99264d23..4030a164 100644
--- a/plugin/sdf/bolt.cc
+++ b/plugin/sdf/bolt.cc
@@ -166,12 +166,12 @@ void Bolt::RegisterPlugin() {
   plugin.sdf_distance =
       +[](const mjtNum point[3], const mjData* d, int instance) {
         auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
-        sdf->visualizer_.AddPoint(point);
         return sdf->Distance(point);
       };
   plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
                         const mjData* d, int instance) {
     auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
+    sdf->visualizer_.AddPoint(point);
     sdf->Gradient(gradient, point);
   };
   plugin.sdf_staticdistance =
diff --git a/plugin/sdf/bowl.cc b/plugin/sdf/bowl.cc
index 451b2b4c..55b6515f 100644
--- a/plugin/sdf/bowl.cc
+++ b/plugin/sdf/bowl.cc
@@ -164,12 +164,12 @@ void Bowl::RegisterPlugin() {
   plugin.sdf_distance =
       +[](const mjtNum point[3], const mjData* d, int instance) {
         auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
-        sdf->visualizer_.AddPoint(point);
         return sdf->Distance(point);
       };
   plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
                         const mjData* d, int instance) {
     auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
+    sdf->visualizer_.AddPoint(point);
     sdf->Gradient(gradient, point);
   };
   plugin.sdf_staticdistance =
diff --git a/plugin/sdf/gear.cc b/plugin/sdf/gear.cc
index 67f4a8be..d7b49da3 100644
--- a/plugin/sdf/gear.cc
+++ b/plugin/sdf/gear.cc
@@ -250,12 +250,12 @@ void Gear::RegisterPlugin() {
   plugin.sdf_distance =
       +[](const mjtNum point[3], const mjData* d, int instance) {
         auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
-        sdf->visualizer_.AddPoint(point);
         return sdf->Distance(point);
       };
   plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
                         const mjData* d, int instance) {
     auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
+    sdf->visualizer_.AddPoint(point);
     sdf->Gradient(gradient, point);
   };
   plugin.sdf_staticdistance =
diff --git a/plugin/sdf/nut.cc b/plugin/sdf/nut.cc
index 9e0fb53b..448fc4a8 100644
--- a/plugin/sdf/nut.cc
+++ b/plugin/sdf/nut.cc
@@ -166,12 +166,12 @@ void Nut::RegisterPlugin() {
   plugin.sdf_distance =
       +[](const mjtNum point[3], const mjData* d, int instance) {
         auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
-        sdf->visualizer_.AddPoint(point);
         return sdf->Distance(point);
       };
   plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
                         const mjData* d, int instance) {
     auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
+    sdf->visualizer_.AddPoint(point);
     sdf->Gradient(gradient, point);
   };
   plugin.sdf_staticdistance =
diff --git a/plugin/sdf/sdflib.cc b/plugin/sdf/sdflib.cc
index 62628d13..392119ae 100644
--- a/plugin/sdf/sdflib.cc
+++ b/plugin/sdf/sdflib.cc
@@ -146,12 +146,12 @@ void SdfLib::RegisterPlugin() {
   plugin.sdf_distance =
       +[](const mjtNum point[3], const mjData* d, int instance) {
         auto* sdf = reinterpret_cast<SdfLib*>(d->plugin_data[instance]);
-        sdf->visualizer_.AddPoint(point);
         return sdf->Distance(point);
       };
   plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
                         const mjData* d, int instance) {
     auto* sdf = reinterpret_cast<SdfLib*>(d->plugin_data[instance]);
+    sdf->visualizer_.AddPoint(point);
     sdf->Gradient(gradient, point);
   };
 
diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index ed5b8d06..ec46002a 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -249,7 +249,6 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
       gradient[1] = - grad1[1] * B - grad2[1] * A;
       gradient[2] = - grad1[2] * B - grad2[2] * A;
     }
-    mju_normalize3(gradient);
     break;
   case mjSDFTYPE_SINGLE:
     geomGradient(gradient, m, d, s->plugin[0], s->id[0], point[0], s->geomtype[0]);
@@ -388,10 +387,15 @@ static mjtNum stepFrankWolfe(mjtNum x[3], const mjtNum* corners, int ncorners,
 // finds minimum using gradient descent
 static mjtNum stepGradient(mjtNum x[3], const mjModel* m, const mjSDF* s,
                            mjData* d) {
-  mjtNum alpha = 0.2;    // step along the gradient direction
+  const mjtNum c = .1;       // reduction factor for the target decrease in the objective function
+  const mjtNum rho = .5;     // reduction factor for the gradient scaling (alpha)
+  const mjtNum amin = 1e-4;  // minimum value for alpha
+  mjtNum dist = mjMAXVAL;
 
   for (int step=0; step < m->opt.sdf_iterations; step++) {
     mjtNum grad[3];
+    mjtNum alpha = 2.;  // initial line search factor scaling the gradient
+                        // the units of the gradient depend on s->type
 
     // evaluate gradient
     mjc_gradient(m, d, s, grad, x);
@@ -403,12 +407,29 @@ static mjtNum stepGradient(mjtNum x[3], const mjModel* m, const mjSDF* s,
       return mjMAXVAL;
     }
 
-    // update solution
-    mju_addToScl3(x, grad, -alpha/(mjtNum)(step+1));
+    // save current solution
+    mjtNum x0[] = {x[0], x[1], x[2]};
+
+    // evaluate distance
+    mjtNum dist0 = mjc_distance(m, d, s, x0);
+    mjtNum wolfe = - c * alpha * mju_dot3(grad, grad);
+
+    // backtracking line search
+    do {
+      alpha *= rho;
+      wolfe *= rho;
+      mju_addScl3(x, x0, grad, -alpha);
+      dist = mjc_distance(m, d, s, x);
+    } while (alpha > amin && dist - dist0 > wolfe);
+
+    // if no improvement, early stop
+    if (dist0 < dist) {
+      return dist;
+    }
   }
 
-  // compute distance
-  return mjc_distance(m, d, s, x);
+  // the distance will be used for the contact creation
+  return dist;
 }
 
 //---------------------------- bounding box vs sdf -------------------------------------------------

From cd56a41f835bc4c43ccf00d0b18bdea20411aa42 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 20 Nov 2023 08:36:40 -0800
Subject: [PATCH 006/121] Fix bug in Cartesian actuation with movable refsite.

PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
---
 doc/changelog.rst                             |  5 ++
 src/engine/engine_core_smooth.c               | 46 ++++++++++++++
 test/engine/engine_core_smooth_test.cc        | 24 +++++++
 .../testdata/actuation/refsite_free.xml       | 62 +++++++++++++++++++
 4 files changed, 137 insertions(+)
 create mode 100644 test/engine/testdata/actuation/refsite_free.xml

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 471e7105..e03ebdd4 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -12,6 +12,11 @@ General
   for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
   robust for very small or large geom sizes.
 
+Bug fixes
+^^^^^^^^^
+- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
+  Before this fix such actuators could lead to non-conservation of momentum.
+
 Version 3.0.1 (November 15, 2023)
 ---------------------------------
 
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index a8194d82..d86997a4 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1032,6 +1032,34 @@ void mj_transmission(const mjModel* m, mjData* d) {
         int refid = m->actuator_trnid[2*i+1];
         if (!jacref) jacref = mj_stackAllocNum(d, 3*nv);
 
+        // intialize last dof address for each body
+        int b0 = m->body_weldid[m->site_bodyid[id]];
+        int b1 = m->body_weldid[m->site_bodyid[refid]];
+        int dofadr0 = m->body_dofadr[b0] + m->body_dofnum[b0] - 1;
+        int dofadr1 = m->body_dofadr[b1] + m->body_dofnum[b1] - 1;
+
+        // find common ancestral dof, if any
+        int dofadr_common = -1;
+        if (dofadr0 >= 0 && dofadr1 >= 0) {
+          // traverse up the tree until common ancestral dof is found
+          while (dofadr0 != dofadr1) {
+            if (dofadr0 < dofadr1) {
+              dofadr1 = m->dof_parentid[dofadr1];
+            } else {
+              dofadr0 = m->dof_parentid[dofadr0];
+            }
+            if (dofadr0 == -1 || dofadr1 == -1) {
+              // reached tree root, no common ancestral dof
+              break;
+            }
+          }
+
+          // found common ancestral dof
+          if (dofadr0 == dofadr1) {
+            dofadr_common = dofadr0;
+          }
+        }
+
         // clear moment
         mju_zero(moment+i*nv, nv);
 
@@ -1050,6 +1078,15 @@ void mj_transmission(const mjModel* m, mjData* d) {
           // subtract jacref from jac
           mju_subFrom(jac, jacref, 3*nv);
 
+          // if common ancestral dof was found, clear the columns of its parental chain
+          int da = dofadr_common;
+          while (da >= 0) {
+            jac[nv*0 + da] = 0;
+            jac[nv*1 + da] = 0;
+            jac[nv*2 + da] = 0;
+            da = m->dof_parentid[da];
+          }
+
           // wrench: translational gear expressed in global frame
           mju_rotVecMat(wrench, gear, d->site_xmat+9*refid);
 
@@ -1077,6 +1114,15 @@ void mj_transmission(const mjModel* m, mjData* d) {
           // subtract jacref from jacS
           mju_subFrom(jacS, jacref, 3*nv);
 
+          // if common ancestral dof was found, clear the columns of its parental chain
+          int da = dofadr_common;
+          while (da >= 0) {
+            jacS[nv*0 + da] = 0;
+            jacS[nv*1 + da] = 0;
+            jacS[nv*2 + da] = 0;
+            da = m->dof_parentid[da];
+          }
+
           // wrench: rotational gear expressed in global frame
           mju_rotVecMat(wrench, gear+3, d->site_xmat+9*refid);
 
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 52f95e50..dcb123d0 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -294,6 +294,30 @@ TEST_F(CoreSmoothTest, RefsiteBringsToPose) {
   mj_deleteModel(model);
 }
 
+// Test Cartesian position control w.r.t moving refsite
+TEST_F(CoreSmoothTest, RefsiteConservesMomentum) {
+  constexpr char kRefsitePath[] = "engine/testdata/actuation/refsite_free.xml";
+  const std::string xml_path = GetTestDataFilePath(kRefsitePath);
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
+  ASSERT_THAT(model, NotNull());
+  mjData* data = mj_makeData(model);
+
+  data->ctrl[0] = 1;
+  data->ctrl[1] = -1;
+
+  // simulate, assert that momentum is conserved
+  mjtNum eps = 1e-9;
+  while (data->time < 1) {
+    mj_step(model, data);
+    for (int i=0; i < 6; i++) {
+      EXPECT_LT(mju_abs(data->sensordata[i]), eps);
+    }
+  }
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 static const char* const kIlslandEfcPath =
     "engine/testdata/island/island_efc.xml";
 
diff --git a/test/engine/testdata/actuation/refsite_free.xml b/test/engine/testdata/actuation/refsite_free.xml
new file mode 100644
index 00000000..f61e8f1a
--- /dev/null
+++ b/test/engine/testdata/actuation/refsite_free.xml
@@ -0,0 +1,62 @@
+<mujoco>
+
+  <compiler angle="radian"/>
+
+  <option timestep="0.0001" integrator="RK4">
+    <flag gravity="disable" contact="disable"/>
+  </option>
+
+  <size memory="1M"/>
+
+  <statistic meansize="0.193896" extent="1" center="0 0 0.3"/>
+
+  <default>
+    <joint actuatorfrcrange="-18 18"/>
+    <default class="cartesian">
+      <general biastype="affine" dynprm="0.189824" gainprm="51.073" biasprm="0 -51.073 -1.03446"/>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="200" height="200"/>
+    <material name="groundplane"  texture="groundplane" texuniform="true" texrepeat="2 2" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <geom size="0 0 0.1" type="plane" material="groundplane"/>
+    <light pos="0 0 1.5" dir="0 0 -1"/>
+    <body pos="0 0 0.6">
+      <joint type="free"/>
+
+      <body name="base">
+        <geom size="0.0606401 0.116554 0.163268" pos="-0.00170944 -0.000675197 0.00191671" quat="-0.000920387 0.70756 -0.000583555 0.706653" type="box"/>
+        <site name="base_frame"/>
+        <body pos="0.171671 -0.0907507 -9.8e-06" quat="0.5 -0.5 0.5 -0.5">
+          <joint axis="0 0 1" range="-1.0472 1.0472" armature="0.0109013" damping="0.0239" frictionloss="0.1334"/>
+          <geom size="0.0324681 0.0432267 0.0500827" pos="-0.00997157 -1.75508e-05 0.0591165" quat="0.99973 -0.0108474 -0.0205183 -0.000825809" type="box"/>
+          <body pos="0.03085 0 0.065" quat="0 -0.707107 0 -0.707107">
+            <joint axis="0 0 1" range="-1.54706 3.02902" armature="0.0109013" damping="0.0239" frictionloss="0.1334"/>
+            <geom size="0.0230114 0.044369 0.0456418" pos="0.00023322 7.40609e-05 0.0232897" quat="0.646671 -0.288993 -0.645777 -0.285081" type="box"/>
+            <geom size="0.0165189 0.0320859 0.136968" pos="-0.0789385 0.0134066 0.0697267" quat="0.0465854 -0.70695 -0.00148786 0.705726" type="box"/>
+            <body pos="-0.19 0 0.069575" quat="0 0 -1 0">
+              <joint axis="0 0 1" range="0 2.44346" armature="0.0109013" damping="0.0239" frictionloss="0.1334"/>
+              <geom size="0.0119255 0.0121628 0.0197376" pos="-0.211513 -0.0748022 1.73156e-06" quat="0.642033 0.296302 -0.642156 0.296031" type="box"/>
+              <geom size="0.008597 0.0161382 0.11823" pos="-0.0783394 -0.0253533 -1.08631e-05" quat="0.702549 0.0808911 -0.702432 0.0804412" type="box"/>
+              <site name="foot_front_right" pos="-0.21425 -0.0779806 0" quat="0.664463 0.664463 -0.241845 -0.241845"/>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <general name="x linear" class="cartesian" site="foot_front_right" refsite="base_frame" ctrlrange="-5 5" gear="1 0 0 0 0 0"/>
+    <general name="y rotational" class="cartesian" site="foot_front_right" refsite="base_frame" ctrlrange="-5 5" gear="0 0 0 0 .1 0"/>
+  </actuator>
+
+  <sensor>
+    <subtreeangmom body="base"/>
+    <subtreelinvel body="base"/>
+  </sensor>
+</mujoco>

From 2bc2bc902f1ed5ff4c1550ee872874dfa8391ed3 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 21 Nov 2023 05:57:02 -0800
Subject: [PATCH 007/121] Clarify that the contact disable flag also disables
 collision detection.

PiperOrigin-RevId: 584300974
Change-Id: I740fd6833b2ea1b77bdb70dc210a1bd1f7eb6f17
---
 doc/XMLreference.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index b77547d3..26109388 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1924,7 +1924,7 @@ from its default.
 .. _option-flag-contact:
 
 :at:`contact`: :at-val:`[disable, enable], "enable"`
-   This flag disables all standard computations related to contact constraints.
+   This flag disables collision detection and all standard computations related to contact constraints.
 
 .. _option-flag-passive:
 

From b41f6d09421bba4ceb1c09db26f4548176199219 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 21 Nov 2023 12:10:27 -0800
Subject: [PATCH 008/121] Correct documentation of `eulerseq` attribute w.r.t
 URDF conventions.

PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
---
 doc/XMLreference.rst | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 26109388..32a7c30e 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -216,11 +216,11 @@ any effect. The settings here are global and apply to the entire model.
 .. _compiler-eulerseq:
 
 :at:`eulerseq`: :at-val:`string, "xyz"`
-   This attribute specifies the sequence of Euler rotations for all euler attributes of elements that have spatial
-   frames, as explained in :ref:`COrientation`. This must be a string with exactly 3
-   characters from the set {'x', 'y', 'z', 'X', 'Y', 'Z'}. The character at position n determines the axis around which
-   the n-th rotation is performed. Lower case denotes axes that rotate with the frame, while upper case denotes axes
-   that remain fixed in the parent frame. The "rpy" convention used in URDF corresponds to the default "xyz" in MJCF.
+   This attribute specifies the sequence of Euler rotations for all :at:`euler` attributes of elements that have spatial
+   frames, as explained in :ref:`COrientation`. This must be a string with exactly 3 characters from the set {x, y, z,
+   X, Y, Z}. The character at position n determines the axis around which the n-th rotation is performed. Lower case
+   letters denote axes that rotate with the frame (intrinsic), while upper case letters denote axes that remain fixed in
+   the parent frame (extrinsic). The "rpy" convention used in URDF corresponds to "XYZ" in MJCF.
 
 .. _compiler-meshdir:
 

From d37881d2410a2b9d158eca772ded5d0f926db66d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Thu, 23 Nov 2023 11:38:21 +0000
Subject: [PATCH 009/121] Fix wrong units indicated in ball joint tooltip.

---
 unity/Runtime/Components/Joints/MjBallJoint.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unity/Runtime/Components/Joints/MjBallJoint.cs b/unity/Runtime/Components/Joints/MjBallJoint.cs
index 916b415e..1eca35ab 100644
--- a/unity/Runtime/Components/Joints/MjBallJoint.cs
+++ b/unity/Runtime/Components/Joints/MjBallJoint.cs
@@ -20,7 +20,7 @@ namespace Mujoco {
 
   // The component represents a joint with 1 degree of translational freedom.
   public class MjBallJoint : MjBaseJoint {
-    [Tooltip("In radians.")]
+    [Tooltip("In degrees.")]
     public float RangeUpper;
 
     [Tooltip("Joint settings.")]

From f2025c6abf4980cbb7ad757484e406cb7868bca4 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Thu, 23 Nov 2023 05:13:16 -0800
Subject: [PATCH 010/121] Allow plugin actuators to have activation state.

Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
---
 doc/XMLreference.rst              | 32 +++++++++--
 doc/XMLschema.rst                 | 10 ++--
 doc/changelog.rst                 |  7 +++
 doc/includes/references.h         |  9 +++
 doc/programming/extension.rst     | 19 ++++++
 include/mujoco/mjplugin.h         |  9 +++
 src/engine/engine_forward.c       | 41 +++++++++----
 src/user/user_model.cc            | 29 ++++++----
 src/user/user_objects.cc          |  1 +
 src/user/user_objects.h           |  1 +
 src/xml/xml_native_reader.cc      | 14 ++++-
 src/xml/xml_native_writer.cc      |  4 +-
 test/engine/engine_plugin_test.cc | 96 ++++++++++++++++++++++++++++---
 13 files changed, 229 insertions(+), 43 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 32a7c30e..198893be 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -4942,21 +4942,21 @@ specify them independently.
 .. _actuator-general-ctrlrange:
 
 :at:`ctrlrange`: :at-val:`real(2), "0 0"`
-   Range for clamping the control input. The compiler expects the first value to be smaller than the second value.
+   Range for clamping the control input. The first value must be smaller than the second value.
    |br| Setting this attribute without specifying :at:`ctrllimited` is an error, unless :at:`autolimits` is set in
    :ref:`compiler <compiler>`.
 
 .. _actuator-general-forcerange:
 
 :at:`forcerange`: :at-val:`real(2), "0 0"`
-   Range for clamping the force output. The compiler expects the first value to be no greater than the second value.
+   Range for clamping the force output. The first value must be no greater than the second value.
    |br| Setting this attribute without specifying :at:`forcelimited` is an error, unless :at:`autolimits` is set in
    :ref:`compiler <compiler>`.
 
 .. _actuator-general-actrange:
 
 :at:`actrange`: :at-val:`real(2), "0 0"`
-   Range for clamping the activation state. The compiler expects the first value to be no greater than the second value.
+   Range for clamping the activation state. The first value must be no greater than the second value.
    See the :ref:`Activation clamping <CActRange>` section for more details.
    |br| Setting this attribute without specifying :at:`actlimited` is an error, unless :at:`autolimits` is set in
    :ref:`compiler <compiler>`.
@@ -5784,12 +5784,29 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 :at:`instance`: :at-val:`string, optional`
    Instance name, used for explicit plugin instantiation.
 
+.. _actuator-plugin-dyntype:
+
+:at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, muscle, user], "none"`
+   Activation dynamics type for the actuator. The available dynamics types were already described in the
+   :ref:`Actuation model <geActuation>` section. See also :ref:`actuator-general-dyntype`. If dyntype is
+   not none, an activation variable will be added to the actuator. This variable will be added after
+   any activation state computed by the plugin (see :ref:`actuator plugin activations<exActuatorAct>`).
+
+.. _actuator-plugin-actrange:
+
+:at:`actrange`: :at-val:`real(2), "0 0"`
+   Range for clamping the activation state associated with this actuator's dyntype. The limit doesn't apply to
+   activations computed by the plugin. The first value must be no greater than the second value.
+   See the :ref:`Activation clamping <CActRange>` section for more details.
+
 .. _actuator-plugin-name:
 
 .. _actuator-plugin-class:
 
 .. _actuator-plugin-group:
 
+.. _actuator-plugin-actlimited:
+
 .. _actuator-plugin-ctrllimited:
 
 .. _actuator-plugin-forcelimited:
@@ -5818,9 +5835,14 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 
 .. _actuator-plugin-user:
 
-.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`,
+.. _actuator-plugin-dynprm:
+
+.. _actuator-plugin-actearly:
+
+.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`actlimited`, :at:`ctrllimited`,
    :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`,
-   :at:`joint`, :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`
+   :at:`joint`, :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`,
+   :at:`dynprm`, :at:`actearly`
 
 |actuator/plugin attrib list|
    Same as in actuator/ :ref:`general <actuator-general>`.
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 84b5aff4..a8d0d0b3 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -879,13 +879,15 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`name<actuator-plugin-name>`                               | :ref:`class<actuator-plugin-class>`                             | :ref:`plugin<actuator-plugin-plugin>`                           | :ref:`instance<actuator-plugin-instance>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<actuator-plugin-group>`                             | :ref:`ctrllimited<actuator-plugin-ctrllimited>`                 | :ref:`forcelimited<actuator-plugin-forcelimited>`               | :ref:`ctrlrange<actuator-plugin-ctrlrange>`                     | |
+|                                    |    |    | :ref:`group<actuator-plugin-group>`                             | :ref:`ctrllimited<actuator-plugin-ctrllimited>`                 | :ref:`forcelimited<actuator-plugin-forcelimited>`               | :ref:`actlimited<actuator-plugin-actlimited>`                   | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`forcerange<actuator-plugin-forcerange>`                   | :ref:`lengthrange<actuator-plugin-lengthrange>`                 | :ref:`gear<actuator-plugin-gear>`                               | :ref:`cranklength<actuator-plugin-cranklength>`                 | |
+|                                    |    |    | :ref:`ctrlrange<actuator-plugin-ctrlrange>`                     | :ref:`forcerange<actuator-plugin-forcerange>`                   | :ref:`actrange<actuator-plugin-actrange>`                       | :ref:`lengthrange<actuator-plugin-lengthrange>`                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`joint<actuator-plugin-joint>`                             | :ref:`jointinparent<actuator-plugin-jointinparent>`             | :ref:`site<actuator-plugin-site>`                               | :ref:`tendon<actuator-plugin-tendon>`                           | |
+|                                    |    |    | :ref:`gear<actuator-plugin-gear>`                               | :ref:`cranklength<actuator-plugin-cranklength>`                 | :ref:`joint<actuator-plugin-joint>`                             | :ref:`jointinparent<actuator-plugin-jointinparent>`             | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`cranksite<actuator-plugin-cranksite>`                     | :ref:`slidersite<actuator-plugin-slidersite>`                   | :ref:`user<actuator-plugin-user>`                               |                                                                 | |
+|                                    |    |    | :ref:`site<actuator-plugin-site>`                               | :ref:`dyntype<actuator-plugin-dyntype>`                         | :ref:`dynprm<actuator-plugin-dynprm>`                           | :ref:`tendon<actuator-plugin-tendon>`                           | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`cranksite<actuator-plugin-cranksite>`                     | :ref:`slidersite<actuator-plugin-slidersite>`                   | :ref:`user<actuator-plugin-user>`                               | :ref:`actearly<actuator-plugin-actearly>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_2| plugin |br| |_2| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index e03ebdd4..70a4fb68 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -12,6 +12,13 @@ General
   for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
   robust for very small or large geom sizes.
 
+Plugins
+^^^^^^^
+
+- Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
+  ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
+  variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
+
 Bug fixes
 ^^^^^^^^^
 - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
diff --git a/doc/includes/references.h b/doc/includes/references.h
index da5329cc..371167ba 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1422,6 +1422,15 @@ struct mjpPlugin_ {
   // called by mjv_updateScene (optional)
   void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
 
+  // methods specific to actuators (optional)
+
+  // dimension of the actuator state for the plugin (excluding state from actuator's dyntype)
+  int (*actuator_actdim)(const mjModel*m, int instance, int actuator_id);
+
+  // updates the actuator plugin's entries in act_dot
+  // called after native act_dot is computed and before the compute callback
+  void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
+
   // methods specific to signed distance fields (optional)
 
   // signed distance from the surface
diff --git a/doc/programming/extension.rst b/doc/programming/extension.rst
index 54674089..5269d6cf 100644
--- a/doc/programming/extension.rst
+++ b/doc/programming/extension.rst
@@ -199,6 +199,25 @@ When :ref:`mjData` is being copied via :ref:`mj_copyData`, MuJoCo will copy over
 code is responsible for setting up the plugin data for the newly copied :ref:`mjData`. To facilitate this, MuJoCo calls
 the ``copy`` callback from :ref:`mjpPlugin` for each plugin instance present.
 
+.. _exActuatorAct:
+
+Actuator activations
+""""""""""""""""""""
+
+When writing stateful actuator plugins, there are two choices for where to save the actuator state. One option is using
+``plugin_state`` as described above, and the other is to use ``mjData.act`` by implementing the ``actuator_actdim`` and
+ ``actuator_act_dot`` callbacks on :ref:`mjpPlugin`.
+
+When using the latter option, the actuator plugin's state will be added to ``mjData.act``, and MuJoCo will
+automatically integrate ``mjData.act_dot`` values between timesteps. One advantage of this approach is that
+finite-differencing functions like :ref:`mjd_transitionFD` will work as they do for native actuators. The
+``mjpPlugin.advance`` callback will be called after ``act_dot`` is integrated, and actuator plugins may overwrite
+the ``act`` values at that point, if Euler integration isn't appropriate.
+
+Users may specify the :ref:`dyntype<actuator-plugin-dyntype>` attribute on actuator plugins, to introduce a filter or
+an integrator between user inputs and actuator activations. When they do, the activation variable introduced by
+``dyntype`` will be placed *after* the plugin's activation variables in the ``act`` array.
+
 .. _exRegistration:
 
 Registration
diff --git a/include/mujoco/mjplugin.h b/include/mujoco/mjplugin.h
index 6f583c32..ca850d57 100644
--- a/include/mujoco/mjplugin.h
+++ b/include/mujoco/mjplugin.h
@@ -107,6 +107,15 @@ struct mjpPlugin_ {
   // called by mjv_updateScene (optional)
   void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
 
+  // methods specific to actuators (optional)
+
+  // dimension of the actuator state for the plugin (excluding state from actuator's dyntype)
+  int (*actuator_actdim)(const mjModel*m, int instance, int actuator_id);
+
+  // updates the actuator plugin's entries in act_dot
+  // called after native act_dot is computed and before the compute callback
+  void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
+
   // methods specific to signed distance fields (optional)
 
   // signed distance from the surface
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index b3c6ffc7..5f51c5a9 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -287,45 +287,66 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
 
   // act_dot for stateful actuators
   for (int i=0; i < nu; i++) {
-    if (m->actuator_plugin[i] >= 0) {
+    int act_first = m->actuator_actadr[i];
+    if (act_first < 0) {
       continue;
     }
 
-    int j = m->actuator_actadr[i];
-    if (j < 0) {
-      continue;
+    // zero act_dot for actuator plugins
+    if (m->actuator_actnum[i]) {
+      mju_zero(d->act_dot + act_first, m->actuator_actnum[i]);
     }
 
     // extract info
     prm = m->actuator_dynprm + i*mjNDYN;
 
+    // index into the last element in act. For most actuators it's also the
+    // first element, but actuator plugins might store their own state in act.
+    int act_last = act_first + m->actuator_actnum[i] - 1;
+
     // compute act_dot according to dynamics type
     switch ((mjtDyn) m->actuator_dyntype[i]) {
     case mjDYN_INTEGRATOR:          // simple integrator
-      d->act_dot[j] = ctrl[i];
+      d->act_dot[act_last] = ctrl[i];
       break;
 
     case mjDYN_FILTER:              // linear filter: prm = tau
     case mjDYN_FILTEREXACT:
       tau = mju_max(mjMINVAL, prm[0]);
-      d->act_dot[j] = (ctrl[i] - d->act[j]) / tau;
+      d->act_dot[act_last] = (ctrl[i] - d->act[act_last]) / tau;
       break;
 
     case mjDYN_MUSCLE:              // muscle model: prm = (tau_act, tau_deact)
-      d->act_dot[j] = mju_muscleDynamics(ctrl[i], d->act[j], prm);
+      d->act_dot[act_last] = mju_muscleDynamics(
+          ctrl[i], d->act[act_last], prm);
       break;
 
     default:                        // user dynamics
       if (mjcb_act_dyn) {
         if (m->actuator_actnum[i] == 1) {
           // scalar activation dynamics, get act_dot
-          d->act_dot[j] = mjcb_act_dyn(m, d, i);
+          d->act_dot[act_last] = mjcb_act_dyn(m, d, i);
         } else {
           // higher-order dynamics, mjcb_act_dyn writes into act_dot directly
           mjcb_act_dyn(m, d, i);
         }
-      } else {
-        mju_zero(d->act_dot + j, m->actuator_actnum[i]);
+      }
+    }
+  }
+
+  // get act_dot from actuator plugins
+  if (m->nplugin) {
+    const int nslot = mjp_pluginCount();
+    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->capabilityflags & mjPLUGIN_ACTUATOR) {
+        if (plugin->actuator_act_dot) {
+          plugin->actuator_act_dot(m, d, i);
+        }
       }
     }
   }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 1dfed5fc..c3b533ed 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -944,13 +944,9 @@ void mjCModel::SetSizes(void) {
   }
 
   // nu, na
-  for (int i=0; i<(int)actuators.size(); i++) {
-    if (actuators[i]->dyntype == mjDYN_NONE) {
-      nu++;
-    } else {
-      nu++;
-      na += actuators[i]->actdim;
-    }
+  for (int i=0; i<actuators.size(); i++) {
+    nu++;
+    na += actuators[i]->actdim + actuators[i]->plugin_actdim;
   }
 
   // nbvh, nbvhstatic, nbvhdynamic
@@ -1811,6 +1807,7 @@ void mjCModel::CopyObjects(mjModel* m) {
   m->nconmax = nconmax;
   m->nsensordata = nsensordata;
   m->nuserdata = nuserdata;
+  m->na = na;
 
   // find bvh_adr after bodies
   bvh_adr = 0;
@@ -2205,9 +2202,9 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->actuator_biastype[i] = pac->biastype;
     m->actuator_trnid[2*i] = pac->trnid[0];
     m->actuator_trnid[2*i+1] = pac->trnid[1];
-    m->actuator_actadr[i] = pac->dyntype == mjDYN_NONE ? -1 : adr;
-    adr += pac->actdim;
-    m->actuator_actnum[i] = pac->actdim;
+    m->actuator_actnum[i] = pac->actdim + pac->plugin_actdim;
+    m->actuator_actadr[i] = m->actuator_actnum[i] ? adr : -1;
+    adr += m->actuator_actnum[i];
     m->actuator_group[i] = pac->group;
     m->actuator_ctrllimited[i] = pac->ctrllimited;
     m->actuator_forcelimited[i] = pac->forcelimited;
@@ -2982,9 +2979,12 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // query and set plugin-related information
   {
     // set actuator_plugin to the plugin instance ID
+    std::vector<std::vector<int>> plugin_to_actuators(nplugin);
     for (int i = 0; i < nu; ++i) {
       if (actuators[i]->is_plugin) {
-        m->actuator_plugin[i] = actuators[i]->plugin_instance->id;
+        int actuator_plugin = actuators[i]->plugin_instance->id;
+        m->actuator_plugin[i] = actuator_plugin;
+        plugin_to_actuators[actuator_plugin].push_back(i);
       } else {
         m->actuator_plugin[i] = -1;
       }
@@ -3041,6 +3041,13 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
           this->nsensordata += nsensordata;
         }
       }
+      if ((plugin->capabilityflags & mjPLUGIN_ACTUATOR) && plugin->actuator_actdim) {
+        for (int actuator_id : plugin_to_actuators[i]) {
+          int plugin_actdim = plugin->actuator_actdim(m, i, actuator_id);
+          actuators[actuator_id]->plugin_actdim = plugin_actdim;
+          this->na += plugin_actdim;
+        }
+      }
     }
     m->npluginstate = stateadr;
   }
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 9f95e37b..383e4d37 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -3775,6 +3775,7 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
   forcelimited = 2;
   actlimited = 2;
   actdim = -1;
+  plugin_actdim = 0;
   trntype = mjTRN_UNDEFINED;
   dyntype = mjDYN_NONE;
   gaintype = mjGAIN_FIXED;
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 0488f403..1711ef59 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1099,6 +1099,7 @@ class mjCActuator : public mjCBase {
   int forcelimited;               // are force limits defined: 0 false, 1 true, 2 auto
   int actlimited;                 // are activation limits defined: 0 false, 1 true, 2 auto
   int actdim;                     // dimension of associated activations
+  int plugin_actdim;              // actuator state size for plugins
   mjtDyn dyntype;                 // dynamics type
   mjtTrn trntype;                 // transmission type
   mjtGain gaintype;               // gain type
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 49f9c007..d2ed4b99 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -413,10 +413,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
             "lmin", "lmax", "vmax", "fpmax", "fvmax"},
         {"adhesion", "*", "9", "name", "class", "group",
             "forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
-        {"plugin", "*", "19", "name", "class",  "plugin", "instance", "group",
-            "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
+        {"plugin", "*", "24", "name", "class",  "plugin", "instance", "group",
+            "ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
             "lengthrange", "gear", "cranklength", "joint", "jointinparent",
-            "site", "tendon", "cranksite", "slidersite", "user"},
+            "site", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user", "actearly"},
         {"<"},
           {"config", "*", "2", "key", "value"},
         {">"},
@@ -2043,6 +2043,14 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
 
   else if (type == "plugin") {
     OnePlugin(elem, pact);
+    int n;
+    if (MapValue(elem, "dyntype", &n, dyn_map, dyn_sz)) {
+      pact->dyntype = (mjtDyn)n;
+    }
+    if (MapValue(elem, "actearly", &n, bool_map, 2)) {
+      pact->actearly = (n==1);
+    }
+    ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
   }
 
   else {          // SHOULD NOT OCCUR
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 775af2a4..f33baddb 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -721,6 +721,8 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
   WriteAttr(elem, "cranklength", 1, &pact->cranklength, &def->actuator.cranklength);
   WriteAttrKey(elem, "actearly", bool_map, 2, pact->actearly,
                def->actuator.actearly);
+  WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
+  WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
 
   // plugins: write config attributes
   if (pact->is_plugin) {
@@ -736,10 +738,8 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
       int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
       WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
     }
-    WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
     WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype);
     WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype);
-    WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->actuator.dynprm);
     WriteAttr(elem, "gainprm", mjNGAIN, pact->gainprm, def->actuator.gainprm);
     WriteAttr(elem, "biasprm", mjNBIAS, pact->biasprm, def->actuator.biasprm);
   }
diff --git a/test/engine/engine_plugin_test.cc b/test/engine/engine_plugin_test.cc
index 99ee46e6..42fa9aeb 100644
--- a/test/engine/engine_plugin_test.cc
+++ b/test/engine/engine_plugin_test.cc
@@ -26,11 +26,13 @@
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <absl/strings/str_format.h>
+#include <absl/strings/str_replace.h>
 #include <mujoco/mujoco.h>
 #include "test/fixture.h"
 
 namespace mujoco {
 namespace {
+using ::testing::DoubleNear;
 using ::testing::HasSubstr;
 using ::testing::NotNull;
 
@@ -136,15 +138,22 @@ class TestSensor : public BaseTestPlugin {
 class TestActuator : public BaseTestPlugin {
  public:
   static constexpr mjtNum kDefaultMultiplier = 1.0;
+  static constexpr mjtNum kActDotValue = 13.0;
 
   TestActuator(const mjModel* m, mjData* d, int instance)
-      : BaseTestPlugin(m, d, instance) {
+      : BaseTestPlugin(m, d, instance), instance_(instance) {
     const char* s = mj_getPluginConfig(m, instance, "multiplier");
     if (*s) {
-        std::stringstream(s) >> multiplier;
-      } else {
-        multiplier = kDefaultMultiplier;
-      }
+      std::stringstream(s) >> multiplier;
+    } else {
+      multiplier = kDefaultMultiplier;
+    }
+    s = mj_getPluginConfig(m, instance, "actdim");
+    if (*s) {
+      std::stringstream(s) >> actdim_;
+    } else {
+      actdim_ = 0;
+    }
     for (int i = 0; i < m->nu; ++i) {
       if (m->actuator_plugin[i] == instance) {
         actuators.push_back(&d->actuator_force[i]);
@@ -172,9 +181,20 @@ class TestActuator : public BaseTestPlugin {
     WriteActuatorForce();
   }
 
+  void ActDot(const mjModel* m, mjData* d) {
+    for (int i = 0; i < m->nu; ++i) {
+      if (m->actuator_plugin[i] != instance_) {
+        continue;
+      }
+      mju_fill(d->act_dot + m->actuator_actadr[i], kActDotValue, actdim_);
+    }
+  }
+
  private:
   mjtNum multiplier;
   std::vector<mjtNum*> actuators;
+  int instance_;
+  int actdim_;
 
   void WriteActuatorForce() {
     for (mjtNum* actuator_force : actuators) {
@@ -242,7 +262,7 @@ int RegisterActuatorPlugin() {
 
   plugin.name = "mujoco.test.actuator";
 
-  const char* attributes[] = {"stride", "multiplier"};
+  const char* attributes[] = {"stride", "multiplier", "actdim"};
   plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
   plugin.attributes = attributes;
 
@@ -275,6 +295,20 @@ int RegisterActuatorPlugin() {
     auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
     actuator->Advance();
   };
+  plugin.actuator_actdim =
+      +[](const mjModel* m, int instance, int actuator_id) {
+    const char* actdim_str = mj_getPluginConfig(m, instance, "actdim");
+    if (actdim_str) {
+      int actdim = 0;
+      std::stringstream(actdim_str) >> actdim;
+      return actdim;
+    }
+    return 0;
+  };
+  plugin.actuator_act_dot = +[](const mjModel* m, mjData* d, int instance) {
+    auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
+    actuator->ActDot(m, d);
+  };
 
   return mjp_registerPlugin(&plugin);
 }
@@ -348,6 +382,7 @@ constexpr char xml[] = R"(
       <instance name="actuator2">
         <config key="stride" value="2"/>
         <config key="multiplier" value="0.125"/>
+        <config key="actdim" value="3"/>
       </instance>
     </plugin>
     <plugin plugin="mujoco.test.passive"/>
@@ -381,6 +416,7 @@ constexpr char xml[] = R"(
       <config key="multiplier" value="0.03125"/>
     </plugin>
     <plugin joint="h2" instance="actuator2"/>
+    <plugin joint="h2" dyntype="filter" dynprm="0.9" instance="actuator2"/>
   </actuator>
 </mujoco>
 )";
@@ -457,8 +493,9 @@ TEST_F(EnginePluginTest, SaveXml) {
   int actuator_end = expected_xml.find(actuator_close) + actuator_close.size();
   ASSERT_NE(actuator_end, std::string::npos);
   ASSERT_LE(actuator_start, actuator_end);
-  auto expected_actuator_section =
-      expected_xml.substr(actuator_start, actuator_end - actuator_start);
+  auto expected_actuator_section = absl::StrReplaceAll(
+      expected_xml.substr(actuator_start, actuator_end - actuator_start),
+      {{"dynprm=\"0.9\"", "dynprm=\"0.9 0 0 0 0 0 0 0 0 0\""}});
 
   EXPECT_THAT(saved_xml, HasSubstr(expected_extension_section));
   EXPECT_THAT(saved_xml, HasSubstr(expected_sensor_section));
@@ -579,5 +616,48 @@ TEST_F(EnginePluginTest, ActuatorPlugin) {
   EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
 }
 
+TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(xml, error, sizeof(error));
+  ASSERT_THAT(m, testing::NotNull()) << error;
+
+  // Expecting 7 actuator state variables: 3x2 from actuator2 instances, and 1
+  // from setting dyntype="filter" on one of the plugin actuators
+  EXPECT_EQ(m->na, 7);
+  EXPECT_EQ(m->actuator_actnum[0], 0);
+  EXPECT_EQ(m->actuator_actnum[1], 3);
+  EXPECT_EQ(m->actuator_actnum[2], 4);
+  EXPECT_EQ(m->actuator_actadr[0], -1);
+  EXPECT_EQ(m->actuator_actadr[1], 0);
+  EXPECT_EQ(m->actuator_actadr[2], 3);
+
+  mjData* d = mj_makeData(m);
+  EXPECT_EQ(d->act[0], 0.0);
+  mju_fill(d->ctrl, 1, m->nu);
+  // start with nonzero act for the filter
+  d->act[6] = 0.5;
+  mj_step(m, d);
+
+  for (int i = 0; i < 6; ++i) {
+    // act_dot should be computed by the plugin
+    mjtNum expected_act_dot = TestActuator::kActDotValue;
+    EXPECT_THAT(d->act_dot[i], DoubleNear(expected_act_dot, 1e-6));
+
+    // act_dot from the plugin should be Euler-integrated
+    mjtNum expected_act = expected_act_dot * m->opt.timestep;
+    EXPECT_THAT(d->act[i], DoubleNear(expected_act, 1e-6));
+  }
+
+  // actuator filter state should be updated outside the plugin for filter
+  // actuators.
+  mjtNum expected_act_dot = 0.5 / m->actuator_dynprm[mjNDYN * 2];
+  EXPECT_THAT(d->act_dot[6], DoubleNear(expected_act_dot, 1e-6));
+  EXPECT_THAT(d->act[6],
+              DoubleNear(0.5 + expected_act_dot * m->opt.timestep, 1e-6));
+
+  mj_deleteData(d);
+  mj_deleteModel(m);
+}
+
 }  // namespace
 }  // namespace mujoco

From 6a83b865539dba8f830c5d668e681c8d24387e69 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 23 Nov 2023 10:45:57 -0800
Subject: [PATCH 011/121] Update M1 Pro with M3 Max benchmarks in MJX docs

PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
---
 doc/XMLreference.rst          | 8 ++++----
 doc/images/mjx/SPS.svg        | 2 +-
 doc/mjx.rst                   | 4 ++--
 doc/programming/extension.rst | 2 +-
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 198893be..34a72e1c 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -5787,10 +5787,10 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 .. _actuator-plugin-dyntype:
 
 :at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, muscle, user], "none"`
-   Activation dynamics type for the actuator. The available dynamics types were already described in the
-   :ref:`Actuation model <geActuation>` section. See also :ref:`actuator-general-dyntype`. If dyntype is
-   not none, an activation variable will be added to the actuator. This variable will be added after
-   any activation state computed by the plugin (see :ref:`actuator plugin activations<exActuatorAct>`).
+   Activation dynamics type for the actuator. The available dynamics types were already described in the :ref:`Actuation
+   model <geActuation>` section. If :ref:`dyntype<actuator-general-dyntype>` is not "none", an activation variable will
+   be added to the actuator. This variable will be added after any activation state computed by the plugin (see
+   :ref:`actuator plugin activations<exActuatorAct>`).
 
 .. _actuator-plugin-actrange:
 
diff --git a/doc/images/mjx/SPS.svg b/doc/images/mjx/SPS.svg
index a35a2508..6ffa2735 100644
--- a/doc/images/mjx/SPS.svg
+++ b/doc/images/mjx/SPS.svg
@@ -1 +1 @@
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326.04196 39.396713Q323.72946 39.396713 322.27634 38.459213Q320.83884 37.50609 320.0732 35.72484Q319.3232 33.927963 319.3232 31.881088Q319.3232 29.646713 320.16696 27.990463Q321.02634 26.318588 322.60446 25.459213Q324.1826 24.584213 326.0732 24.584213Q328.22946 24.584213 329.6826 25.677963Q331.15134 26.771713 331.72946 28.756088L329.8701 29.193588Q329.3701 27.631088 328.41696 26.927963Q327.47946 26.209213 326.04196 26.209213Q324.3857 26.209213 323.27634 27.006088Q322.16696 27.787338 321.71384 29.131088Q321.27634 30.459213 321.27634 31.865463Q321.27634 33.69359 321.8076 35.06859Q322.33884 36.427963 323.46384 37.09984Q324.58884 37.771713 325.8857 37.771713Q327.47946 37.771713 328.58884 36.84984Q329.6982 35.927963 330.08884 34.13109ZM333.8701 39.146713L333.8701 24.834213L339.2607 24.834213Q340.6982 24.834213 341.4482 24.959213Q342.4951 25.146713 343.21384 25.646713Q343.9326 26.131088 344.35446 27.021713Q344.79196 27.912338 344.79196 28.974838Q344.79196 30.802963 343.6201 32.06859Q342.46384 33.31859 339.4326 33.31859L335.7607 33.31859L335.7607 39.146713L333.8701 39.146713ZM335.7607 31.631088L339.46384 31.631088Q341.29196 31.631088 342.0576 30.959213Q342.83884 30.271713 342.83884 29.021713Q342.83884 28.131088 342.3857 27.490463Q341.9326 26.849838 341.1982 26.646713Q340.71384 26.521713 339.41696 26.521713L335.7607 26.521713L335.7607 31.631088ZM356.2607 24.834213L358.15134 24.834213L358.15134 33.09984Q358.15134 35.25609 357.66696 36.53734Q357.1826 37.802963 355.90134 38.59984Q354.6357 39.396713 352.5576 39.396713Q350.54196 39.396713 349.2607 38.709213Q347.9951 38.00609 347.4482 36.69359Q346.90134 35.38109 346.90134 33.09984L346.90134 24.834213L348.79196 24.834213L348.79196 33.084213Q348.79196 34.959213 349.1357 35.84984Q349.47946 36.72484 350.3232 37.209213Q351.16696 37.677963 352.40134 37.677963Q354.47946 37.677963 355.3701 36.740463Q356.2607 35.78734 356.2607 33.084213L356.2607 24.834213ZM360.10446 39.146713L360.10446 37.146713L362.10446 37.146713L362.10446 39.146713Q362.10446 40.25609 361.71384 40.927963Q361.3232 41.615463 360.47946 41.97484L359.97946 41.22484Q360.54196 40.990463 360.8076 40.50609Q361.0732 40.03734 361.10446 39.146713L360.10446 39.146713ZM378.5732 33.53734L378.5732 31.849838L384.6357 31.834213L384.6357 37.146713Q383.22946 38.271713 381.7451 38.834213Q380.2607 39.396713 378.6982 39.396713Q376.58884 39.396713 374.8701 38.490463Q373.15134 37.584213 372.2607 35.88109Q371.3857 34.16234 371.3857 32.052963Q371.3857 29.959213 372.2607 28.162338Q373.1357 26.349838 374.77634 25.474838Q376.41696 24.584213 378.5576 24.584213Q380.10446 24.584213 381.35446 25.084213Q382.6201 25.584213 383.3232 26.490463Q384.04196 27.381088 384.41696 28.834213L382.71384 29.302963Q382.3857 28.209213 381.90134 27.584213Q381.4326 26.959213 380.54196 26.584213Q379.65134 26.209213 378.5732 26.209213Q377.2607 26.209213 376.3076 26.599838Q375.3701 26.990463 374.79196 27.646713Q374.21384 28.287338 373.8857 29.052963Q373.33884 30.381088 373.33884 31.943588Q373.33884 33.84984 373.9951 35.146713Q374.66696 36.427963 375.91696 37.052963Q377.1826 37.677963 378.58884 37.677963Q379.8232 37.677963 380.9951 37.209213Q382.16696 36.740463 382.77634 36.19359L382.77634 33.53734L378.5732 33.53734ZM387.8701 39.146713L387.8701 24.834213L393.2607 24.834213Q394.6982 24.834213 395.4482 24.959213Q396.4951 25.146713 397.21384 25.646713Q397.9326 26.131088 398.35446 27.021713Q398.79196 27.912338 398.79196 28.974838Q398.79196 30.802963 397.6201 32.06859Q396.46384 33.31859 393.4326 33.31859L389.7607 33.31859L389.7607 39.146713L387.8701 39.146713ZM389.7607 31.631088L393.46384 31.631088Q395.29196 31.631088 396.0576 30.959213Q396.83884 30.271713 396.83884 29.021713Q396.83884 28.131088 396.3857 27.490463Q395.9326 26.849838 395.1982 26.646713Q394.71384 26.521713 393.41696 26.521713L389.7607 26.521713L389.7607 31.631088ZM410.2607 24.834213L412.15134 24.834213L412.15134 33.09984Q412.15134 35.25609 411.66696 36.53734Q411.1826 37.802963 409.90134 38.59984Q408.6357 39.396713 406.5576 39.396713Q404.54196 39.396713 403.2607 38.709213Q401.9951 38.00609 401.4482 36.69359Q400.90134 35.38109 400.90134 33.09984L400.90134 24.834213L402.79196 24.834213L402.79196 33.084213Q402.79196 34.959213 403.1357 35.84984Q403.47946 36.72484 404.3232 37.209213Q405.16696 37.677963 406.40134 37.677963Q408.47946 37.677963 409.3701 36.740463Q410.2607 35.78734 410.2607 33.084213L410.2607 24.834213ZM414.10446 39.146713L414.10446 37.146713L416.10446 37.146713L416.10446 39.146713Q416.10446 40.25609 415.71384 40.927963Q415.3232 41.615463 414.47946 41.97484L413.97946 41.22484Q414.54196 40.990463 414.8076 40.50609Q415.0732 40.03734 415.10446 39.146713L414.10446 39.146713ZM429.5107 39.146713L429.5107 26.521713L424.79196 26.521713L424.79196 24.834213L436.1357 24.834213L436.1357 26.521713L431.40134 26.521713L431.40134 39.146713L429.5107 39.146713ZM437.8701 39.146713L437.8701 24.834213L443.2607 24.834213Q444.6982 24.834213 445.4482 24.959213Q446.4951 25.146713 447.21384 25.646713Q447.9326 26.131088 448.35446 27.021713Q448.79196 27.912338 448.79196 28.974838Q448.79196 30.802963 447.6201 32.06859Q446.46384 33.31859 443.4326 33.31859L439.7607 33.31859L439.7607 39.146713L437.8701 39.146713ZM439.7607 31.631088L443.46384 31.631088Q445.29196 31.631088 446.0576 30.959213Q446.83884 30.271713 446.83884 29.021713Q446.83884 28.131088 446.3857 27.490463Q445.9326 26.849838 445.1982 26.646713Q444.71384 26.521713 443.41696 26.521713L439.7607 26.521713L439.7607 31.631088ZM460.2607 24.834213L462.15134 24.834213L462.15134 33.09984Q462.15134 35.25609 461.66696 36.53734Q461.1826 37.802963 459.90134 38.59984Q458.6357 39.396713 456.5576 39.396713Q454.54196 39.396713 453.2607 38.709213Q451.9951 38.00609 451.4482 36.69359Q450.90134 35.38109 450.90134 33.09984L450.90134 24.834213L452.79196 24.834213L452.79196 33.084213Q452.79196 34.959213 453.1357 35.84984Q453.47946 36.72484 454.3232 37.209213Q455.16696 37.677963 456.40134 37.677963Q458.47946 37.677963 459.3701 36.740463Q460.2607 35.78734 460.2607 33.084213L460.2607 24.834213Z" fill-rule="nonzero"/></svg>
diff --git a/doc/mjx.rst b/doc/mjx.rst
index 2bdd9a58..92a709b6 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -296,7 +296,7 @@ Large, complex scenes with many contacts
   powerful as the one in MuJoCo.
 
   To see how this affects simulation, let us consider a physics scene with increasing numbers of humanoid bodies,
-  varied from 1 to 10. We simulate this scene using CPU MuJoCo on an Apple M1 Pro and a 64-core AMD 3995WX and time
+  varied from 1 to 10. We simulate this scene using CPU MuJoCo on an Apple M3 Max and a 64-core AMD 3995WX and time
   it using :ref:`testspeed<saTestspeed>`, using ``2 x numcore`` threads. We time the MJX simulation on an Nvidia
   A100 GPU using a batch size of 8192 and an 8-chip
   `v5 TPU <https://cloud.google.com/blog/products/compute/announcing-cloud-tpu-v5e-and-a3-gpus-in-ga>`__
@@ -306,7 +306,7 @@ Large, complex scenes with many contacts
      :width: 95%
      :align: center
 
-  The values for a single humanoid (leftmost datapoints) for the four timed architectures are **320K**, **1.8M**,
+  The values for a single humanoid (leftmost datapoints) for the four timed architectures are **650K**, **1.8M**,
   **950K** and **2.7M** steps per second, respectively. Note that as we increase the number of humanoids (which
   increases the number of potential contacts in a scene), MJX throughput decreases more rapidly than MuJoCo.
 
diff --git a/doc/programming/extension.rst b/doc/programming/extension.rst
index 5269d6cf..1e594380 100644
--- a/doc/programming/extension.rst
+++ b/doc/programming/extension.rst
@@ -206,7 +206,7 @@ Actuator activations
 
 When writing stateful actuator plugins, there are two choices for where to save the actuator state. One option is using
 ``plugin_state`` as described above, and the other is to use ``mjData.act`` by implementing the ``actuator_actdim`` and
- ``actuator_act_dot`` callbacks on :ref:`mjpPlugin`.
+``actuator_act_dot`` callbacks on :ref:`mjpPlugin`.
 
 When using the latter option, the actuator plugin's state will be added to ``mjData.act``, and MuJoCo will
 automatically integrate ``mjData.act_dot`` values between timesteps. One advantage of this approach is that

From d070b1893e271c105cee635ba70a26c6458de161 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 24 Nov 2023 09:06:19 -0800
Subject: [PATCH 012/121] Improved SDF objective function.

For two colliding SDFs `A` and `B`, the function is `(A+B)+abs(max(A,B))`. This can also be written as `clearance + abs(intersection)`. This function has the following properties:

- On the penetrating surface, it is equal to `A+B`, i.e. the clearance field which is the penetration depth.
- The object boundary is a set of local minima in 3D space, since `abs(max(A, B))>0` away from the surface.
- Along the penetrating surface, the maximum penetration is a local minimum of the clearance since this field is orthogonal to the midsurface field `A-B`, which acts as a support plane for the contact.

[Level sets of the improved function for two colliding circles](https://www.wolframalpha.com/input?i=plot+sqrt%28x%5E2%2By%5E2%29-1+%2B+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1+%2B+max%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+-+min%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+).

PiperOrigin-RevId: 585106580
Change-Id: I5b18a1ef262ceb0a1ab8abcad8acfd6dc1992e2c
---
 doc/programming/extension.rst     | 10 +++++-----
 src/engine/engine_collision_sdf.c | 33 +++++++++++++++----------------
 src/engine/engine_collision_sdf.h |  2 +-
 3 files changed, 22 insertions(+), 23 deletions(-)

diff --git a/doc/programming/extension.rst b/doc/programming/extension.rst
index 1e594380..9a69a702 100644
--- a/doc/programming/extension.rst
+++ b/doc/programming/extension.rst
@@ -288,11 +288,11 @@ Currently, there are three directories of first-party plugins:
   <https://github.com/google-deepmind/mujoco/blob/main/plugin/sdf/README.md>`__. The rest of this section will give more
   detail concerning the collision algorithm and the plugin engine interface.
 
-  Collision points are found by minimizing a quadratic form of the two colliding SDFs via gradient descent.
-  Because SDFs are non-convex, multiple starting points are required in order to converge to multiple local minima.
-  The number of starting points is set using :ref:`sdf_initpoints<option-sdf_initpoints>`, and are
-  initialized using the Halton sequence inside the intersection of the axis-aligned bounding boxes.
-  The number of gradient descent iterations is set using :ref:`sdf_iterations<option-sdf_iterations>`.
+  Collision points are found by minimizing the function A + B + abs(max(A, B)), where A and B are the two colliding
+  SDFs, via gradient descent. Because SDFs are non-convex, multiple starting points are required in order to converge to
+  multiple local minima. The number of starting points is set using :ref:`sdf_initpoints<option-sdf_initpoints>`, and
+  are initialized using the Halton sequence inside the intersection of the axis-aligned bounding boxes. The number of
+  gradient descent iterations is set using :ref:`sdf_iterations<option-sdf_iterations>`.
 
   While *exact* SDFs---encoding the precise signed distance to the surface---are preferred, collisions are possible with
   any function whose value vanishes at the surface and grows monotonically away from it, with a negative sign in the
diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index ec46002a..82237438 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -191,13 +191,12 @@ mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjt
     mju_addTo3(y, s->relpos);
     return geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]) -
            geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-  case mjSDFTYPE_QUADRATIC:
+  case mjSDFTYPE_COLLISION:
     mju_rotVecMat(y, x, s->relmat);
     mju_addTo3(y, s->relpos);
     mjtNum A = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
     mjtNum B = geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-    return .5 * mju_max(A, 0) * mju_max(A, 0) +
-           .5 * mju_max(B, 0) * mju_max(B, 0) - mju_min(A, 0) * mju_min(B, 0);
+    return A + B + mju_abs(mju_max(A, B));
   default:
     mjERROR("SDF type not available");
     return 0;
@@ -233,7 +232,7 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
     mju_sub3(gradient, grad1, grad2);
     mju_normalize3(gradient);
     break;
-  case mjSDFTYPE_QUADRATIC:
+  case mjSDFTYPE_COLLISION:
     mju_rotVecMat(y, x, s->relmat);
     mju_addTo3(y, s->relpos);
     mjtNum A = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
@@ -241,14 +240,10 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
     geomGradient(grad1, m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
     geomGradient(grad2, m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
     mju_rotVecMatT(grad2, grad2, s->relmat);
-    gradient[0] = grad1[0] * mju_max(A, 0) + grad2[0] * mju_max(B, 0);
-    gradient[1] = grad1[1] * mju_max(A, 0) + grad2[1] * mju_max(B, 0);
-    gradient[2] = grad1[2] * mju_max(A, 0) + grad2[2] * mju_max(B, 0);
-    if (A < 0 && B < 0) {
-      gradient[0] = - grad1[0] * B - grad2[0] * A;
-      gradient[1] = - grad1[1] * B - grad2[1] * A;
-      gradient[2] = - grad1[2] * B - grad2[2] * A;
-    }
+    gradient[0] = grad1[0] + grad2[0];
+    gradient[1] = grad1[1] + grad2[1];
+    gradient[2] = grad1[2] + grad2[2];
+    mju_addToScl3(gradient, A > B ? grad1 : grad2, mju_max(A, B) > 0 ? 1 : -1);
     break;
   case mjSDFTYPE_SINGLE:
     geomGradient(gradient, m, d, s->plugin[0], s->id[0], point[0], s->geomtype[0]);
@@ -386,13 +381,13 @@ static mjtNum stepFrankWolfe(mjtNum x[3], const mjtNum* corners, int ncorners,
 
 // finds minimum using gradient descent
 static mjtNum stepGradient(mjtNum x[3], const mjModel* m, const mjSDF* s,
-                           mjData* d) {
+                           mjData* d, int niter) {
   const mjtNum c = .1;       // reduction factor for the target decrease in the objective function
   const mjtNum rho = .5;     // reduction factor for the gradient scaling (alpha)
   const mjtNum amin = 1e-4;  // minimum value for alpha
   mjtNum dist = mjMAXVAL;
 
-  for (int step=0; step < m->opt.sdf_iterations; step++) {
+  for (int step=0; step < niter; step++) {
     mjtNum grad[3];
     mjtNum alpha = 2.;  // initial line search factor scaling the gradient
                         // the units of the gradient depend on s->type
@@ -767,9 +762,13 @@ int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, m
     // start counters
     sdf_ptr[0]->compute(m, (mjData*)d, instance[0], mjPLUGIN_SDF);
 
-    // gradient descent - we use a quadratic form of the two SDF as objective
-    sdf.type = mjSDFTYPE_QUADRATIC;
-    dist = stepGradient(x, m, &sdf, (mjData*)d);
+    // gradient descent - we use a special function of the two SDF as objective
+    sdf.type = mjSDFTYPE_COLLISION;
+    dist = stepGradient(x, m, &sdf, (mjData*)d, m->opt.sdf_iterations);
+
+    // inexact SDFs can yield spurious collisions, filter them by projecting on the midsurface
+    sdf.type = mjSDFTYPE_INTERSECTION;
+    dist = stepGradient(x, m, &sdf, (mjData*)d, 1);
 
     // contact point and normal - we use the midsurface where SDF1=SDF2 as zero level set
     sdf.type = mjSDFTYPE_MIDSURFACE;
diff --git a/src/engine/engine_collision_sdf.h b/src/engine/engine_collision_sdf.h
index 00ee5f07..c6acbe1c 100644
--- a/src/engine/engine_collision_sdf.h
+++ b/src/engine/engine_collision_sdf.h
@@ -28,7 +28,7 @@ typedef enum mjtSDFType_ {        // signed distance function (SDF) type
   mjSDFTYPE_SINGLE     = 0,       // single SDF
   mjSDFTYPE_INTERSECTION,         // max(A, B)
   mjSDFTYPE_MIDSURFACE,           // A - B
-  mjSDFTYPE_QUADRATIC,            // max(A, 0)^2/2 + max(B, 0)^2/2 + min(A, 0)*min(B, 0)
+  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
 } mjtSDFType;
 
 struct mjSDF_ {

From 002b427a32cef28b8023671e3a56b879177fc1b3 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Sat, 25 Nov 2023 08:40:13 -0800
Subject: [PATCH 013/121] PID Controller as an actuator plugin.

Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
---
 .github/workflows/build.yml         |   2 +
 CMakeLists.txt                      |   1 +
 doc/changelog.rst                   |   5 +
 doc/programming/extension.rst       |   6 +-
 model/plugin/actuator/pid.xml       |  68 +++
 plugin/actuator/CMakeLists.txt      |  41 ++
 plugin/actuator/README.md           |  55 +++
 plugin/actuator/pid.cc              | 292 +++++++++++++
 plugin/actuator/pid.h               | 103 +++++
 plugin/actuator/register.cc         |  22 +
 test/CMakeLists.txt                 |   1 +
 test/engine/engine_plugin_test.cc   |   2 +-
 test/plugin/actuator/CMakeLists.txt |  21 +
 test/plugin/actuator/pid_test.cc    | 621 ++++++++++++++++++++++++++++
 14 files changed, 1237 insertions(+), 3 deletions(-)
 create mode 100644 model/plugin/actuator/pid.xml
 create mode 100644 plugin/actuator/CMakeLists.txt
 create mode 100644 plugin/actuator/README.md
 create mode 100644 plugin/actuator/pid.cc
 create mode 100644 plugin/actuator/pid.h
 create mode 100644 plugin/actuator/register.cc
 create mode 100644 test/plugin/actuator/CMakeLists.txt
 create mode 100644 test/plugin/actuator/pid_test.cc

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 75f7965d..08af2d39 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -164,6 +164,7 @@ jobs:
       if: ${{ runner.os != 'Windows' }}
       working-directory: build
       run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
+           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
@@ -171,6 +172,7 @@ jobs:
       if: ${{ runner.os == 'Windows' }}
       working-directory: build
       run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
+           cp bin/Release/actuator.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
            cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
            cp bin/Release/sensor.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
     - name: Configure samples
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7bafe59a..c9723a29 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,6 +83,7 @@ target_include_directories(
 )
 
 add_subdirectory(plugin/elasticity)
+add_subdirectory(plugin/actuator)
 add_subdirectory(plugin/sensor)
 add_subdirectory(plugin/sdf)
 add_subdirectory(src/engine)
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 70a4fb68..3f649e2a 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -19,6 +19,11 @@ Plugins
   ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
   variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
 
+- Added `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin:
+
+   - A configurable PID controller that implements an integral term, which is not available with the default MuJoCo
+     actuators.
+
 Bug fixes
 ^^^^^^^^^
 - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
diff --git a/doc/programming/extension.rst b/doc/programming/extension.rst
index 9a69a702..49ba77ff 100644
--- a/doc/programming/extension.rst
+++ b/doc/programming/extension.rst
@@ -267,8 +267,11 @@ A future version of this section will include:
 * Things that developers need to keep in mind in order to ensure that plugins function correctly when :ref:`mjData` is
   copied, stepped, or reset.
 
-Currently, there are three directories of first-party plugins:
+There are several first-party plugin directories:
 
+* **actuator:** The plugins in the `actuator/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/actuator>`__
+  directory implement custom actuators, so far only a PID controller. See the
+  `README <https://github.com/google-deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ for details.
 * **elasticity:** The plugins in the `elasticity/
   <https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity>`__ directory are passive forces based on
   continuum mechanics for 1-dimensional and 3-dimensional bodies. The 1D model is invariant under rotations and captures
@@ -342,7 +345,6 @@ loading functions. The :ref:`mjpResourceProvider` struct stores three types of f
 .. _Uniform Resource Identifier: https://en.wikipedia.org/wiki/Uniform_Resource_Identifier
 
 Resource prefix
-
   Resources are identified by prefixes in their name. The chosen prefix should have a valid `Uniform Resource
   Identifier`_ (URI) scheme syntax. Resource names should also have a valid URI syntax, however this isn't enforced. A
   resource name with the syntax ``{prefix}:{filename}`` will match a provider using the scheme ``prefix``.  For
diff --git a/model/plugin/actuator/pid.xml b/model/plugin/actuator/pid.xml
new file mode 100644
index 00000000..357ae90a
--- /dev/null
+++ b/model/plugin/actuator/pid.xml
@@ -0,0 +1,68 @@
+<mujoco model="PID Controllers">
+  <size memory="10M"/>
+
+  <visual>
+    <headlight diffuse=".2 .2 .2"/>
+    <global elevation="-30" />
+  </visual>
+  <statistic extent="0.50" />
+
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <!-- pure proportional gain, bounces up and down -->
+      <instance name="pid1">
+        <config key="kp" value="4.0"/>
+      </instance>
+      <!-- PD controller - settles below setpoint -->
+      <instance name="pid2">
+        <config key="kp" value="4.0"/>
+        <config key="kd" value="0.4"/>
+      </instance>
+      <!-- PID controller - reaches setpoint -->
+      <instance name="pid3">
+        <config key="kp" value="4.0"/>
+        <config key="ki" value="4"/>
+        <config key="kd" value="0.4"/>
+      </instance>
+      <!-- PID controller with clamped I term. -->
+      <instance name="pid4">
+        <config key="kp" value="4.0"/>
+        <config key="ki" value="4"/>
+        <config key="kd" value="0.4"/>
+        <config key="imax" value=".5"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <default>
+    <geom type="sphere" size="0.01" rgba="1 1 1 1" />
+  </default>
+
+  <worldbody>
+    <light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
+    <light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
+    <geom name="floor" type="plane" pos="0 0 -0.1" size="0 0 100" />
+    <body pos="-0.06 0 0">
+      <joint name="j1" type="slide" axis="0 0 1" />
+      <geom/>
+    </body>
+    <body pos="-0.02 0 0" >
+      <joint name="j2" type="slide" axis="0 0 1" />
+      <geom/>
+    </body>
+    <body pos="0.02 0 0" >
+      <joint name="j3" type="slide" axis="0 0 1" />
+      <geom/>
+    </body>
+    <body pos="0.06 0 0" >
+      <joint name="j4" type="slide" axis="0 0 1" />
+      <geom/>
+    </body>
+  </worldbody>
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" ctrlrange="0 0.15" />
+    <plugin joint="j2" plugin="mujoco.pid" instance="pid2" ctrlrange="0 0.15" />
+    <plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" />
+    <plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" />
+  </actuator>
+</mujoco>
diff --git a/plugin/actuator/CMakeLists.txt b/plugin/actuator/CMakeLists.txt
new file mode 100644
index 00000000..6cc79944
--- /dev/null
+++ b/plugin/actuator/CMakeLists.txt
@@ -0,0 +1,41 @@
+# 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
+#
+#     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.
+
+set(MUJOCO_ACTUATOR_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
+                            ${CMAKE_CURRENT_SOURCE_DIR}/../../src
+)
+
+set(MUJOCO_ACTUATOR_SRCS
+    pid.cc
+    pid.h
+    register.cc
+)
+
+add_library(actuator SHARED)
+target_sources(actuator PRIVATE ${MUJOCO_ACTUATOR_SRCS})
+target_include_directories(actuator PRIVATE ${MUJOCO_ACTUATOR_INCLUDE})
+target_link_libraries(actuator PRIVATE mujoco)
+target_compile_options(
+  actuator
+  PRIVATE ${AVX_COMPILE_OPTIONS}
+          ${MUJOCO_MACOS_COMPILE_OPTIONS}
+          ${EXTRA_COMPILE_OPTIONS}
+          ${MUJOCO_CXX_FLAGS}
+)
+target_link_options(
+  actuator
+  PRIVATE
+  ${MUJOCO_MACOS_LINK_OPTIONS}
+  ${EXTRA_LINK_OPTIONS}
+)
diff --git a/plugin/actuator/README.md b/plugin/actuator/README.md
new file mode 100644
index 00000000..534bb61e
--- /dev/null
+++ b/plugin/actuator/README.md
@@ -0,0 +1,55 @@
+# Actuator plugins
+
+## PID
+
+The `mujoco.pid` actuator plugin implements a configurable [PID controller](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller):
+
+$$f(t) = K_\text{p} e(t) + K_\text{i} \int_0^t e(\tau) \,\mathrm{d}\tau + K_\text{d} \frac{\mathrm{d}e(t)}{\mathrm{d}t},$$
+where $e(t) = u(t) - \ell(t)$ is the difference between the control $u$ and the actuator length $\ell$.
+
+You can use it like:
+
+```xml
+<mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid">
+        <config key="kp" value="40.0"/>
+        <config key="ki" value="40"/>
+        <config key="kd" value="4"/>
+        <config key="slewmax" value="3" />
+        <config key="imax" value="1"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <worldbody>
+    <body>
+      <joint name="j" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j" plugin="mujoco.pid" instance="pid" />
+  </actuator>
+</mujoco>
+```
+
+The available options are:
+
+|Attribute|Default |Meaning                                                                                                                              |
+|---------|--------|-------------------------------------------------------------------------------------------------------------------------------------|
+|`kp`     |0       |**P** gain for the controller.                                                                                                       |
+|`ki`     |0       |**I** gain for the controller.                                                                                                       |
+:         :        :                                                                                                                                     :
+:         :        :If nonzero, one activation variable will be added to `mjData.act`, containing the current I term (in units of force).                :
+|`kd`     |0       |**D** gain for the controller.                                                                                                       |
+|`imax`   |Optional|If specified, the force produced by the I term will be clipped to the range `[-imax, -imax]`.                                        |
+|`slewmax`|Optional|The maximum rate at which the setpoint for the PID controller can change.                                                            |
+:         :        :                                                                                                                                     :
+:         :        :If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]`  :
+:         :        :                                                                                                                                     :
+:         :        :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. One state variable will :
+:         :        :be added to `mjData.plugin_state`, to indicate whether the previous value of `ctrl` should be used (0 on first step, 1           :
+:         :        :otherwise).                                                                                                                          :
diff --git a/plugin/actuator/pid.cc b/plugin/actuator/pid.cc
new file mode 100644
index 00000000..6b20c0aa
--- /dev/null
+++ b/plugin/actuator/pid.cc
@@ -0,0 +1,292 @@
+// 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 "pid.h"
+
+#include <cstdint>
+#include <cstdlib>
+#include <memory>
+#include <optional>
+#include <utility>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+
+namespace mujoco::plugin::actuator {
+namespace {
+
+constexpr char kAttrPGain[] = "kp";
+constexpr char kAttrIGain[] = "ki";
+constexpr char kAttrDGain[] = "kd";
+constexpr char kAttrIMax[] = "imax";
+constexpr char kAttrSlewMax[] = "slewmax";
+
+std::optional<mjtNum> ReadOptionalDoubleAttr(const mjModel* m, int instance,
+                                             const char* attr) {
+  const char* value = mj_getPluginConfig(m, instance, attr);
+  if (value == nullptr || value[0] == '\0') {
+    return std::nullopt;
+  }
+  return std::strtod(value, nullptr);
+}
+
+// returns the next act given the current act_dot, after clamping, for native
+// mujoco dyntypes.
+// copied from engine_forward.
+mjtNum NextActivation(const mjModel* m, const mjData* d, int actuator_id,
+                      int act_adr, mjtNum act_dot) {
+  mjtNum act = d->act[act_adr];
+
+  if (m->actuator_dyntype[actuator_id] == mjDYN_FILTEREXACT) {
+    // exact filter integration
+    // act_dot(0) = (ctrl-act(0)) / tau
+    // act(h) = act(0) + (ctrl-act(0)) (1 - exp(-h / tau))
+    //        = act(0) + act_dot(0) * tau * (1 - exp(-h / tau))
+    mjtNum tau = mju_max(mjMINVAL, m->actuator_dynprm[actuator_id * mjNDYN]);
+    act = act + act_dot * tau * (1 - mju_exp(-m->opt.timestep / tau));
+  } else {
+    // Euler integration
+    act = act + act_dot * m->opt.timestep;
+  }
+
+  // clamp to actrange
+  if (m->actuator_actlimited[actuator_id]) {
+    mjtNum* actrange = m->actuator_actrange + 2 * actuator_id;
+    act = mju_clip(act, actrange[0], actrange[1]);
+  }
+
+  return act;
+}
+
+bool HasSlew(const mjModel* m, int instance) {
+  return ReadOptionalDoubleAttr(m, instance, kAttrSlewMax).has_value();
+}
+
+}  // namespace
+
+PidConfig PidConfig::FromModel(const mjModel* m, int instance) {
+  PidConfig config;
+  config.p_gain = ReadOptionalDoubleAttr(m, instance, kAttrPGain).value_or(0);
+  config.i_gain = ReadOptionalDoubleAttr(m, instance, kAttrIGain).value_or(0);
+  config.d_gain = ReadOptionalDoubleAttr(m, instance, kAttrDGain).value_or(0);
+
+  // Clamps in the XML are specified in terms of maximum forces. Scale by i_gain
+  // to get the limits on the value of the error integral.
+  std::optional<double> i_clamp_max_force =
+      ReadOptionalDoubleAttr(m, instance, kAttrIMax);
+  if (i_clamp_max_force.has_value() && config.i_gain) {
+    config.i_max = *i_clamp_max_force / config.i_gain;
+  }
+
+  config.slew_max = ReadOptionalDoubleAttr(m, instance, kAttrSlewMax);
+
+  return config;
+}
+
+std::unique_ptr<Pid> Pid::Create(const mjModel* m, int instance) {
+  PidConfig config = PidConfig::FromModel(m, instance);
+
+  if (config.i_max.has_value() && *config.i_max < 0) {
+    mju_warning("negative imax");
+    return nullptr;
+  }
+
+  if (config.slew_max.value_or(0.0) < 0) {
+    mju_warning("maxslew must be non-negative");
+    return nullptr;
+  }
+
+  int actuator_idx = -1;
+  for (int i = 0; i < m->nu; i++) {
+    if (m->actuator_plugin[i] == instance) {
+      if (actuator_idx != -1) {
+        mju_warning("multiple actuators found for plugin instance %d",
+                    instance);
+        return nullptr;
+      }
+      actuator_idx = i;
+    }
+  }
+  if (actuator_idx == -1) {
+    mju_warning("actuator not found for plugin instance %d", instance);
+    return nullptr;
+  }
+  return std::unique_ptr<Pid>(new Pid(config, actuator_idx));
+}
+
+void Pid::Reset(mjtNum* plugin_state) {
+  integral_ = 0.0;
+  previous_ctrl_ = 0.0;
+  if (config_.slew_max.has_value()) {
+    plugin_state[0] = false;  // previous_ctrl_exists
+  }
+}
+
+mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, const State& state,
+                    bool actearly) const {
+  mjtNum ctrl = 0;
+  if (m->actuator_dyntype[actuator_idx_] == mjDYN_NONE) {
+    ctrl = d->ctrl[actuator_idx_];
+    // clamp ctrl
+    if (m->actuator_ctrllimited[actuator_idx_]) {
+      ctrl = mju_clip(ctrl, m->actuator_ctrlrange[2 * actuator_idx_],
+                      m->actuator_ctrlrange[2 * actuator_idx_ + 1]);
+    }
+  } else {
+    // Use of act instead of ctrl, to create integrated-velocity controllers or
+    // to filter the controls.
+    int actadr = m->actuator_actadr[actuator_idx_] +
+                 m->actuator_actnum[actuator_idx_] - 1;
+    if (actearly) {
+      ctrl = NextActivation(m, d, actuator_idx_, actadr, d->act_dot[actadr]);
+    } else {
+      ctrl = d->act[actadr];
+    }
+  }
+  if (config_.slew_max.has_value() && state.previous_ctrl_exists) {
+    mjtNum ctrl_min = state.previous_ctrl - *config_.slew_max * m->opt.timestep;
+    mjtNum ctrl_max = state.previous_ctrl + *config_.slew_max * m->opt.timestep;
+    ctrl = mju_clip(ctrl, ctrl_min, ctrl_max);
+  }
+  return ctrl;
+}
+
+void Pid::ActDot(const mjModel* m, mjData* d, int instance) const {
+  State state = GetState(m, d, instance);
+  mjtNum ctrl = GetCtrl(m, d, state, /*actearly=*/false);
+  mjtNum error = ctrl - d->actuator_length[actuator_idx_];
+
+  int state_idx = m->actuator_actadr[actuator_idx_];
+  if (config_.i_gain) {
+    mjtNum integral = state.integral + error * m->opt.timestep;
+    if (config_.i_max.has_value()) {
+      integral = mju_clip(integral, -*config_.i_max, *config_.i_max);
+    }
+    d->act_dot[state_idx] = (integral - d->act[state_idx]) / m->opt.timestep;
+    ++state_idx;
+  }
+  if (config_.slew_max.has_value()) {
+    d->act_dot[state_idx] = (ctrl - d->act[state_idx]) / m->opt.timestep;
+    ++state_idx;
+  }
+}
+
+void Pid::Compute(const mjModel* m, mjData* d, int instance) {
+  State state = GetState(m, d, instance);
+  mjtNum ctrl = GetCtrl(m, d, state, m->actuator_actearly[actuator_idx_]);
+
+  mjtNum error = ctrl - d->actuator_length[actuator_idx_];
+
+  mjtNum ctrl_dot = m->actuator_dyntype[actuator_idx_] == mjDYN_NONE
+                        ? 0
+                        : d->act_dot[m->actuator_actadr[actuator_idx_] +
+                                     m->actuator_actnum[actuator_idx_] - 1];
+  mjtNum error_dot = ctrl_dot - d->actuator_velocity[actuator_idx_];
+
+  if (config_.i_gain) {
+    integral_ = state.integral + error * m->opt.timestep;
+    if (config_.i_max.has_value()) {
+      integral_ = mju_clip(integral_, -*config_.i_max, *config_.i_max);
+    }
+  }
+
+  d->actuator_force[actuator_idx_] = config_.p_gain * error +
+                                     config_.d_gain * error_dot +
+                                     config_.i_gain * integral_;
+  previous_ctrl_ = ctrl;
+}
+
+void Pid::Advance(const mjModel* m, mjData* d, int instance) const {
+  if (config_.slew_max.has_value()) {
+    // previous_ctrl_exists = true
+    d->plugin_state[m->plugin_stateadr[instance]] = true;
+  }
+  // act variables already updated by MuJoCo integrating act_dot
+}
+
+int Pid::StateSize(const mjModel* m, int instance) {
+  return HasSlew(m, instance) ? 1 : 0;
+}
+
+int Pid::ActDim(const mjModel* m, int instance, int actuator_id) {
+  double i_gain = ReadOptionalDoubleAttr(m, instance, kAttrIGain).value_or(0);
+  return (i_gain ? 1 : 0) + (HasSlew(m, instance) ? 1 : 0);
+}
+
+Pid::State Pid::GetState(const mjModel* m, mjData* d, int instance) const {
+  State state;
+  int state_idx = m->actuator_actadr[instance];
+  if (config_.i_gain) {
+    state.integral = d->act[state_idx++];
+  }
+  if (config_.slew_max.has_value()) {
+    state.previous_ctrl = d->act[state_idx++];
+    state.previous_ctrl_exists = d->plugin_state[m->plugin_stateadr[instance]];
+  }
+  return state;
+}
+
+void Pid::RegisterPlugin() {
+  mjpPlugin plugin;
+  mjp_defaultPlugin(&plugin);
+  plugin.name = "mujoco.pid";
+  plugin.capabilityflags |= mjPLUGIN_ACTUATOR;
+
+  std::vector<const char*> attributes = {kAttrPGain, kAttrIGain, kAttrDGain,
+                                         kAttrIMax, kAttrSlewMax};
+  plugin.nattribute = attributes.size();
+  plugin.attributes = attributes.data();
+
+  plugin.actuator_actdim = Pid::ActDim;
+  plugin.nstate = Pid::StateSize;
+
+  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
+    std::unique_ptr<Pid> pid = Pid::Create(m, instance);
+    if (pid == nullptr) {
+      return -1;
+    }
+    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(pid.release());
+    return 0;
+  };
+  plugin.destroy = +[](mjData* d, int instance) {
+    delete reinterpret_cast<Pid*>(d->plugin_data[instance]);
+    d->plugin_data[instance] = 0;
+  };
+  plugin.reset = +[](const mjModel* m, double* plugin_state, void* plugin_data,
+                     int instance) {
+    auto* pid = reinterpret_cast<Pid*>(plugin_data);
+    pid->Reset(plugin_state);
+  };
+  plugin.actuator_act_dot = +[](const mjModel* m, mjData* d, int instance) {
+    auto* pid = reinterpret_cast<Pid*>(d->plugin_data[instance]);
+    pid->ActDot(m, d, instance);
+  };
+  plugin.compute =
+      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
+        auto* pid = reinterpret_cast<Pid*>(d->plugin_data[instance]);
+        pid->Compute(m, d, instance);
+      };
+  plugin.advance = +[](const mjModel* m, mjData* d, int instance) {
+    auto* pid = reinterpret_cast<Pid*>(d->plugin_data[instance]);
+    pid->Advance(m, d, instance);
+  };
+  // TODO: b/303823996 - allow actuator plugins to compute their derivatives wrt
+  // qvel, for implicit integration
+  mjp_registerPlugin(&plugin);
+}
+
+Pid::Pid(PidConfig config, int actuator_idx)
+    : config_(std::move(config)), actuator_idx_(actuator_idx) {}
+
+}  // namespace mujoco::plugin::actuator
diff --git a/plugin/actuator/pid.h b/plugin/actuator/pid.h
new file mode 100644
index 00000000..1e2c5f24
--- /dev/null
+++ b/plugin/actuator/pid.h
@@ -0,0 +1,103 @@
+// 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_ACTUATOR_PID_H_
+#define MUJOCO_PLUGIN_ACTUATOR_PID_H_
+
+#include <memory>
+#include <optional>
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
+
+namespace mujoco::plugin::actuator {
+
+struct PidConfig {
+  double p_gain = 0.0;
+  double i_gain = 0.0;
+  double d_gain = 0.0;
+
+  // Maximum value of the error integral.
+  // NOTE: In the XML definition, the clamp values are specified as limits on
+  // the *force* value, so are scaled by i_gain.
+  std::optional<double> i_max;
+
+  // Maximum speed at which the setpoint can change.
+  std::optional<double> slew_max;
+
+  // Reads plugin attributes to construct PID configuration.
+  static PidConfig FromModel(const mjModel* m, int instance);
+};
+
+// An actuator plugin which implements configurable PID control.
+class Pid {
+ public:
+  // Returns an instance of Pid. The result can be null in case of
+  // misconfiguration.
+  static std::unique_ptr<Pid> Create(const mjModel* m, int instance);
+
+  // Returns the number of state variables for the plugin instance
+  static int StateSize(const mjModel* m, int instance);
+
+  // Returns the number of activation variables for the plugin instance
+  static int ActDim(const mjModel* m, int instance, int actuator_id);
+
+  // Resets the C++ Pid instance's state.
+  // plugin_state is a C array pointer into mjData->plugin_state, with a size
+  // equal to the value returned from StateSize.
+  void Reset(mjtNum* plugin_state);
+
+  // Computes the rate of change for activation variables
+  void ActDot(const mjModel* m, mjData* d, int instance) const;
+
+  // Idempotent computation which updates d->actuator_force and the internal
+  // state of the class. Called after ActDot.
+  void Compute(const mjModel* m, mjData* d, int instance);
+
+  // Updates plugin state.
+  void Advance(const mjModel* m, mjData* d, int instance) const;
+
+  // Adds the PID plugin to the global registry of MuJoCo plugins.
+  static void RegisterPlugin();
+
+ private:
+  Pid(PidConfig config, int actuator_idx);
+
+  struct State {
+    mjtNum previous_ctrl = 0;
+    // if using slew rate limits, mjData.act will contain an activation variable
+    // with the last ctrl value. If `false`, that value should be ignored,
+    // because it hasn't been set yet.
+    bool previous_ctrl_exists = false;
+    mjtNum integral = 0;
+  };
+  // Reads data from d->act and returns it as a State struct.
+  State GetState(const mjModel* m, mjData* d, int instance) const;
+
+  // Returns the PID setpoint, which is normally d->ctrl, but can be d->act for
+  // actuators with dyntype != none.
+  mjtNum GetCtrl(const mjModel* m, const mjData* d, const State& state,
+                 bool actearly) const;
+
+  PidConfig config_;
+  int actuator_idx_ = 0;
+
+  mjtNum integral_ = 0.0;
+  mjtNum previous_ctrl_ = 0.0;
+};
+
+}  // namespace mujoco::plugin::actuator
+
+#endif  // MUJOCO_PLUGIN_ACTUATOR_PID_H_
diff --git a/plugin/actuator/register.cc b/plugin/actuator/register.cc
new file mode 100644
index 00000000..66f24b93
--- /dev/null
+++ b/plugin/actuator/register.cc
@@ -0,0 +1,22 @@
+// 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 <mujoco/mjplugin.h>
+#include "pid.h"
+
+namespace mujoco::plugin::actuator {
+
+mjPLUGIN_LIB_INIT { Pid::RegisterPlugin(); }
+
+}  // namespace mujoco::plugin::actuator
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 6bec9110..3c70fce1 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -80,3 +80,4 @@ add_subdirectory(sample)
 add_subdirectory(user)
 add_subdirectory(xml)
 add_subdirectory(plugin/elasticity)
+add_subdirectory(plugin/actuator)
diff --git a/test/engine/engine_plugin_test.cc b/test/engine/engine_plugin_test.cc
index 42fa9aeb..fce99165 100644
--- a/test/engine/engine_plugin_test.cc
+++ b/test/engine/engine_plugin_test.cc
@@ -36,7 +36,7 @@ using ::testing::DoubleNear;
 using ::testing::HasSubstr;
 using ::testing::NotNull;
 
-constexpr int kNumTruePlugins = 11;
+constexpr int kNumTruePlugins = 12;
 constexpr int kNumFakePlugins = 30;
 constexpr int kNumTestPlugins = 3;
 
diff --git a/test/plugin/actuator/CMakeLists.txt b/test/plugin/actuator/CMakeLists.txt
new file mode 100644
index 00000000..ac795625
--- /dev/null
+++ b/test/plugin/actuator/CMakeLists.txt
@@ -0,0 +1,21 @@
+# 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
+#
+#     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.
+
+mujoco_test(
+  pid_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:actuator>"
+)
+target_link_libraries(pid_test fixture gmock absl::cleanup absl::strings)
diff --git a/test/plugin/actuator/pid_test.cc b/test/plugin/actuator/pid_test.cc
new file mode 100644
index 00000000..5e13c439
--- /dev/null
+++ b/test/plugin/actuator/pid_test.cc
@@ -0,0 +1,621 @@
+// 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 the PID controller plugin
+
+#include <string_view>
+#include <vector>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/cleanup/cleanup.h>
+#include <absl/strings/string_view.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using PidTest = PluginTest;
+using ::testing::DoubleNear;
+using ::testing::HasSubstr;
+using ::testing::IsNull;
+using ::testing::NotNull;
+
+TEST_F(PidTest, PGain) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1"><config key="kp" value="4.0"/></instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
+    <position joint="j2" kp="4.0" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  EXPECT_EQ(m->plugin_statenum[0], 0)
+      << "Plugin should have no state variables";
+  EXPECT_EQ(m->actuator_actnum[0], 0)
+      << "Plugin should have no activation variables";
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // apply the same ctrl to both actuators and see if the same qpos results
+  d->ctrl[0] = 1.0;
+  d->ctrl[1] = 1.0;
+
+  mj_step(m, d);
+
+  EXPECT_EQ(d->actuator_force[0], d->actuator_force[1]);
+  EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1]);
+  EXPECT_EQ(d->qpos[0], d->qpos[1]);
+}
+
+TEST_F(PidTest, PGainWithFilterExact) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1"><config key="kp" value="4.0"/></instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1"
+        dyntype="filterexact" dynprm="0.1" actearly="true"/>
+    <general joint="j2" gainprm="4.0 0 0" biastype="affine" biasprm="0 -4.0 0"
+        dyntype="filterexact" dynprm="0.1" actearly="true"/>
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  EXPECT_EQ(m->plugin_statenum[0], 0)
+      << "Plugin should have no state variables";
+  EXPECT_EQ(m->actuator_actnum[0], 1)
+      << "Plugin should have one activation variable";
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // apply the same ctrl to both actuators and see if the same qpos results
+  d->ctrl[0] = 1.0;
+  d->ctrl[1] = 1.0;
+
+  for (int i = 0; i < 2; i++) {
+    mj_step(m, d);
+
+    EXPECT_EQ(d->actuator_force[0], d->actuator_force[1]);
+    EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1]);
+    EXPECT_EQ(d->qpos[0], d->qpos[1]);
+  }
+}
+
+TEST_F(PidTest, SlewMaxRate) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="kp" value="4.0"/>
+        <config key="slewmax" value="0.75"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
+    <position joint="j2" kp="4.0" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  // having a slew rate means that there should be one extra state variable
+  // for the plugin.
+  EXPECT_EQ(m->actuator_actnum[0], 1);
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // going from ctrl=0.0 to ctrl=1.0 immediately should be equivalent to slowly
+  // incrementing the setpoint
+  d->ctrl[0] = d->ctrl[1] = 0.0;
+  mj_step(m, d);
+
+  mjtNum max_slew_rate = 0.75;
+  for (int i = 0; i < 2; i++) {
+    d->ctrl[0] = 1.0;
+    d->ctrl[1] = d->time * max_slew_rate;
+    mj_step(m, d);
+
+    EXPECT_EQ(d->actuator_force[0], d->actuator_force[1])
+        << "actuator_force mismatch at step " << i;
+    EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1])
+        << "qfrc_actuator mismatch at step " << i;
+    EXPECT_EQ(d->qpos[0], d->qpos[1]) << "qpos mismatch at step " << i;
+  }
+}
+
+TEST_F(PidTest, IntegratedVelocitySlewMaxRate) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="kp" value="4.0"/>
+        <config key="slewmax" value="0.75"/>
+      </instance>
+      <instance name="pid2">
+        <config key="kp" value="4.0"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
+    <!-- make an integrated velocity controller using the PID plugin -->
+    <plugin joint="j2" plugin="mujoco.pid" instance="pid2"
+        dyntype="integrator" dynprm="1 0 0" actearly="true"/>
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  // having a slew rate means that there should be one extra state variable
+  // for the plugin.
+  EXPECT_EQ(m->actuator_actnum[0], 1);
+  // The integrated-velocity controller should have one activation variable too.
+  EXPECT_EQ(m->actuator_actnum[1], 1);
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // going from ctrl=0.0 to ctrl=1.0 immediately should be equivalent to using
+  // an integrated-velocity controller, with actearly = true
+  d->ctrl[0] = d->ctrl[1] = 0.0;
+  mj_step(m, d);
+
+  mjtNum max_slew_rate = 0.75;
+  for (int i = 0; i < 2; i++) {
+    d->ctrl[0] = 1.0;
+    d->ctrl[1] = max_slew_rate;
+    mj_step(m, d);
+
+    EXPECT_EQ(d->act[0], d->act[1])
+        << "act mismatch at step " << i;
+    EXPECT_EQ(d->actuator_force[0], d->actuator_force[1])
+        << "actuator_force mismatch at step " << i;
+    EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1])
+        << "qfrc_actuator mismatch at step " << i;
+    EXPECT_EQ(d->qpos[0], d->qpos[1]) << "qpos mismatch at step " << i;
+  }
+}
+
+TEST_F(PidTest, SlewMaxRateUsesFirstCtrl) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="kp" value="4.0"/>
+        <config key="slewmax" value="0.75"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+  </worldbody>
+
+  <actuator><plugin joint="j1" plugin="mujoco.pid" instance="pid1" /></actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // When starting with ctrl = 1.0, there shouldn't be a slew rate restriction
+  d->ctrl[0] = 1.0;
+  mj_forward(m, d);
+  EXPECT_EQ(d->actuator_force[0], 4.0);
+}
+
+TEST_F(PidTest, ITerm) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="kp" value="40.0"/>
+        <config key="kd" value="4"/>
+      </instance>
+      <instance name="pid2">
+        <config key="kp" value="40.0"/>
+        <config key="ki" value="40"/>
+        <config key="kd" value="4"/>
+      </instance>
+      <instance name="pid3">
+        <config key="kp" value="40.0"/>
+        <config key="ki" value="40"/>
+        <config key="kd" value="4"/>
+        <config key="imax" value="5"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 -10" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+    <body pos="0.08 0 0" >
+      <joint name="j3" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
+    <plugin joint="j2" plugin="mujoco.pid" instance="pid2" />
+    <plugin joint="j3" plugin="mujoco.pid" instance="pid3" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  // only the actuators with an I term should have state.
+  EXPECT_EQ(m->actuator_actnum[0], 0);
+  EXPECT_EQ(m->actuator_actnum[1], 1);
+  EXPECT_EQ(m->actuator_actnum[2], 1);
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // when applying a constant 1.0 control for a while:
+  // - the PD controller should settle to 1.0 - m*g / kp
+  // - the unclamped PID controller should reach 1.0
+  // - the clamped PID controller should reach 1.0 - (m*g - imax) / kp
+  d->ctrl[0] = d->ctrl[1] = d->ctrl[2] = 1.0;
+  for (int i = 0; i < 10000; i++) {
+    mj_step(m, d);
+  }
+
+  EXPECT_THAT(d->qpos[0], DoubleNear(1.0 - 10 / 40.0, 1e-5));
+  EXPECT_THAT(d->qpos[1], DoubleNear(1.0, 1e-5));
+  EXPECT_THAT(d->qpos[2], DoubleNear(1.0 - (10 - 0.125 * 40.0) / 40.0, 1e-5));
+}
+
+TEST_F(PidTest, FiniteDifferencing) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid">
+        <config key="ki" value="40"/>
+        <config key="slewmax" value="0.75"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <worldbody>
+    <body><joint name="j"/><geom size="0.01"/></body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j" plugin="mujoco.pid" instance="pid" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  // actuators with an I term and max slew rate should have 2 activation
+  // variables.
+  EXPECT_EQ(m->actuator_actnum[0], 2);
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  d->ctrl[0] = 1.0;
+  mj_step(m, d);
+  EXPECT_NE(d->act[0], 0);
+  mjtNum state_before_finite_differencing = d->act[0];
+
+  std::vector<mjtNum> A((2*m->nv+m->na) * (2*m->nv+m->na), 0);
+  std::vector<mjtNum> B((2*m->nv+m->na) * m->nu, 0);
+  std::vector<mjtNum> C((m->nsensordata) * (2*m->nv+m->na), 0);
+  std::vector<mjtNum> D((m->nsensordata) * m->nu, 0);
+  mjd_transitionFD(m, d, /*eps=*/1e-3, /*flg_centered=*/true, A.data(),
+                   B.data(), C.data(), D.data());
+
+  EXPECT_EQ(d->act[0], state_before_finite_differencing)
+      << "mjd_transitionFD should not change actuator plugin state.";
+}
+
+TEST_F(PidTest, CtrlClamp) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <compiler autolimits="true"/>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid">
+        <config key="kp" value="40.0"/>
+        <config key="ki" value="40"/>
+        <config key="kd" value="4"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid"
+        ctrlrange="0.25 0.75" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // when applying a constant 1.0 control for a while, control should be clamped
+  // to 0.75, and the body should reach that point.
+  d->ctrl[0] = 1.0;
+  for (int i = 0; i < 10000; i++) {
+    mj_step(m, d);
+  }
+  EXPECT_THAT(d->qpos[0], DoubleNear(0.75, 1e-5));
+
+  // when applying 0, it should be clamped to 0.25
+  d->ctrl[0] = 0.0;
+  for (int i = 0; i < 10000; i++) {
+    mj_step(m, d);
+  }
+  EXPECT_THAT(d->qpos[0], DoubleNear(0.25, 1e-5));
+}
+
+TEST_F(PidTest, CopyData) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="kp" value="40.0"/>
+        <config key="kd" value="4"/>
+      </instance>
+      <instance name="pid2">
+        <config key="kp" value="40.0"/>
+        <config key="ki" value="40"/>
+        <config key="kd" value="4"/>
+        <config key="slewmax" value="3.14" />
+        <config key="imax" value="1"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 -10" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide" axis="0 0 1" />
+      <geom size="0.01" mass="1"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
+    <plugin joint="j2" plugin="mujoco.pid" instance="pid2" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  mjData* d1 = mj_makeData(m);
+  absl::Cleanup d1_deleter = [d1] { mj_deleteData(d1); };
+
+  d1->ctrl[0] = d1->ctrl[1] = -1.0;
+
+  for (int i = 0; i < 3; i++) {
+    mj_step(m, d1);
+  }
+  mjData* d2 = mj_copyData(nullptr, m, d1);
+  absl::Cleanup d2_deleter = [d2] { mj_deleteData(d2); };
+
+  mj_step(m, d1);
+  mj_step(m, d2);
+
+  EXPECT_EQ(d1->qpos[0], d2->qpos[0]);
+  EXPECT_EQ(d1->qpos[1], d2->qpos[1]);
+}
+
+TEST_F(PidTest, InvalidClamp) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="ki" value="40"/>
+        <!-- imax should be nonnegative -->
+        <config key="imax" value="-0.01"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <worldbody>
+    <body><joint name="j1" /><geom size="0.01" /></body>
+  </worldbody>
+
+  <actuator><plugin joint="j1" plugin="mujoco.pid" instance="pid1" /></actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  EXPECT_THAT(m, IsNull());
+
+  // TODO: b/303654852 - ensure that the compilation error includes "imax"
+  EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
+}
+
+TEST_F(PidTest, InvalidSlew) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid1">
+        <config key="kp" value="40"/>
+        <!-- slewmax must be nonnegative -->
+        <config key="slewmax" value="-0.1"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <worldbody>
+    <body><joint name="j" /><geom size="0.01" /></body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j" plugin="mujoco.pid" instance="pid1" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, IsNull());
+
+  // TODO: b/303654852 - ensure that the compilation error includes "slewmax"
+  EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
+}
+}  // namespace
+}  // namespace mujoco

From e33adaca9c46f5ebb16f269ed81ea880c0636086 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Sun, 26 Nov 2023 11:22:59 -0800
Subject: [PATCH 014/121] Fix typos in `mju_boxQP` documentation.

PiperOrigin-RevId: 585462325
Change-Id: Ib1c15c3d5af8475ec1a62b50c66b729579a23e60
---
 doc/APIreference/functions.rst          | 6 +++---
 doc/APIreference/functions_override.rst | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index afa607d1..9d1232c6 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -3011,10 +3011,10 @@ outputs (optional):
 
 notes:
   The initial value of ``res`` is used to warmstart the solver.
-  ``R`` must have allocatd size ``n*(n+7)``, but only ``nfree*nfree`` values are used in output.
-  ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used in output.
+  ``R`` must have allocated size ``n*(n+7)``, but only ``nfree*nfree`` values are used as output.
+  ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used as output.
   The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
-  Only the lower triangles of H and R and are read from and written to, respectively.
+  Only the lower triangles of H and R are read from and written to, respectively.
 
 .. _mju_boxQPmalloc:
 
diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst
index b81199f5..aaf6a2d3 100644
--- a/doc/APIreference/functions_override.rst
+++ b/doc/APIreference/functions_override.rst
@@ -486,10 +486,10 @@ outputs (optional):
 
 notes:
   The initial value of ``res`` is used to warmstart the solver.
-  ``R`` must have allocatd size ``n*(n+7)``, but only ``nfree*nfree`` values are used in output.
-  ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used in output.
+  ``R`` must have allocated size ``n*(n+7)``, but only ``nfree*nfree`` values are used as output.
+  ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used as output.
   The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
-  Only the lower triangles of H and R and are read from and written to, respectively.
+  Only the lower triangles of H and R are read from and written to, respectively.
 
 .. _mju_boxQPmalloc:
 

From 8010aad7be546e6b6a82d4e81b73990ea9f782bf Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 27 Nov 2023 02:24:06 -0800
Subject: [PATCH 015/121] Add `flex_elemlayer` to `mjvSceneState`. Fixes #1193
 and #1219.

PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
---
 doc/changelog.rst                    | 1 +
 doc/includes/references.h            | 1 +
 include/mujoco/mjvisualize.h         | 1 +
 include/mujoco/mjxmacro.h            | 2 +-
 introspect/structs.py                | 7 +++++++
 unity/Runtime/Bindings/MjBindings.cs | 1 +
 6 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 3f649e2a..8a190164 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -28,6 +28,7 @@ Bug fixes
 ^^^^^^^^^
 - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
   Before this fix such actuators could lead to non-conservation of momentum.
+- Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
 
 Version 3.0.1 (November 15, 2023)
 ---------------------------------
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 371167ba..51412f28 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2235,6 +2235,7 @@ struct mjvSceneState_ {
     int* flex_vertadr;
     int* flex_vertnum;
     int* flex_elem;
+    int* flex_elemlayer;
     int* flex_elemadr;
     int* flex_elemnum;
     int* flex_elemdataadr;
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 37eef03e..e4114af8 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -507,6 +507,7 @@ struct mjvSceneState_ {
     int* flex_vertadr;
     int* flex_vertnum;
     int* flex_elem;
+    int* flex_elemlayer;
     int* flex_elemadr;
     int* flex_elemnum;
     int* flex_elemdataadr;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index e8879aeb..be5a2b53 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -334,7 +334,7 @@
     X   ( int,     flex_vertbodyid,       nflexvert,     1                    ) \
     X   ( int,     flex_edge,             nflexedge,     2                    ) \
     XMJV( int,     flex_elem,             nflexelemdata, 1                    ) \
-    X   ( int,     flex_elemlayer,        nflexelem,     1                    ) \
+    XMJV( int,     flex_elemlayer,        nflexelem,     1                    ) \
     XMJV( int,     flex_shell,            nflexshelldata,1                    ) \
     X   ( int,     flex_evpair,           nflexevpair,   2                    ) \
     X   ( mjtNum,  flex_vert,             nflexvert,     3                    ) \
diff --git a/introspect/structs.py b/introspect/structs.py
index fd1f085c..088a9c2c 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -6741,6 +6741,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='flex_elemlayer',
+                             type=PointerType(
+                                 inner_type=ValueType(name='int'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='flex_elemadr',
                              type=PointerType(
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 74d15c7c..c44f2ef8 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -6152,6 +6152,7 @@ public unsafe struct model {
   public int* flex_vertadr;
   public int* flex_vertnum;
   public int* flex_elem;
+  public int* flex_elemlayer;
   public int* flex_elemadr;
   public int* flex_elemnum;
   public int* flex_elemdataadr;

From eb9568a48b4f6af20d92a6d85648b98345e420cd Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 27 Nov 2023 03:31:25 -0800
Subject: [PATCH 016/121] Add `frame` element to MJCF.

PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
---
 doc/XMLreference.rst               | 92 +++++++++++++++++++++++++++++-
 doc/changelog.rst                  |  3 +-
 doc/modeling.rst                   | 11 +++-
 src/user/user_model.cc             |  4 +-
 src/user/user_objects.cc           | 92 +++++++++++++++++++++++++++++-
 src/user/user_objects.h            | 29 ++++++++++
 src/user/user_util.cc              | 11 +++-
 src/xml/xml_native_reader.cc       | 29 ++++++++--
 src/xml/xml_native_reader.h        |  3 +-
 src/xml/xml_util.cc                |  4 +-
 test/engine/testdata/frame.xml     | 43 ++++++++++++++
 test/user/user_objects_test.cc     | 74 ++++++++++++++++++++++++
 test/xml/xml_native_reader_test.cc | 33 +++++++++++
 13 files changed, 411 insertions(+), 17 deletions(-)
 create mode 100644 test/engine/testdata/frame.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 34a72e1c..50307135 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -103,13 +103,72 @@ In the remainder of this chapter we describe all valid MJCF elements and their a
 multiple contexts, in which case their meaning depends on the parent element. This is why we always show the parent as a
 prefix in the documentation below.
 
+.. _meta-element:
+
+Meta elements
+~~~~~~~~~~~~~
+
+These elements are not strictly part of the low-level MJCF format definition, but rather instruct the compiler to
+perform some operation on the model. A general property of meta-elements is that they disappear from the model upon
+saving the XML. There are currently four meta-elements in MJCF:
+
+- :ref:`include<include>` and :ref:`frame<frame>`, which are outside of the schema.
+- :ref:`composite<body-composite>` and :ref:`flexcomp<body-flexcomp>` which are part of the schema, but serve to
+  procedurally generate other MJCF elements.
+
+.. _frame:
+
+**frame** (R)
+^^^^^^^^^^^^^
+
+The frame meta-element is a pure coordinate transformation that can wrap any group of elements in the kinematic tree
+(under :ref:`worldbody<body>`). After compilation, frame elements disappear and their transformation is accumulated
+in their direct children. The attributes of the frame meta-element are documented :ref:`below<body-frame>`.
+
+.. collapse:: Usage example of frame
+
+   Loading this model and saving it:
+
+   .. code-block:: xml
+
+      <mujoco>
+        <worldbody>
+          <frame quat="0 0 1 0">
+             <geom name="Alice" quat="0 1 0 0" size="1"/>
+          </frame>
+
+          <frame pos="0 1 0">
+            <geom name="Bob" pos="0 1 0" size="1"/>
+            <body name="Carl" pos="1 0 0">
+              ...
+            </body>
+          </frame>
+        </worldbody>
+      </mujoco>
+
+   Results in this model:
+
+   .. code-block:: xml
+
+      <mujoco>
+        <worldbody>
+          <geom name="Alice" quat="0 0 0 1" size="1"/>
+          <geom name="Bob" pos="0 2 0" size="1"/>
+          <body name="Carl" pos="1 1 0">
+            ...
+          </body>
+        </worldbody>
+      </mujoco>
+
+   Note that in the saved model, the frame elements have disappeared but their transformation was accumulated with those
+   of their child elements.
 
 .. _include:
 
 **include** (*)
-~~~~~~~~~~~~~~~
+^^^^^^^^^^^^^^^
 
-This element does not strictly speaking belong to MJCF. Instead it is a meta-element, used to assemble multiple XML
+This element does not strictly belong to MJCF. Instead it is a meta-element, used to assemble multiple XML
 files in a single document object model (DOM) before parsing. The included file must be a valid XML file with a unique
 top-level element. This top-level element is removed by the parser, and the elements below it are inserted at the
 location of the :el:`include` element. At least one element must be inserted as a result of this procedure. The
@@ -3913,6 +3972,35 @@ Associate this flexcomp with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
 :at:`instance`: :at-val:`string, optional`
    Instance name, used for explicit plugin instantiation.
 
+
+.. _body-frame:
+
+:el-prefix:`body/` |-| **frame** (*)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Frames specify a coordinate transformation which is applied to all child elements. They disappear during compilation
+and the transformation they encode is accumulated in their direct children. See :ref:`frame<frame>` for examples.
+
+.. _frame-pos:
+
+:at:`pos`: :at-val:`real(3), "0 0 0"`
+   The 3D position of the frame, in the parent coordinate system.
+
+.. _frame-quat:
+
+.. _frame-axisangle:
+
+.. _frame-xyaxes:
+
+.. _frame-zaxis:
+
+.. _frame-euler:
+
+:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
+   See :ref:`COrientation`.
+
+
+
 .. _contact:
 
 **contact** (*)
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 8a190164..75c4d6f7 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -7,10 +7,11 @@ Upcoming version (not yet released)
 
 General
 ^^^^^^^
-
 - Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
   for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
   robust for very small or large geom sizes.
+- Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
+  on its direct children, without requiring a :ref:`body<body>`.
 
 Plugins
 ^^^^^^^
diff --git a/doc/modeling.rst b/doc/modeling.rst
index 7abdb53e..c43b9a04 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -204,16 +204,21 @@ cameras and lights.
 A related attribute is :ref:`compiler/angle<compiler-angle>`. It specifies whether angles in the MJCF file are expressed
 in degrees or radians (after compilation, angles are always expressed in radians).
 
+Positions are specified using
+
+:at:`pos`: :at-val:`real(3), "0 0 0"`
+   Position relative to parent.
+
 .. _COrientation:
 
 Frame orientations
-~~~~~~~~~~~~~~~~~~
+^^^^^^^^^^^^^^^^^^
 
 Several model elements have right-handed spatial frames associated with them. These are all the elements defined in the
 kinematic tree except for joints. A spatial frame is defined by its position and orientation. Specifying 3D positions is
 straightforward, but specifying 3D orientations can be challenging. This is why MJCF provides several alternative
-mechanisms. No matter which mechanism the user chooses, the frame orientation is always represented as a unit quaternion
-after compilation. Recall that a 3D rotation by angle :math:`a` around axis given by the unit vector :math:`(x, y, z)`
+mechanisms. No matter which mechanism the user chooses, the frame orientation is always converted internally to a unit
+quaternion. Recall that a 3D rotation by angle :math:`a` around axis given by the unit vector :math:`(x, y, z)`
 corresponds to the quaternion :math:`(\cos(a/2), \: \sin(a/2) \cdot (x, y, z))`. Also recall that every 3D orientation
 can be uniquely specified by a single 3D rotation by some angle around some axis.
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index c3b533ed..7729d9aa 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -1506,7 +1506,9 @@ void mjCModel::CopyTree(mjModel* m) {
       if (rotfound ||
           !IsNullPose(m->jnt_pos+3*jid, NULL) ||
           ((pj->type==mjJNT_HINGE || pj->type==mjJNT_SLIDE) &&
-           ((pj->locaxis[0]!=0) + (pj->locaxis[1]!=0) + (pj->locaxis[2]!=0))>1)) {
+           ((mju_abs(pj->locaxis[0])>mjEPS) +
+            (mju_abs(pj->locaxis[1])>mjEPS) +
+            (mju_abs(pj->locaxis[2])>mjEPS)) > 1)) {
         m->body_simple[i] = 0;
       }
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 383e4d37..4530b661 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -491,6 +491,7 @@ mjCBase::mjCBase() {
   xmlpos[0] = xmlpos[1] = -1;
   model = 0;
   def = 0;
+  frame = nullptr;
 
   // plugin variables
   is_plugin = false;
@@ -534,6 +535,15 @@ std::string mjCBase::GetAssetContentType(std::string_view resource_name,
 }
 
 
+void mjCBase::SetFrame(mjCFrame* _frame) {
+  if (!_frame) {
+    return;
+  }
+  frame = _frame;
+  frame->Compile();
+}
+
+
 //------------------ class mjCBody implementation --------------------------------------------------
 
 // constructor
@@ -574,6 +584,7 @@ mjCBody::mjCBody(mjCModel* _model) {
   // clear object lists
   bodies.clear();
   geoms.clear();
+  frames.clear();
   joints.clear();
   sites.clear();
   cameras.clear();
@@ -587,6 +598,7 @@ mjCBody::~mjCBody() {
   // delete objects allocated here
   for (int i=0; i<bodies.size(); i++) delete bodies[i];
   for (int i=0; i<geoms.size(); i++) delete geoms[i];
+  for (int i=0; i<frames.size(); i++) delete frames[i];
   for (int i=0; i<joints.size(); i++) delete joints[i];
   for (int i=0; i<sites.size(); i++) delete sites[i];
   for (int i=0; i<cameras.size(); i++) delete cameras[i];
@@ -594,6 +606,7 @@ mjCBody::~mjCBody() {
 
   bodies.clear();
   geoms.clear();
+  frames.clear();
   joints.clear();
   sites.clear();
   cameras.clear();
@@ -616,6 +629,15 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
 
 
 
+// create new frame and add it to body
+mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
+  mjCFrame* obj = new mjCFrame(model, _frame ? _frame : NULL);
+  frames.push_back(obj);
+  return obj;
+}
+
+
+
 // create new joint and add it to body
 //  _def==NULL means no defaults, unlike all others which inherit from body
 mjCJoint* mjCBody::AddJoint(mjCDef* _def, bool isfree) {
@@ -938,7 +960,7 @@ void mjCBody::Compile(void) {
     GeomFrame();
   }
 
-  // both pos and ipos undefiend: error
+  // both pos and ipos undefined: error
   if (!mjuu_defined(ipos[0]) && !mjuu_defined(pos[0])) {
     throw mjCError(this, "body pos and ipos are both undefined");
   }
@@ -980,6 +1002,11 @@ void mjCBody::Compile(void) {
     }
   }
 
+  // frame
+  if (frame) {
+    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+  }
+
   // compute local frame rel. to parent body
   if (id>0) {
     model->bodies[parentid]->MakeLocal(locpos, locquat, pos, quat);
@@ -1076,6 +1103,39 @@ void mjCBody::Compile(void) {
 
 
 
+//------------------ class mjCFrame implementation -------------------------------------------------
+
+// initialize frame
+mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) {
+  compiled = false;
+  model = _model;
+  frame = _frame ? _frame : NULL;
+  mju_zero3(pos);
+  mjuu_setvec(quat, 1, 0, 0, 0);
+}
+
+void mjCFrame::Compile() {
+  if (compiled) {
+    return;
+  }
+
+  const char* err = alt.Set(quat, 0, model->degree, model->euler);
+  if (err) {
+    throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
+  }
+
+  // compile parents and accumulate result
+  if (frame) {
+    frame->Compile();
+    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+  }
+
+  mjuu_normvec(quat, 4);
+  compiled = true;
+}
+
+
+
 //------------------ class mjCJoint implementation -------------------------------------------------
 
 // initialize default joint
@@ -1197,6 +1257,13 @@ int mjCJoint::Compile(void) {
     }
   }
 
+  // frame
+  if (frame) {
+    double mat[9];
+    mjuu_quat2mat(mat, frame->quat);
+    mjuu_mulvecmat(axis, axis, mat);
+  }
+
   // FREE or BALL: set axis to (0,0,1)
   if (type==mjJNT_FREE || type==mjJNT_BALL) {
     axis[0] = axis[1] = 0;
@@ -1223,6 +1290,9 @@ int mjCJoint::Compile(void) {
   if (type!=mjJNT_FREE) {
     double qunit[4] = {1, 0, 0, 0};
     double qloc[4];
+    if (frame) {
+      mjuu_frameaccum(pos, qunit, frame->pos, frame->quat);
+    }
     body->MakeLocal(locpos, qloc, pos, qunit);
   } else {
     mjuu_zerovec(locpos, 3);
@@ -1842,6 +1912,11 @@ void mjCGeom::Compile(void) {
       throw mjCError(this, "plugin '%s' does not support sign distance fields", plugin->name);
     }
   }
+
+  // frame
+  if (frame) {
+    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+  }
 }
 
 
@@ -1952,6 +2027,11 @@ void mjCSite::Compile(void) {
     }
   }
 
+  // frame
+  if (frame) {
+    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+  }
+
   // normalize quaternion
   mjuu_normvec(quat, 4);
 
@@ -2017,6 +2097,11 @@ void mjCCamera::Compile(void) {
     throw mjCError(this, "orientation specification error '%s' in camera %d", err, id);
   }
 
+  // frame
+  if (frame) {
+    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+  }
+
   // normalize quaternion
   mjuu_normvec(quat, 4);
 
@@ -2121,6 +2206,11 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
 void mjCLight::Compile(void) {
   double locquat[4], quat[4]= {1, 0, 0, 0};
 
+  // frame
+  if (frame) {
+    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+  }
+
   // normalize direction, make sure it is not zero
   if (mjuu_normvec(dir, 3)<mjMINVAL) {
     throw mjCError(this, "zero direction in light '%s' (id = %d)", name.c_str(), id);
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 1711ef59..9be6ae73 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -30,6 +30,7 @@ class mjCError;
 class mjCAlternative;
 class mjCBase;
 class mjCBody;
+class mjCFrame;
 class mjCJoint;
 class mjCGeom;
 class mjCSite;
@@ -176,12 +177,16 @@ class mjCBase {
   // content type from resource_name; throw on failure
   std::string GetAssetContentType(std::string_view resource_name, std::string_view raw_text);
 
+  // Add frame transformation
+  void SetFrame(mjCFrame* _frame);
+
   std::string name;               // object name
   std::string classname;          // defaults class name
   int id;                         // object id
   int xmlpos[2];                  // row and column in xml file
   mjCDef* def;                    // defaults class used to init this object
   mjCModel* model;                // pointer to model that created object
+  mjCFrame* frame;                // pointer to frame transformation
 
   // plugin support
   bool is_plugin;
@@ -215,6 +220,7 @@ class mjCBody : public mjCBase {
  public:
   // API for adding objects to body
   mjCBody*    AddBody(mjCDef* = 0);
+  mjCFrame*   AddFrame(mjCFrame* = 0);
   mjCJoint*   AddJoint(mjCDef* = 0, bool isfree = false);
   mjCGeom*    AddGeom(mjCDef* = 0);
   mjCSite*    AddSite(mjCDef* = 0);
@@ -278,6 +284,7 @@ class mjCBody : public mjCBase {
   // objects allocated by Add functions
   std::vector<mjCBody*>    bodies;     // child bodies
   std::vector<mjCGeom*>    geoms;      // geoms attached to this body
+  std::vector<mjCFrame*>   frames;     // frames attached to this body
   std::vector<mjCJoint*>   joints;     // joints allowing motion relative to parent
   std::vector<mjCSite*>    sites;      // sites attached to this body
   std::vector<mjCCamera*>  cameras;    // cameras attached to this body
@@ -286,6 +293,28 @@ class mjCBody : public mjCBase {
 
 
 
+//------------------------- class mjCFrame ---------------------------------------------------------
+// Describes a coordinate transformation relative to its parent
+
+class mjCFrame : public mjCBase {
+  friend class mjCBase;
+  friend class mjCBody;
+  friend class mjCModel;
+
+ public:
+  double pos[3];                           // frame position
+  double quat[4];                          // frame orientation
+  mjCAlternative alt;                      // alternative orientation specification
+
+ private:
+  bool compiled;                           // frame already compiled
+
+  mjCFrame(mjCModel* = 0, mjCFrame* = 0);  // constructor
+  void Compile(void);                      // compiler
+};
+
+
+
 //------------------------- class mjCJoint ---------------------------------------------------------
 // Describes a motion degree of freedom of a body relative to its parent
 
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
index c8a145f2..4c75ccce 100644
--- a/src/user/user_util.cc
+++ b/src/user/user_util.cc
@@ -191,9 +191,14 @@ void mjuu_mulquat(double* res, const double* qa, const double* qb) {
 
 // multiply vector by 3-by-3 matrix
 void mjuu_mulvecmat(double* res, const double* vec, const double* mat) {
-  res[0] = mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2];
-  res[1] = mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2];
-  res[2] = mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2];
+  double tmp[3] = {
+    mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2],
+    mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2],
+    mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2]
+  };
+  res[0] = tmp[0];
+  res[1] = tmp[1];
+  res[2] = tmp[2];
 }
 
 
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index d2ed4b99..4121b2b9 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -872,7 +872,7 @@ void mjXReader::Parse(XMLElement* root) {
 
   for (XMLElement* section = root->FirstChildElement("worldbody"); section;
        section = section->NextSiblingElement("worldbody")) {
-    Body(section, model->GetWorld());
+    Body(section, model->GetWorld(), nullptr);
   }
 
   for (XMLElement* section = root->FirstChildElement("contact"); section;
@@ -2949,7 +2949,7 @@ void mjXReader::Asset(XMLElement* section) {
 
 
 // body/world section parser; recursive
-void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
+void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
   string text, name;
   XMLElement* elem;
   int n;
@@ -2960,7 +2960,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
   }
 
   // no attributes allowed in world body
-  if (pbody->id==0 && section->FirstAttribute()) {
+  if (pbody->id==0 && section->FirstAttribute() && !frame) {
     throw mjXError(section, "World body cannot have attributes");
   }
 
@@ -3000,6 +3000,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       // create joint and parse
       mjCJoint* pjoint = pbody->AddJoint(def);
       OneJoint(elem, pjoint);
+      pjoint->SetFrame(frame);
     }
 
     // freejoint sub-element
@@ -3011,6 +3012,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
 
       // create free joint without defaults
       mjCJoint* pjoint = pbody->AddJoint(NULL, true);
+      pjoint->SetFrame(frame);
 
       // save defaults after creation, to make sure writing is ok
       pjoint->def = def;
@@ -3025,6 +3027,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       // create geom and parse
       mjCGeom* pgeom = pbody->AddGeom(def);
       OneGeom(elem, pgeom);
+      pgeom->SetFrame(frame);
 
       // discard visual
       if (!pgeom->contype && !pgeom->conaffinity && model->discardvisual) {
@@ -3038,6 +3041,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       // create site and parse
       mjCSite* psite = pbody->AddSite(def);
       OneSite(elem, psite);
+      psite->SetFrame(frame);
     }
 
     // camera sub-element
@@ -3045,6 +3049,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       // create camera and parse
       mjCCamera* pcam = pbody->AddCamera(def);
       OneCamera(elem, pcam);
+      pcam->SetFrame(frame);
     }
 
     // light sub-element
@@ -3052,6 +3057,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       // create light and parse
       mjCLight* plight = pbody->AddLight(def);
       OneLight(elem, plight);
+      plight->SetFrame(frame);
     }
 
     // plugin sub-element
@@ -3071,6 +3077,18 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       OneFlexcomp(elem, pbody);
     }
 
+    // frame sub-element
+    else if (name=="frame") {
+      mjCFrame* pframe = pbody->AddFrame(frame);
+      GetXMLPos(elem, pframe);
+
+      ReadAttr(elem, "pos", 3, pframe->pos, text);
+      ReadQuat(elem, "quat", pframe->quat, text);
+      ReadAlternative(elem, pframe->alt);
+
+      Body(elem, pbody, pframe);
+    }
+
     // body sub-element
     else if (name=="body") {
       // read childdef
@@ -3102,8 +3120,11 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
       // read userdata
       ReadVector(elem, "user", pchild->userdata, text);
 
+      // add frame
+      pchild->SetFrame(frame);
+
       // make recursive call
-      Body(elem, pchild);
+      Body(elem, pchild, nullptr);
     }
 
     // no match
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
index f1170dcf..45f9671e 100644
--- a/src/xml/xml_native_reader.h
+++ b/src/xml/xml_native_reader.h
@@ -42,7 +42,8 @@ class mjXReader : public mjXBase {
   void Visual(tinyxml2::XMLElement* section);                          // visual section
   void Statistic(tinyxml2::XMLElement* section);                       // statistic section
   void Asset(tinyxml2::XMLElement* section);                           // asset section
-  void Body(tinyxml2::XMLElement* section, mjCBody* pbody);            // body/world section
+  void Body(tinyxml2::XMLElement* section, mjCBody* pbody,
+            mjCFrame* pframe);                                         // body/world section
   void Contact(tinyxml2::XMLElement* section);                         // contact section
   void Deformable(tinyxml2::XMLElement* section);                      // deformable section
   void Equality(tinyxml2::XMLElement* section);                        // equality section
diff --git a/src/xml/xml_util.cc b/src/xml/xml_util.cc
index c3abb1f6..0d1a7f75 100644
--- a/src/xml/xml_util.cc
+++ b/src/xml/xml_util.cc
@@ -372,7 +372,9 @@ bool mjXSchema::NameMatch(XMLElement* elem, int level) {
       return true;
     }
 
-    return false;
+    if (level>=1 && !strcmp(elem->Value(), "frame")) {
+      return true;
+    }
   }
 
   // regular check
diff --git a/test/engine/testdata/frame.xml b/test/engine/testdata/frame.xml
new file mode 100644
index 00000000..4d2b6db1
--- /dev/null
+++ b/test/engine/testdata/frame.xml
@@ -0,0 +1,43 @@
+<mujoco>
+  <default>
+    <geom type="box" size=".1 .2 .3"/>
+  </default>
+
+  <worldbody>
+    <frame euler="0 0 30">
+      <geom pos=".5 0 0" euler="0 0 20"/>
+    </frame>
+
+    <frame quat="0 1 0 0">
+      <geom quat="0 -1 0 0"/>
+    </frame>
+
+    <body pos="0 .5 0">
+      <frame quat="0 1 0 0">
+        <geom/>
+      </frame>
+    </body>
+
+    <frame euler="0 0 30">
+      <frame euler="0 0 20">
+        <geom/>
+      </frame>
+    </frame>
+
+    <body>
+      <frame pos="0 1 0">
+        <geom pos="0 1 0"/>
+        <body pos="1 0 0">
+          <geom pos="0 0 1"/>
+        </body>
+      </frame>
+    </body>
+
+    <body>
+      <geom/>
+      <frame euler="90 0 0">
+        <joint type="hinge" axis="0 0 1"/>
+      </frame>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index d11e4f4b..63c795be 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -1398,5 +1398,79 @@ TEST_F(SpringrangeTest, InvalidRange) {
   EXPECT_THAT(error.data(), HasSubstr("invalid springlength in tendon"));
 }
 
+// ------------- test frame ----------------------------------------------------
+TEST_F(MujocoTest, Frame) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <frame euler="0 0 30">
+        <geom size=".1" euler="0 0 20"/>
+      </frame>
+
+      <frame axisangle="0 0 1 90">
+        <frame axisangle="0 1 0 90">
+          <geom size=".1"/>
+        </frame>
+      </frame>
+
+      <body>
+        <frame pos="0 1 0">
+          <geom size=".1" pos="0 1 0"/>
+          <body pos="1 0 0">
+            <geom size=".1" pos="0 0 1"/>
+          </body>
+        </frame>
+      </body>
+
+      <body>
+        <geom size=".1"/>
+        <frame euler="90 0 0">
+          <joint type="hinge" axis="0 0 1"/>
+        </frame>
+      </body>
+    </worldbody>
+  </mujoco>
+
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(m, testing::NotNull()) << error.data();
+  EXPECT_EQ(m->nbody, 4);
+
+  // geom quat transformed to euler = 0 0 50
+  EXPECT_NEAR(m->geom_quat[0], mju_cos(25. * mjPI / 180.), 1e-3);
+  EXPECT_NEAR(m->geom_quat[1], 0, 0);
+  EXPECT_NEAR(m->geom_quat[2], 0, 0);
+  EXPECT_NEAR(m->geom_quat[3], mju_sin(25. * mjPI / 180.), 1e-3);
+
+  // geom transformed to frame 0 1 0, 0 0 1, 1 0 0
+  EXPECT_NEAR(m->geom_quat[4], .5, 1e-6);
+  EXPECT_NEAR(m->geom_quat[5], .5, 1e-6);
+  EXPECT_NEAR(m->geom_quat[6], .5, 1e-6);
+  EXPECT_NEAR(m->geom_quat[7], .5, 1e-6);
+
+  // geom pos transformed from 0 1 0 to 0 2 0
+  EXPECT_EQ(m->geom_pos[6], 0);
+  EXPECT_EQ(m->geom_pos[7], 2);
+  EXPECT_EQ(m->geom_pos[8], 0);
+
+  // body pos transformed from 1 0 0 to 1 1 0
+  EXPECT_EQ(m->body_pos[6], 1);
+  EXPECT_EQ(m->body_pos[7], 1);
+  EXPECT_EQ(m->body_pos[8], 0);
+
+  // nested geom pos not transformed
+  EXPECT_EQ(m->geom_pos[ 9], 0);
+  EXPECT_EQ(m->geom_pos[10], 0);
+  EXPECT_EQ(m->geom_pos[11], 1);
+
+  // joint axis transformed to 0 -1 0
+  EXPECT_NEAR(m->jnt_axis[0],  0, 1e-6);
+  EXPECT_NEAR(m->jnt_axis[1], -1, 1e-6);
+  EXPECT_NEAR(m->jnt_axis[2],  0, 1e-6);
+
+  mj_deleteModel(m);
+}
+
 }  // namespace
 }  // namespace mujoco
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index e57c6c6d..a74fabf0 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -407,6 +407,39 @@ TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
   }
 }
 
+// ---------------------- test frame parsing ---------------------------------
+TEST_F(XMLReaderTest, ParseFrame) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <frame euler="0 0 30">
+        <geom size=".1" euler="0 0 20"/>
+      </frame>
+
+      <body>
+        <frame pos="0 1 0">
+          <geom size=".1" pos="0 1 0"/>
+          <body pos="1 0 0">
+            <geom size=".1" pos="0 0 1"/>
+          </body>
+        </frame>
+      </body>
+
+      <frame euler="0 0 30">
+        <frame euler="0 0 20">
+          <geom size=".1"/>
+        </frame>
+      </frame>
+    </worldbody>
+  </mujoco>
+
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(m, testing::NotNull()) << error.data();
+  mj_deleteModel(m);
+}
+
 // ---------------------- test camera parsing ---------------------------------
 
 TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {

From 25ddb3e6e86f31079d69c5f9a92784742e2d0314 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 27 Nov 2023 04:44:54 -0800
Subject: [PATCH 017/121] simulate: Add states to history when stepping with
 right arrow key.

PiperOrigin-RevId: 585613870
Change-Id: I7fb051946e8a91a900442e3d7048dfa8b8bd7c5c
---
 simulate/simulate.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 676b1594..f1d27cf3 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1566,9 +1566,10 @@ void UiEvent(mjuiState* state) {
           mjui0_update_section(sim, SECT_SIMULATION);
         }
 
-        // not in scrubber: step
+        // not in scrubber: step, add to history buffer
         else {
           mj_step(sim->m_, sim->d_);
+          sim->AddToHistory();
         }
 
         UpdateProfiler(sim, sim->m_, sim->d_);

From ca046cbf645a2ea61a30a3ed6eb709341ca5bc8e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 27 Nov 2023 05:58:48 -0800
Subject: [PATCH 018/121] Fix rendering bug in changelog.

PiperOrigin-RevId: 585627863
Change-Id: I238b9d7eb13dbc8660f15f45efe6a84ccbb84c66
---
 doc/changelog.rst | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 75c4d6f7..64ff3ec4 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -20,10 +20,8 @@ Plugins
   ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
   variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
 
-- Added `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin:
-
-   - A configurable PID controller that implements an integral term, which is not available with the default MuJoCo
-     actuators.
+- Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
+  configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
 
 Bug fixes
 ^^^^^^^^^

From 21334ea704fcee23e3e2523b3511e09b11719ff7 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 27 Nov 2023 06:06:56 -0800
Subject: [PATCH 019/121] Delete local frame members from MJC objects.

PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
---
 src/user/user_model.cc       | 131 +++++++++++++++++------------------
 src/user/user_objects.cc     |  81 ++--------------------
 src/user/user_objects.h      |  17 -----
 src/xml/xml_native_writer.cc |  52 +++++++-------
 4 files changed, 96 insertions(+), 185 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 7729d9aa..17c045b1 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -162,11 +162,7 @@ mjCModel::mjCModel() {
   //------------------------ world body
   mjCBody* world = new mjCBody(this);
   mjuu_zerovec(world->pos, 3);
-  mjuu_zerovec(world->locpos, 3);
-  mjuu_zerovec(world->locipos, 3);
   mjuu_setvec(world->quat, 1, 0, 0, 0);
-  mjuu_setvec(world->locquat, 1, 0, 0, 0);
-  mjuu_setvec(world->lociquat, 1, 0, 0, 0);
   world->mass = 0;
   mjuu_zerovec(world->inertia, 3);
   world->id = 0;
@@ -1414,10 +1410,10 @@ void mjCModel::CopyTree(mjModel* m) {
     m->body_dofadr[i] = (pb->dofnum ? dofadr : -1);
     m->body_geomnum[i] = (int)pb->geoms.size();
     m->body_geomadr[i] = (!pb->geoms.empty() ? pb->geoms[0]->id : -1);
-    copyvec(m->body_pos+3*i, pb->locpos, 3);
-    copyvec(m->body_quat+4*i, pb->locquat, 4);
-    copyvec(m->body_ipos+3*i, pb->locipos, 3);
-    copyvec(m->body_iquat+4*i, pb->lociquat, 4);
+    copyvec(m->body_pos+3*i, pb->pos, 3);
+    copyvec(m->body_quat+4*i, pb->quat, 4);
+    copyvec(m->body_ipos+3*i, pb->ipos, 3);
+    copyvec(m->body_iquat+4*i, pb->iquat, 4);
     m->body_mass[i] = (mjtNum)pb->mass;
     copyvec(m->body_inertia+3*i, pb->inertia, 3);
     m->body_gravcomp[i] = pb->gravcomp;
@@ -1492,8 +1488,8 @@ void mjCModel::CopyTree(mjModel* m) {
       m->jnt_qposadr[jid] = qposadr;
       m->jnt_dofadr[jid] = dofadr;
       m->jnt_bodyid[jid] = pj->body->id;
-      copyvec(m->jnt_pos+3*jid, pj->locpos, 3);
-      copyvec(m->jnt_axis+3*jid, pj->locaxis, 3);
+      copyvec(m->jnt_pos+3*jid, pj->pos, 3);
+      copyvec(m->jnt_axis+3*jid, pj->axis, 3);
       m->jnt_stiffness[jid] = (mjtNum)pj->stiffness;
       copyvec(m->jnt_range+2*jid, pj->range, 2);
       copyvec(m->jnt_actfrcrange+2*jid, pj->actfrcrange, 2);
@@ -1506,9 +1502,9 @@ void mjCModel::CopyTree(mjModel* m) {
       if (rotfound ||
           !IsNullPose(m->jnt_pos+3*jid, NULL) ||
           ((pj->type==mjJNT_HINGE || pj->type==mjJNT_SLIDE) &&
-           ((mju_abs(pj->locaxis[0])>mjEPS) +
-            (mju_abs(pj->locaxis[1])>mjEPS) +
-            (mju_abs(pj->locaxis[2])>mjEPS)) > 1)) {
+           ((mju_abs(pj->axis[0])>mjEPS) +
+            (mju_abs(pj->axis[1])>mjEPS) +
+            (mju_abs(pj->axis[2])>mjEPS)) > 1)) {
         m->body_simple[i] = 0;
       }
 
@@ -1602,8 +1598,8 @@ void mjCModel::CopyTree(mjModel* m) {
       m->geom_priority[gid] = pg->priority;
       copyvec(m->geom_size+3*gid, pg->size, 3);
       copyvec(m->geom_aabb+6*gid, pg->aabb, 6);
-      copyvec(m->geom_pos+3*gid, pg->locpos, 3);
-      copyvec(m->geom_quat+4*gid, pg->locquat, 4);
+      copyvec(m->geom_pos+3*gid, pg->pos, 3);
+      copyvec(m->geom_quat+4*gid, pg->quat, 4);
       copyvec(m->geom_friction+3*gid, pg->friction, 3);
       m->geom_solmix[gid] = (mjtNum)pg->solmix;
       copyvec(m->geom_solref+mjNREF*gid, pg->solref, mjNREF);
@@ -1617,13 +1613,13 @@ void mjCModel::CopyTree(mjModel* m) {
       // determine sameframe
       if (IsNullPose(m->geom_pos+3*gid, m->geom_quat+4*gid)) {
         m->geom_sameframe[gid] = 1;
-      } else if (pg->locpos[0]==pb->locipos[0] &&
-                 pg->locpos[1]==pb->locipos[1] &&
-                 pg->locpos[2]==pb->locipos[2] &&
-                 pg->locquat[0]==pb->lociquat[0] &&
-                 pg->locquat[1]==pb->lociquat[1] &&
-                 pg->locquat[2]==pb->lociquat[2] &&
-                 pg->locquat[3]==pb->lociquat[3]) {
+      } else if (pg->pos[0]==pb->ipos[0] &&
+                 pg->pos[1]==pb->ipos[1] &&
+                 pg->pos[2]==pb->ipos[2] &&
+                 pg->quat[0]==pb->iquat[0] &&
+                 pg->quat[1]==pb->iquat[1] &&
+                 pg->quat[2]==pb->iquat[2] &&
+                 pg->quat[3]==pb->iquat[3]) {
         m->geom_sameframe[gid] = 2;
       } else {
         m->geom_sameframe[gid] = 0;
@@ -1645,21 +1641,21 @@ void mjCModel::CopyTree(mjModel* m) {
       m->site_matid[sid] = ps->matid;
       m->site_group[sid] = ps->group;
       copyvec(m->site_size+3*sid, ps->size, 3);
-      copyvec(m->site_pos+3*sid, ps->locpos, 3);
-      copyvec(m->site_quat+4*sid, ps->locquat, 4);
+      copyvec(m->site_pos+3*sid, ps->pos, 3);
+      copyvec(m->site_quat+4*sid, ps->quat, 4);
       copyvec(m->site_user+nuser_site*sid, ps->userdata.data(), nuser_site);
       copyvec(m->site_rgba+4*sid, ps->rgba, 4);
 
       // determine sameframe
       if (IsNullPose(m->site_pos+3*sid, m->site_quat+4*sid)) {
         m->site_sameframe[sid] = 1;
-      } else if (ps->locpos[0]==pb->locipos[0] &&
-                 ps->locpos[1]==pb->locipos[1] &&
-                 ps->locpos[2]==pb->locipos[2] &&
-                 ps->locquat[0]==pb->lociquat[0] &&
-                 ps->locquat[1]==pb->lociquat[1] &&
-                 ps->locquat[2]==pb->lociquat[2] &&
-                 ps->locquat[3]==pb->lociquat[3]) {
+      } else if (ps->pos[0]==pb->ipos[0] &&
+                 ps->pos[1]==pb->ipos[1] &&
+                 ps->pos[2]==pb->ipos[2] &&
+                 ps->quat[0]==pb->iquat[0] &&
+                 ps->quat[1]==pb->iquat[1] &&
+                 ps->quat[2]==pb->iquat[2] &&
+                 ps->quat[3]==pb->iquat[3]) {
         m->site_sameframe[sid] = 2;
       } else {
         m->site_sameframe[sid] = 0;
@@ -1676,8 +1672,8 @@ void mjCModel::CopyTree(mjModel* m) {
       m->cam_bodyid[cid] = pc->body->id;
       m->cam_mode[cid] = pc->mode;
       m->cam_targetbodyid[cid] = pc->targetbodyid;
-      copyvec(m->cam_pos+3*cid, pc->locpos, 3);
-      copyvec(m->cam_quat+4*cid, pc->locquat, 4);
+      copyvec(m->cam_pos+3*cid, pc->pos, 3);
+      copyvec(m->cam_quat+4*cid, pc->quat, 4);
       m->cam_fovy[cid] = (mjtNum)pc->fovy;
       m->cam_ipd[cid] = (mjtNum)pc->ipd;
       copyvec(m->cam_resolution+2*cid, pc->resolution, 2);
@@ -1699,8 +1695,8 @@ void mjCModel::CopyTree(mjModel* m) {
       m->light_directional[lid] = (mjtByte)pl->directional;
       m->light_castshadow[lid] = (mjtByte)pl->castshadow;
       m->light_active[lid] = (mjtByte)pl->active;
-      copyvec(m->light_pos+3*lid, pl->locpos, 3);
-      copyvec(m->light_dir+3*lid, pl->locdir, 3);
+      copyvec(m->light_pos+3*lid, pl->pos, 3);
+      copyvec(m->light_dir+3*lid, pl->dir, 3);
       copyvec(m->light_attenuation+3*lid, pl->attenuation, 3);
       m->light_cutoff[lid] = pl->cutoff;
       m->light_exponent[lid] = pl->exponent;
@@ -2419,8 +2415,7 @@ void mjCModel::FuseStatic(void) {
 
     if (body->parentid>0 && body->mass>=mjMINVAL) {
       // body_ipose = body_pose * body_ipose
-      changeframe(body->locipos, body->lociquat,
-                  body->locpos, body->locquat);
+      changeframe(body->ipos, body->iquat, body->pos, body->quat);
 
       // organize data
       double mass[2] = {
@@ -2432,47 +2427,47 @@ void mjCModel::FuseStatic(void) {
         {body->inertia[0], body->inertia[1], body->inertia[2]}
       };
       double ipos[2][3] = {
-        {par->locipos[0], par->locipos[1], par->locipos[2]},
-        {body->locipos[0], body->locipos[1], body->locipos[2]}
+        {par->ipos[0], par->ipos[1], par->ipos[2]},
+        {body->ipos[0], body->ipos[1], body->ipos[2]}
       };
       double iquat[2][4] = {
-        {par->lociquat[0], par->lociquat[1], par->lociquat[2], par->lociquat[3]},
-        {body->lociquat[0], body->lociquat[1], body->lociquat[2], body->lociquat[3]}
+        {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->locipos, 0, 0, 0);
+      mjuu_setvec(par->ipos, 0, 0, 0);
       for (int j=0; j<2; j++) {
         par->mass += mass[j];
-        par->locipos[0] += mass[j]*ipos[j][0];
-        par->locipos[1] += mass[j]*ipos[j][1];
-        par->locipos[2] += mass[j]*ipos[j][2];
+        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->locipos, 0, 0, 0);
-        mjuu_setvec(par->lociquat, 1, 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->locipos[0] /= par->mass;
-        par->locipos[1] /= par->mass;
-        par->locipos[2] /= par->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->locipos[0],
-            ipos[j][1] - par->locipos[1],
-            ipos[j][2] - par->locipos[2]
+            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]);
@@ -2485,7 +2480,7 @@ void mjCModel::FuseStatic(void) {
         // compute principal axes of inertia
         mjCAlternative alt;
         mjuu_copyvec(alt.fullinertia, toti, 6);
-        const char* err1 = alt.Set(par->lociquat, par->inertia, degree, euler);
+        const char* err1 = alt.Set(par->iquat, par->inertia, degree, euler);
         if (err1) {
           throw mjCError(NULL, "error '%s' in fusing static body inertias", err1);
         }
@@ -2496,8 +2491,8 @@ void mjCModel::FuseStatic(void) {
 
     // change frames of child bodies
     for (int j=0; j<body->bodies.size(); j++)
-      changeframe(body->bodies[j]->locpos, body->bodies[j]->locquat,
-                  body->locpos, body->locquat);
+      changeframe(body->bodies[j]->pos, body->bodies[j]->quat,
+                  body->pos, body->quat);
 
     // find body in parent list, insert children before it
     bool found = false;
@@ -2534,7 +2529,7 @@ void mjCModel::FuseStatic(void) {
       par->geoms.push_back(body->geoms[j]);
 
       // change frame
-      changeframe(body->geoms[j]->locpos, body->geoms[j]->locquat, body->locpos, body->locquat);
+      changeframe(body->geoms[j]->pos, body->geoms[j]->quat, body->pos, body->quat);
     }
 
     // sites
@@ -2544,7 +2539,7 @@ void mjCModel::FuseStatic(void) {
       par->sites.push_back(body->sites[j]);
 
       // change frame
-      changeframe(body->sites[j]->locpos, body->sites[j]->locquat, body->locpos, body->locquat);
+      changeframe(body->sites[j]->pos, body->sites[j]->quat, body->pos, body->quat);
     }
 
     //------------- remove from global body list, reduce global counts
@@ -3223,10 +3218,10 @@ bool mjCModel::CopyBack(const mjModel* m) {
   for (int i=0; i<nbody; i++) {
     pb = bodies[i];
 
-    copyvec(pb->locpos, m->body_pos+3*i, 3);
-    copyvec(pb->locquat, m->body_quat+4*i, 4);
-    copyvec(pb->locipos, m->body_ipos+3*i, 3);
-    copyvec(pb->lociquat, m->body_iquat+4*i, 4);
+    copyvec(pb->pos, m->body_pos+3*i, 3);
+    copyvec(pb->quat, m->body_quat+4*i, 4);
+    copyvec(pb->ipos, m->body_ipos+3*i, 3);
+    copyvec(pb->iquat, m->body_iquat+4*i, 4);
     pb->mass = (double)m->body_mass[i];
     copyvec(pb->inertia, m->body_inertia+3*i, 3);
 
@@ -3241,8 +3236,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
     pj = joints[i];
 
     // joint data
-    copyvec(pj->locpos, m->jnt_pos+3*i, 3);
-    copyvec(pj->locaxis, m->jnt_axis+3*i, 3);
+    copyvec(pj->pos, m->jnt_pos+3*i, 3);
+    copyvec(pj->axis, m->jnt_axis+3*i, 3);
     pj->stiffness = (double)m->jnt_stiffness[i];
     copyvec(pj->range, m->jnt_range+2*i, 2);
     copyvec(pj->solref_limit, m->jnt_solref+mjNREF*i, mjNREF);
@@ -3268,8 +3263,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
     pg = geoms[i];
 
     copyvec(pg->size, m->geom_size+3*i, 3);
-    copyvec(pg->locpos, m->geom_pos+3*i, 3);
-    copyvec(pg->locquat, m->geom_quat+4*i, 4);
+    copyvec(pg->pos, m->geom_pos+3*i, 3);
+    copyvec(pg->quat, m->geom_quat+4*i, 4);
     copyvec(pg->friction, m->geom_friction+3*i, 3);
     copyvec(pg->solref, m->geom_solref+mjNREF*i, mjNREF);
     copyvec(pg->solimp, m->geom_solimp+mjNIMP*i, mjNIMP);
@@ -3295,8 +3290,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
   // sites
   for (int i=0; i<nsite; i++) {
     copyvec(sites[i]->size, m->site_size + 3 * i, 3);
-    copyvec(sites[i]->locpos, m->site_pos+3*i, 3);
-    copyvec(sites[i]->locquat, m->site_quat+4*i, 4);
+    copyvec(sites[i]->pos, m->site_pos+3*i, 3);
+    copyvec(sites[i]->quat, m->site_quat+4*i, 4);
     copyvec(sites[i]->rgba, m->site_rgba+4*i, 4);
 
     if (nuser_site) {
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 4530b661..3d7ef0b8 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -559,12 +559,8 @@ mjCBody::mjCBody(mjCModel* _model) {
   mocap = false;
   mjuu_setvec(quat, 1, 0, 0, 0);
   mjuu_setvec(iquat, 1, 0, 0, 0);
-  mjuu_setvec(locquat, 1, 0, 0, 0);
-  mjuu_setvec(lociquat, 1, 0, 0, 0);
   mjuu_zerovec(pos+1, 2);
   mjuu_zerovec(ipos+1, 2);
-  mjuu_zerovec(locpos, 3);
-  mjuu_zerovec(locipos, 3);
   mass = 0;
   mjuu_setvec(inertia, 0, 0, 0);
   parentid = -1;
@@ -896,13 +892,6 @@ void mjCBody::GeomFrame(void) {
 
 
 
-// setup child local frame: pos
-void mjCBody::MakeLocal(double* _locpos, double* _locquat,
-                        const double* _pos, const double* _quat) {
-  mjuu_copyvec(_locpos, _pos, 3);
-  mjuu_copyvec(_locquat, _quat, 4);
-}
-
 // set explicitinertial to true
 void mjCBody::MakeInertialExplicit() {
   explicitinertial = true;
@@ -1007,21 +996,6 @@ void mjCBody::Compile(void) {
     mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
   }
 
-  // compute local frame rel. to parent body
-  if (id>0) {
-    model->bodies[parentid]->MakeLocal(locpos, locquat, pos, quat);
-  }
-
-  // make local inertial frame relative to this body
-  if (id>0) {
-    MakeLocal(locipos, lociquat, ipos, iquat);
-  }
-
-  // make local frames of geoms
-  for (int i=0; i<geoms.size(); i++) {
-    MakeLocal(geoms[i]->locpos, geoms[i]->locquat, geoms[i]->pos, geoms[i]->quat);
-  }
-
   // accumulate rbound, contype, conaffinity over geoms
   contype = conaffinity = 0;
   margin = 0;
@@ -1071,9 +1045,9 @@ void mjCBody::Compile(void) {
   // compute body global pose (no joint transformations in qpos0)
   if (id>0) {
     mjCBody* par = model->bodies[parentid];
-    mju_rotVecQuat(xpos0, locpos, par->xquat0);
+    mju_rotVecQuat(xpos0, pos, par->xquat0);
     mju_addTo3(xpos0, par->xpos0);
-    mju_mulQuat(xquat0, par->xquat0, locquat);
+    mju_mulQuat(xquat0, par->xquat0, quat);
   }
 
   // compile all sites
@@ -1168,8 +1142,6 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
 
   // clear internal variables
   body = 0;
-  mjuu_setvec(locpos, 0, 0, 0);
-  mjuu_setvec(locaxis, 0, 0, 1);
   urdfeffort = -1;
 
   // reset to default if given
@@ -1287,20 +1259,13 @@ int mjCJoint::Compile(void) {
   }
 
   // compute local position
-  if (type!=mjJNT_FREE) {
+  if (type == mjJNT_FREE) {
+    mjuu_zerovec(pos, 3);
+  } else if (frame) {
     double qunit[4] = {1, 0, 0, 0};
-    double qloc[4];
-    if (frame) {
-      mjuu_frameaccum(pos, qunit, frame->pos, frame->quat);
-    }
-    body->MakeLocal(locpos, qloc, pos, qunit);
-  } else {
-    mjuu_zerovec(locpos, 3);
+    mjuu_frameaccum(pos, qunit, frame->pos, frame->quat);
   }
 
-  // copy axis to local
-  mjuu_copyvec(locaxis, axis, 3);
-
   // convert reference angles to radians for hinge joints
   if (type==mjJNT_HINGE && model->degree) {
     ref *= mjPI/180.0;
@@ -1364,8 +1329,6 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
   // clear internal variables
   mjuu_setvec(quat, 1, 0, 0, 0);
   mjuu_setvec(pos, 0, 0, 0);
-  mjuu_setvec(locpos, 0, 0, 0);
-  mjuu_setvec(locquat, 1, 0, 0, 0);
   mass = 0;
   mjuu_setvec(inertia, 0, 0, 0);
   body = 0;
@@ -1940,8 +1903,6 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
   // clear internal variables
   material.clear();
   body = 0;
-  mjuu_setvec(locpos, 0, 0, 0);
-  mjuu_setvec(locquat, 1, 0, 0, 0);
   matid = -1;
 
   // reset to default if given
@@ -2037,9 +1998,6 @@ void mjCSite::Compile(void) {
 
   // check size parameters
   checksize(size, type, this, name.c_str(), id);
-
-  // ask parent body to compute our local pos and quat relative to itself
-  body->MakeLocal(locpos, locquat, pos, quat);
 }
 
 
@@ -2066,8 +2024,6 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
 
   // clear private variables
   body = 0;
-  mjuu_setvec(locpos, 0, 0, 0);
-  mjuu_setvec(locquat, 1, 0, 0, 0);
   targetbodyid = -1;
 
   // reset to default if given
@@ -2105,9 +2061,6 @@ void mjCCamera::Compile(void) {
   // normalize quaternion
   mjuu_normvec(quat, 4);
 
-  // ask parent body to compute our local pos and quat relative to itself
-  body->MakeLocal(locpos, locquat, pos, quat);
-
   // get targetbodyid
   if (!targetbody.empty()) {
     mjCBody* tb = (mjCBody*)model->FindObject(mjOBJ_BODY, targetbody);
@@ -2186,8 +2139,6 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
 
   // clear private variables
   body = 0;
-  mjuu_setvec(locpos, 0, 0, 0);
-  mjuu_setvec(locdir, 0, 0, 0);
   targetbodyid = -1;
 
   // reset to default if given
@@ -2204,7 +2155,7 @@ mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
 
 // compiler
 void mjCLight::Compile(void) {
-  double locquat[4], quat[4]= {1, 0, 0, 0};
+  double quat[4]= {1, 0, 0, 0};
 
   // frame
   if (frame) {
@@ -2216,12 +2167,6 @@ void mjCLight::Compile(void) {
     throw mjCError(this, "zero direction in light '%s' (id = %d)", name.c_str(), id);
   }
 
-  // ask parent body to compute our local pos and quat relative to itself
-  body->MakeLocal(locpos, locquat, pos, quat);
-
-  // copy dir to local frame
-  mjuu_copyvec(locdir, dir, 3);
-
   // get targetbodyid
   if (!targetbody.empty()) {
     mjCBody* tb = (mjCBody*)model->FindObject(mjOBJ_BODY, targetbody);
@@ -3417,7 +3362,6 @@ void mjCEquality::Compile(void) {
   mjtObj objtype;
   mjCBase *px1, *px2;
   mjtJoint jt1, jt2;
-  double anchor[3], qdummy[4], qunit[4] = {1, 0, 0, 0};
 
   // determine object type
   if (type==mjEQ_CONNECT || type==mjEQ_WELD) {
@@ -3484,17 +3428,6 @@ void mjCEquality::Compile(void) {
                      name.c_str(), id);
     }
   }
-
-  // connect: convert anchor to body1 local coordinates
-  if (type==mjEQ_CONNECT) {
-    ((mjCBody*)px1)->MakeLocal(anchor, qdummy, data, qunit);
-    mjuu_copyvec(data, anchor, 3);
-  } else if (type==mjEQ_WELD) {
-    if (px2) {
-      ((mjCBody*)px2)->MakeLocal(anchor, qdummy, data, qunit);
-      mjuu_copyvec(data, anchor, 3);
-    }
-  }
 }
 
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 9be6ae73..ab9a1aa9 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -232,9 +232,6 @@ class mjCBody : public mjCBase {
   mjCBase* GetObject(mjtObj type, int id);
   mjCBase* FindObject(mjtObj type, std::string name, bool recursive = true);
 
-  // setup child local frame, take into account change
-  void MakeLocal(double* locpos, double* locquat, const double* pos, const double* quat);
-
   // set explicitinertial to true
   void MakeInertialExplicit();
 
@@ -259,10 +256,6 @@ class mjCBody : public mjCBase {
 
   void GeomFrame(void);               // get inertial info from geoms
 
-  double locpos[3];               // position relative to parent
-  double locquat[4];              // orientation relative to parent
-  double locipos[3];              // inertial position frame, rel. to local frame
-  double lociquat[4];             // inertial frame orientation
   int parentid;                   // parent index in global array
   int weldid;                     // top index of body we are welded to
   int dofnum;                     // number of motion dofs for body
@@ -359,8 +352,6 @@ class mjCJoint : public mjCBase {
   int Compile(void);                  // compiler; return dofnum
 
   mjCBody* body;                  // joint's body
-  double locpos[3];               // anchor position in child or parent
-  double locaxis[3];              // joint axis in child or parent
 };
 
 
@@ -436,8 +427,6 @@ class mjCGeom : public mjCBase {
   int hfieldid;                   // id of geom's hfield (-1: none)
   double mass;                    // mass
   double inertia[3];              // local diagonal inertia
-  double locpos[3];               // local position
-  double locquat[4];              // local orientation
   double aabb[6];                 // axis-aligned bounding box (center, size)
   mjCBody* body;                  // geom's body
 };
@@ -473,8 +462,6 @@ class mjCSite : public mjCBase {
   void Compile(void);                     // compiler
 
   mjCBody* body;                  // site's body
-  double locpos[3];               // local position
-  double locquat[4];              // local orientation
   int matid;                      // material id for rendering
 };
 
@@ -512,8 +499,6 @@ class mjCCamera : public mjCBase {
   void Compile(void);                     // compiler
 
   mjCBody* body;                  // camera's body
-  double locpos[3];               // local position
-  double locquat[4];              // local orientation
   int targetbodyid;               // id of target body; -1: none
 };
 
@@ -549,8 +534,6 @@ class mjCLight : public mjCBase {
   void Compile(void);                     // compiler
 
   mjCBody* body;                  // light's body
-  double locpos[3];               // local position
-  double locdir[3];               // local direction
   int targetbodyid;               // id of target body; -1: none
 };
 
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index f33baddb..63d22b72 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -280,10 +280,10 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
     WriteAttrTxt(elem, "name", pjoint->name);
     WriteAttrTxt(elem, "class", pjoint->classname);
     if (pjoint->type != mjJNT_FREE) {
-      WriteAttr(elem, "pos", 3, pjoint->locpos);
+      WriteAttr(elem, "pos", 3, pjoint->pos);
     }
     if (pjoint->type != mjJNT_FREE && pjoint->type != mjJNT_BALL) {
-      WriteAttr(elem, "axis", 3, pjoint->locaxis);
+      WriteAttr(elem, "axis", 3, pjoint->axis);
     }
   }
 
@@ -350,12 +350,12 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
       mjCMesh* pmesh = model->meshes[pgeom->meshid];
 
       // write pos/quat if there is a difference
-      if (!SameVector(pgeom->locpos, pmesh->GetPosPtr(pgeom->typeinertia), 3) ||
-          !SameVector(pgeom->locquat, pmesh->GetQuatPtr(pgeom->typeinertia), 4)) {
+      if (!SameVector(pgeom->pos, pmesh->GetPosPtr(pgeom->typeinertia), 3) ||
+          !SameVector(pgeom->quat, pmesh->GetQuatPtr(pgeom->typeinertia), 4)) {
         // recover geom pos/quat before mesh frame transformation
         double p[3], q[4];
-        mjuu_copyvec(p, pgeom->locpos, 3);
-        mjuu_copyvec(q, pgeom->locquat, 4);
+        mjuu_copyvec(p, pgeom->pos, 3);
+        mjuu_copyvec(q, pgeom->quat, 4);
         mjuu_frameaccuminv(p, q, pmesh->GetPosPtr(pgeom->typeinertia),
                            pmesh->GetQuatPtr(pgeom->typeinertia));
 
@@ -367,8 +367,8 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
 
     // non-mesh geom
     else {
-      WriteAttr(elem, "pos", 3, pgeom->locpos, unitq+1);
-      WriteAttr(elem, "quat", 4, pgeom->locquat, unitq);
+      WriteAttr(elem, "pos", 3, pgeom->pos, unitq+1);
+      WriteAttr(elem, "quat", 4, pgeom->quat, unitq);
     }
   } else {
     WriteAttr(elem, "size", 3, pgeom->size, def->geom.size);
@@ -432,8 +432,8 @@ void mjXWriter::OneSite(XMLElement* elem, mjCSite* psite, mjCDef* def) {
   if (!writingdefaults) {
     WriteAttrTxt(elem, "name", psite->name);
     WriteAttrTxt(elem, "class", psite->classname);
-    WriteAttr(elem, "pos", 3, psite->locpos);
-    WriteAttr(elem, "quat", 4, psite->locquat, unitq);
+    WriteAttr(elem, "pos", 3, psite->pos);
+    WriteAttr(elem, "quat", 4, psite->quat, unitq);
     if (mjGEOMINFO[psite->type]) {
       WriteAttr(elem, "size", mjGEOMINFO[psite->type], psite->size, def->site.size);
     }
@@ -468,8 +468,8 @@ void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) {
     WriteAttrTxt(elem, "name", pcam->name);
     WriteAttrTxt(elem, "class", pcam->classname);
     WriteAttrTxt(elem, "target", pcam->targetbody);
-    WriteAttr(elem, "pos", 3, pcam->locpos);
-    WriteAttr(elem, "quat", 4, pcam->locquat, unitq);
+    WriteAttr(elem, "pos", 3, pcam->pos);
+    WriteAttr(elem, "quat", 4, pcam->quat, unitq);
   }
 
   // defaults and regular
@@ -508,8 +508,8 @@ void mjXWriter::OneLight(XMLElement* elem, mjCLight* plight, mjCDef* def) {
     WriteAttrTxt(elem, "name", plight->name);
     WriteAttrTxt(elem, "class", plight->classname);
     WriteAttrTxt(elem, "target", plight->targetbody);
-    WriteAttr(elem, "pos", 3, plight->locpos);
-    WriteAttr(elem, "dir", 3, plight->locdir);
+    WriteAttr(elem, "pos", 3, plight->pos);
+    WriteAttr(elem, "dir", 3, plight->dir);
   }
 
   // defaults and regular
@@ -1466,10 +1466,10 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
     WriteAttrTxt(elem, "childclass", body->classname);
 
     // write pos if it's not {0, 0, 0}
-    if (body->locpos[0] || body->locpos[1] || body->locpos[2]) {
-      WriteAttr(elem, "pos", 3, body->locpos);
+    if (body->pos[0] || body->pos[1] || body->pos[2]) {
+      WriteAttr(elem, "pos", 3, body->pos);
     }
-    WriteAttr(elem, "quat", 4, body->locquat, unitq);
+    WriteAttr(elem, "quat", 4, body->quat, unitq);
     if (body->mocap) {
       WriteAttrKey(elem, "mocap", bool_map, 2, 1);
     }
@@ -1485,8 +1485,8 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
     if (body->explicitinertial &&
         model->inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
       XMLElement* inertial = InsertEnd(elem, "inertial");
-      WriteAttr(inertial, "pos", 3, body->locipos);
-      WriteAttr(inertial, "quat", 4, body->lociquat, unitq);
+      WriteAttr(inertial, "pos", 3, body->ipos);
+      WriteAttr(inertial, "quat", 4, body->iquat, unitq);
       WriteAttr(inertial, "mass", 1, &body->mass);
       WriteAttr(inertial, "diaginertia", 3, body->inertia);
     }
@@ -2036,9 +2036,9 @@ void mjXWriter::Keyframe(XMLElement* root) {
         if (model->bodies[j]->mocap) {
           mjCBody* pb = model->bodies[j];
           int id = pb->mocapid;
-          if (pb->locpos[0] != pk->mpos[3*id] ||
-              pb->locpos[1] != pk->mpos[3*id+1] ||
-              pb->locpos[2] != pk->mpos[3*id+2]) {
+          if (pb->pos[0] != pk->mpos[3*id] ||
+              pb->pos[1] != pk->mpos[3*id+1] ||
+              pb->pos[2] != pk->mpos[3*id+2]) {
             WriteAttr(elem, "mpos", 3*model->nmocap, pk->mpos.data());
             change = true;
             break;
@@ -2053,10 +2053,10 @@ void mjXWriter::Keyframe(XMLElement* root) {
         if (model->bodies[j]->mocap) {
           mjCBody* pb = model->bodies[j];
           int id = pb->mocapid;
-          if (pb->locquat[0] != pk->mquat[4*id] ||
-              pb->locquat[1] != pk->mquat[4*id+1] ||
-              pb->locquat[2] != pk->mquat[4*id+2] ||
-              pb->locquat[3] != pk->mquat[4*id+3]) {
+          if (pb->quat[0] != pk->mquat[4*id] ||
+              pb->quat[1] != pk->mquat[4*id+1] ||
+              pb->quat[2] != pk->mquat[4*id+2] ||
+              pb->quat[3] != pk->mquat[4*id+3]) {
             WriteAttr(elem, "mquat", 4*model->nmocap, pk->mquat.data());
             change = true;
             break;

From 37bb03f4354610d92561a85dff085426c3019e57 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 27 Nov 2023 06:23:11 -0800
Subject: [PATCH 020/121] Move humanoid geoms to group 1

PiperOrigin-RevId: 585632746
Change-Id: I832804b9c0d090506c3b4ed5c0eeeb5e4cae412a
---
 model/humanoid/humanoid.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/model/humanoid/humanoid.xml b/model/humanoid/humanoid.xml
index 3f2f7436..31cde3ed 100644
--- a/model/humanoid/humanoid.xml
+++ b/model/humanoid/humanoid.xml
@@ -37,7 +37,7 @@
     <default class="body">
 
       <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
+      <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>

From 35c90844ae8fbebf287bc738ce5db766a112c553 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Mon, 27 Nov 2023 10:27:20 -0800
Subject: [PATCH 021/121] Add sites to MJX.

PiperOrigin-RevId: 585691582
Change-Id: I6cc594daf436231f91534f137ff259e7b39811d9
---
 doc/changelog.rst                  |  5 +++++
 mjx/mujoco/mjx/_src/device.py      |  2 ++
 mjx/mujoco/mjx/_src/io.py          |  2 ++
 mjx/mujoco/mjx/_src/smooth.py      | 17 ++++++++++-----
 mjx/mujoco/mjx/_src/smooth_test.py | 35 ++++++++++++++++++++++++++++++
 mjx/mujoco/mjx/_src/types.py       | 12 ++++++++++
 6 files changed, 68 insertions(+), 5 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 64ff3ec4..57802a76 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -23,6 +23,11 @@ Plugins
 - Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
   configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
 
+MJX
+^^^
+
+- Added ``site_xpos`` and ``site_xmat`` to MJX.
+
 Bug fixes
 ^^^^^^^^^
 - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
diff --git a/mjx/mujoco/mjx/_src/device.py b/mjx/mujoco/mjx/_src/device.py
index c39860ef..ffd687b8 100644
--- a/mjx/mujoco/mjx/_src/device.py
+++ b/mjx/mujoco/mjx/_src/device.py
@@ -67,6 +67,7 @@ _TRANSFORMS = {
     (types.Data, 'ximat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
     (types.Data, 'xmat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
     (types.Data, 'geom_xmat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
+    (types.Data, 'site_xmat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
     (types.Model, 'actuator_trnid'): lambda x: x[:, 0],
     (types.Contact, 'frame'): (
         lambda x: x.reshape(x.shape[:-1] + (3, 3))  # pylint: disable=g-long-lambda
@@ -78,6 +79,7 @@ _INVERSE_TRANSFORMS = {
     (types.Data, 'ximat'): lambda x: x.reshape(x.shape[:-2] + (9,)),
     (types.Data, 'xmat'): lambda x: x.reshape(x.shape[:-2] + (9,)),
     (types.Data, 'geom_xmat'): lambda x: x.reshape(x.shape[:-2] + (9,)),
+    (types.Data, 'site_xmat'): lambda x: x.reshape(x.shape[:-2] + (9,)),
     (types.Contact, 'frame'): (
         lambda x: x.reshape(x.shape[:-2] + (9,))  # pylint: disable=g-long-lambda
         if x is not None and x.shape[0] else jp.zeros((0, 9))
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 67e50a7e..55381f41 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -56,6 +56,8 @@ def make_data(m: Model) -> Data:
       xaxis=jp.zeros((m.njnt, 3), dtype=jp.float32),
       geom_xpos=jp.zeros((m.ngeom, 3), dtype=jp.float32),
       geom_xmat=jp.zeros((m.ngeom, 3, 3), dtype=jp.float32),
+      site_xpos=jp.zeros((m.nsite, 3), dtype=jp.float32),
+      site_xmat=jp.zeros((m.nsite, 3, 3), dtype=jp.float32),
       subtree_com=jp.zeros((m.nbody, 3), dtype=jp.float32),
       cdof=jp.zeros((m.nv, 6), dtype=jp.float32),
       cinert=jp.zeros((m.nbody, 10), dtype=jp.float32),
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 2b421f2f..624291d8 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -101,13 +101,20 @@ def kinematics(m: Model, d: Data) -> Data:
 
   # TODO(erikfrey): confirm that quats are more performant for mjx than mats
   xipos, ximat = local_to_global(xpos, xquat, m.body_ipos, m.body_iquat)
-  geom_xpos, geom_xmat = local_to_global(
-      xpos[m.geom_bodyid], xquat[m.geom_bodyid], m.geom_pos, m.geom_quat
-  )
-
   d = d.replace(qpos=qpos, xanchor=xanchor, xaxis=xaxis, xpos=xpos)
   d = d.replace(xquat=xquat, xmat=xmat, xipos=xipos, ximat=ximat)
-  d = d.replace(geom_xpos=geom_xpos, geom_xmat=geom_xmat)
+
+  if m.ngeom:
+    geom_xpos, geom_xmat = local_to_global(
+        xpos[m.geom_bodyid], xquat[m.geom_bodyid], m.geom_pos, m.geom_quat
+    )
+    d = d.replace(geom_xpos=geom_xpos, geom_xmat=geom_xmat)
+
+  if m.nsite:
+    site_xpos, site_xmat = local_to_global(
+        xpos[m.site_bodyid], xquat[m.site_bodyid], m.site_pos, m.site_quat
+    )
+    d = d.replace(site_xpos=site_xpos, site_xmat=site_xmat)
 
   return d
 
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 9e518672..bd9348bb 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -162,5 +162,40 @@ class DisableGravityTest(absltest.TestCase):
     )
 
 
+class SiteTest(absltest.TestCase):
+
+  def test_site(self):
+    """Tests that site positions and orientations match MuJoCo."""
+    m = mujoco.MjModel.from_xml_string("""
+      <mujoco>
+        <worldbody>
+          <site name="origin"/>
+          <body>
+            <joint type="free"/>
+            <geom pos="1 0 1" type="box" size="0.1 0.01 0.01"/>
+            <site name="s1" pos="1.3 0 0"/>     <!-- pos only -->
+            <site name="s2"/>                   <!-- no pos, no quat -->
+            <site name="s3" quat="1 0 1 0"/>    <!- quat only -->
+            <site name="s4" pos="0 1.5 0" quat="1 0 1 0"/>
+            <site name="s5" pos="1 0 1"/>       <!-- same as ipos -->
+            <site/>
+          </body>
+        </worldbody>
+      </mujoco>
+      """)
+    d = mujoco.MjData(m)
+
+    mx = mjx.device_put(m)
+    dx = mjx.device_put(d)
+
+    mujoco.mj_forward(m, d)
+    dx = mjx.forward(mx, dx)
+
+    np.testing.assert_array_almost_equal(dx.site_xpos, d.site_xpos)
+    np.testing.assert_array_almost_equal(
+        dx.site_xmat, d.site_xmat.reshape((-1, 3, 3))
+    )
+
+
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 5875ad7b..963109e6 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -260,6 +260,7 @@ class Model(PyTreeNode):
     nbody: number of bodies
     njnt: number of joints
     ngeom: number of geoms
+    nsite: number of sites
     nmesh: number of meshes
     npair: number of predefined geom pairs
     nexclude: number of excluded geom pairs
@@ -327,6 +328,9 @@ class Model(PyTreeNode):
     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,)
+    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)
     geom_convex_face: vertex face data, MJX only              (ngeom,)
     geom_convex_vert: vertex data, MJX only                   (ngeom,)
     geom_convex_edge: unique edge data, MJX only              (ngeom,)
@@ -377,6 +381,7 @@ class Model(PyTreeNode):
   nbody: int
   njnt: int
   ngeom: int
+  nsite: int
   nmesh: int
   npair: int
   nexclude: int
@@ -444,6 +449,9 @@ class Model(PyTreeNode):
   geom_friction: jax.Array
   geom_margin: jax.Array
   geom_gap: jax.Array
+  site_bodyid: np.ndarray
+  site_pos: jax.Array
+  site_quat: jax.Array
   pair_dim: np.ndarray
   pair_geom1: np.ndarray
   pair_geom2: np.ndarray
@@ -569,6 +577,8 @@ class Data(PyTreeNode):
     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, 9)
     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)
@@ -631,6 +641,8 @@ class Data(PyTreeNode):
   xaxis: jax.Array
   geom_xpos: jax.Array
   geom_xmat: jax.Array
+  site_xpos: jax.Array
+  site_xmat: jax.Array
   subtree_com: jax.Array
   cdof: jax.Array
   cinert: jax.Array

From 6412c95a373ecef04170ec9592bebee037cf5228 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 27 Nov 2023 10:31:12 -0800
Subject: [PATCH 022/121] Remove the use of plugin_state from PID plugin.

The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.

PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
---
 plugin/actuator/README.md |  4 +---
 plugin/actuator/pid.cc    | 11 ++---------
 2 files changed, 3 insertions(+), 12 deletions(-)

diff --git a/plugin/actuator/README.md b/plugin/actuator/README.md
index 534bb61e..80676921 100644
--- a/plugin/actuator/README.md
+++ b/plugin/actuator/README.md
@@ -50,6 +50,4 @@ The available options are:
 :         :        :                                                                                                                                     :
 :         :        :If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]`  :
 :         :        :                                                                                                                                     :
-:         :        :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. One state variable will :
-:         :        :be added to `mjData.plugin_state`, to indicate whether the previous value of `ctrl` should be used (0 on first step, 1           :
-:         :        :otherwise).                                                                                                                          :
+:         :        :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`.                         :
diff --git a/plugin/actuator/pid.cc b/plugin/actuator/pid.cc
index 6b20c0aa..54260fe0 100644
--- a/plugin/actuator/pid.cc
+++ b/plugin/actuator/pid.cc
@@ -128,9 +128,6 @@ std::unique_ptr<Pid> Pid::Create(const mjModel* m, int instance) {
 void Pid::Reset(mjtNum* plugin_state) {
   integral_ = 0.0;
   previous_ctrl_ = 0.0;
-  if (config_.slew_max.has_value()) {
-    plugin_state[0] = false;  // previous_ctrl_exists
-  }
 }
 
 mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, const State& state,
@@ -208,15 +205,11 @@ void Pid::Compute(const mjModel* m, mjData* d, int instance) {
 }
 
 void Pid::Advance(const mjModel* m, mjData* d, int instance) const {
-  if (config_.slew_max.has_value()) {
-    // previous_ctrl_exists = true
-    d->plugin_state[m->plugin_stateadr[instance]] = true;
-  }
   // act variables already updated by MuJoCo integrating act_dot
 }
 
 int Pid::StateSize(const mjModel* m, int instance) {
-  return HasSlew(m, instance) ? 1 : 0;
+  return 0;
 }
 
 int Pid::ActDim(const mjModel* m, int instance, int actuator_id) {
@@ -232,7 +225,7 @@ Pid::State Pid::GetState(const mjModel* m, mjData* d, int instance) const {
   }
   if (config_.slew_max.has_value()) {
     state.previous_ctrl = d->act[state_idx++];
-    state.previous_ctrl_exists = d->plugin_state[m->plugin_stateadr[instance]];
+    state.previous_ctrl_exists = d->time > 0;
   }
   return state;
 }

From 51d80564faadb4b81430adf067c1f7ecfd2719a4 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 27 Nov 2023 11:00:28 -0800
Subject: [PATCH 023/121] Don't initialize plugins during model compilation.

PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
---
 src/engine/engine_io.c        | 114 +++++++++++++++++++++++-----------
 src/engine/engine_io.h        |   7 ++-
 src/user/user_model.cc        |  15 ++++-
 test/engine/engine_io_test.cc |  98 -----------------------------
 4 files changed, 95 insertions(+), 139 deletions(-)

diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 617785ec..4b1ae161 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -415,6 +415,7 @@ static void mj_setPtrModel(mjModel* m) {
 }
 
 
+
 // increases buffer size without causing integer overflow, returns 0 if
 // operation would cause overflow
 // performs the following operations:
@@ -595,6 +596,8 @@ mjModel* mj_makeModel(
   return m;
 }
 
+
+
 // copy mjModel, if dest==NULL create new model
 mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
   void* save_bufptr;
@@ -1094,8 +1097,25 @@ static void mj_setPtrData(const mjModel* m, mjData* d) {
 
 
 
-// allocate and initialize mjData structure
-static mjData* _makeData(const mjModel* m) {
+// initialize plugins, copy into d (required for deletion)
+static void _initPlugin(const mjModel* m, mjData* d) {
+  d->nplugin = m->nplugin;
+  for (int i = 0; i < m->nplugin; ++i) {
+    d->plugin[i] = m->plugin[i];
+    const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
+    if (plugin->init && plugin->init(m, d, i) < 0) {
+      mju_free(d->buffer);
+      mju_free(d->arena);
+      mju_free(d);
+      mjERROR("plugin->init failed for plugin id %d", i);
+    }
+  }
+}
+
+
+
+// allocate and initialize raw mjData structure
+mjData* mj_makeRawData(const mjModel* m) {
   intptr_t offset = 0;
 
   // allocate mjData
@@ -1138,38 +1158,32 @@ static mjData* _makeData(const mjModel* m) {
     mjERROR("could not allocate mjData arena");
   }
 
-  // set pointers into buffer, reset data
+  // set pointers into buffer
   mj_setPtrData(m, d);
 
-  // copy plugins into d, required for deletion
-  d->nplugin = m->nplugin;
-  for (int i = 0; i < m->nplugin; ++i) {
-    d->plugin[i] = m->plugin[i];
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
-    if (plugin->init) {
-      if (plugin->init(m, d, i) < 0) {
-        mju_free(d->buffer);
-        mju_free(d->arena);
-        mju_free(d);
-        mjERROR("plugin->init failed for plugin id %d", i);
-      }
-    }
-  }
-
+  // clear threadpool
   d->threadpool = 0;
 
+  // clear nplugin (overwritten by _initPlugin)
+  d->nplugin = 0;
+
   return d;
 }
 
+
+
+// allocate and initialize mjData structure
 mjData* mj_makeData(const mjModel* m) {
-  mjData* d = _makeData(m);
+  mjData* d = mj_makeRawData(m);
   if (d) {
+    _initPlugin(m, d);
     mj_resetData(m, d);
   }
   return d;
 }
 
 
+
 // copy mjData, if dest==NULL create new data
 mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
   void* save_buffer;
@@ -1177,7 +1191,8 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
 
   // allocate new data if needed
   if (!dest) {
-    dest = _makeData(m);
+    dest = mj_makeRawData(m);
+    _initPlugin(m, dest);
   }
 
   // check sizes
@@ -1252,6 +1267,7 @@ mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
 }
 
 
+
 static void maybe_lock_alloc_mutex(mjData* d) {
   if (d->threadpool != 0) {
     mju_threadPoolLockAllocMutex((mjThreadPool*)d->threadpool);
@@ -1264,7 +1280,6 @@ static void maybe_unlock_alloc_mutex(mjData* d) {
   }
 }
 
-
 // allocate memory from the mjData arena
 void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
   maybe_lock_alloc_mutex(d);
@@ -1366,6 +1381,7 @@ static inline void* stackallocinternal(mjData* d, mjStackInfo* stack_info, size_
 }
 
 
+
 static inline mjStackInfo get_stack_info_from_data(mjData* d) {
   mjStackInfo stack_info;
   stack_info.bottom = (uintptr_t)d->arena + (uintptr_t)d->narena;
@@ -1377,6 +1393,7 @@ static inline mjStackInfo get_stack_info_from_data(mjData* d) {
 }
 
 
+
 // internal: allocate size bytes in mjData
 // declared inline so that modular arithmetic with specific alignments can be optimized out
 static inline void* stackalloc(mjData* d, size_t size, size_t alignment) {
@@ -1396,6 +1413,7 @@ static inline void* stackalloc(mjData* d, size_t size, size_t alignment) {
 }
 
 
+
 // mjStackInfo mark stack frame, inline so ASAN errors point to correct code unit
 #ifdef ADDRESS_SANITIZER
 __attribute__((always_inline))
@@ -1414,6 +1432,7 @@ static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
 }
 
 
+
 // mjData mark stack frame
 #ifdef ADDRESS_SANITIZER
 __attribute__((noinline))
@@ -1432,6 +1451,8 @@ void mj_markStack(mjData* d) {
   markstackinternal(d, stack_info);
 }
 
+
+
 #ifdef ADDRESS_SANITIZER
 __attribute__((always_inline))
 #endif
@@ -1466,6 +1487,7 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
 }
 
 
+
 // mjData free stack frame
 #ifdef ADDRESS_SANITIZER
 __attribute__((noinline))
@@ -1484,14 +1506,23 @@ void mj_freeStack(mjData* d) {
   freestackinternal(stack_info);
 }
 
+
+
+// allocate bytes on the stack
 void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment) {
   return stackalloc(d, bytes, alignment);
 }
 
+
+
+// allocate mjtNums on the stack
 mjtNum* mj_stackAllocNum(mjData* d, int size) {
   return (mjtNum*) stackalloc(d, size * sizeof(mjtNum), _Alignof(mjtNum));
 }
 
+
+
+// allocate ints on the stack
 int* mj_stackAllocInt(mjData* d, int size) {
   return (int*) stackalloc(d, size * sizeof(int), _Alignof(int));
 }
@@ -1501,10 +1532,14 @@ int* mj_stackAllocInt(mjData* d, int size) {
 // clear data, set defaults
 static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   //------------------------------ save plugin state and data
-  mjtNum* plugin_state = mju_malloc(sizeof(mjtNum) * m->npluginstate);
-  memcpy(plugin_state, d->plugin_state, sizeof(mjtNum) * m->npluginstate);
-  uintptr_t* plugindata = mju_malloc(sizeof(uintptr_t) * m->nplugin);
-  memcpy(plugindata, d->plugin_data, sizeof(uintptr_t) * m->nplugin);
+  mjtNum* plugin_state;
+  uintptr_t* plugindata;
+  if (d->nplugin) {
+    plugin_state = mju_malloc(sizeof(mjtNum) * m->npluginstate);
+    memcpy(plugin_state, d->plugin_state, sizeof(mjtNum) * m->npluginstate);
+    plugindata = mju_malloc(sizeof(uintptr_t) * m->nplugin);
+    memcpy(plugindata, d->plugin_data, sizeof(uintptr_t) * m->nplugin);
+  }
 
   //------------------------------ clear header
 
@@ -1627,18 +1662,20 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   }
 
   // restore pluginstate and plugindata
-  memcpy(d->plugin_state, plugin_state, sizeof(mjtNum) * m->npluginstate);
-  mju_free(plugin_state);
-  memcpy(d->plugin_data, plugindata, sizeof(uintptr_t) * m->nplugin);
-  mju_free(plugindata);
+  if (d->nplugin) {
+    memcpy(d->plugin_state, plugin_state, sizeof(mjtNum) * m->npluginstate);
+    mju_free(plugin_state);
+    memcpy(d->plugin_data, plugindata, sizeof(uintptr_t) * m->nplugin);
+    mju_free(plugindata);
 
-  // restore the plugin array back into d and reset the instances
-  for (int i = 0; i < m->nplugin; ++i) {
-    d->plugin[i] = m->plugin[i];
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
-    if (plugin->reset) {
-      plugin->reset(m, &d->plugin_state[m->plugin_stateadr[i]],
-                    (void*)(d->plugin_data[i]), i);
+    // restore the plugin array back into d and reset the instances
+    for (int i = 0; i < m->nplugin; ++i) {
+      d->plugin[i] = m->plugin[i];
+      const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
+      if (plugin->reset) {
+        plugin->reset(m, &d->plugin_state[m->plugin_stateadr[i]],
+                      (void*)(d->plugin_data[i]), i);
+      }
     }
   }
 }
@@ -1699,6 +1736,7 @@ void mj_deleteData(mjData* d) {
 }
 
 
+
 // number of position and velocity coordinates for each joint type
 const int nPOS[4] = {7, 4, 1, 1};
 const int nVEL[4] = {6, 3, 1, 1};
@@ -1762,6 +1800,8 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
   return -1;
 }
 
+
+
 // returns the number of objects of the given type
 //   -1: mjOBJ_UNKNOWN
 //   -2: invalid objtype
@@ -1822,6 +1862,8 @@ static int numObjects(const mjModel* m, mjtObj objtype) {
   return -2;
 }
 
+
+
 // validate reference fields in a model; return null if valid, error message otherwise
 const char* mj_validateReferences(const mjModel* m) {
   // for each field in mjModel that refers to another field, call X with:
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index 16554fa7..6983990d 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -87,10 +87,13 @@ MJAPI const char* mj_validateReferences(const mjModel* m);
 
 //------------------------------- mjData -----------------------------------------------------------
 
-// Allocate mjData corresponding to given model.
-// If the model buffer is unallocated the initial configuration will not be set.
+// allocate mjData corresponding to given model, initialize plugins, reset the state
+// if the model buffer is unallocated the initial configuration will not be set
 MJAPI mjData* mj_makeData(const mjModel* m);
 
+// allocate mjData corresponding to given model, used internally
+MJAPI mjData* mj_makeRawData(const mjModel* m);
+
 // Copy mjData.
 // m is only required to contain the size fields from MJMODEL_INTS.
 MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 17c045b1..b3215aaa 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -32,7 +32,6 @@
 #include "engine/engine_io.h"
 #include "engine/engine_plugin.h"
 #include "engine/engine_setconst.h"
-#include "engine/engine_resource.h"
 #include "engine/engine_support.h"
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
@@ -3100,11 +3099,12 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // create data
   int disableflags = m->opt.disableflags;
   m->opt.disableflags |= mjDSBL_CONTACT;
-  d = mj_makeData(m);
+  d = mj_makeRawData(m);
   if (!d) {
     mj_deleteModel(m);
     throw mjCError(0, "could not create mjData");
   }
+  mj_resetData(m, d);
 
   // normalize keyframe quaternions
   for (int i=0; i<m->nkey; i++) {
@@ -3134,8 +3134,17 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     mj_deleteModel(m);
     throw mjCError(0, validationerr);
   }
+
+  // delete partial mjData (no plugins), make a complete one
+  mj_deleteData(d);
+  d = nullptr;
+  d = mj_makeData(m);
+  if (!d) {
+    mj_deleteModel(m);
+    throw mjCError(0, "could not create mjData");
+  }
+
   // test forward simulation
-  mj_resetData(m, d);
   mj_step(m, d);
 
   // delete data
diff --git a/test/engine/engine_io_test.cc b/test/engine/engine_io_test.cc
index 8a1c2439..4a6de471 100644
--- a/test/engine/engine_io_test.cc
+++ b/test/engine/engine_io_test.cc
@@ -44,16 +44,6 @@ using ::testing::NotNull;
 
 using EngineIoTest = MujocoTest;
 
-// Return an mjModel with just the ints set.
-mjModel PartialModel(const mjModel* m) {
-  mjModel partial_model = {0};
-  #define X(var) partial_model.var = m->var;
-  MJMODEL_INTS;
-  #undef X
-  partial_model.nbuffer = 0;
-  return partial_model;
-}
-
 TEST_F(EngineIoTest, VerifySizeModel) {
   constexpr char xml[] = R"(
   <mujoco>
@@ -84,49 +74,6 @@ TEST_F(EngineIoTest, VerifySizeModel) {
   EXPECT_EQ(file_size, model_size);
 }
 
-TEST_F(EngineIoTest, MakeDataFromPartialModel) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
-  mjData* data_from_model = mj_makeData(model);
-  ASSERT_THAT(data_from_model, NotNull());
-
-  mjModel partial_model = PartialModel(model);
-  mj_deleteModel(model);
-
-  mjData* data_from_partial = mj_makeData(&partial_model);
-  ASSERT_THAT(data_from_partial, NotNull());
-
-  EXPECT_EQ(data_from_partial->nbuffer, data_from_model->nbuffer);
-  // If there are no mocap bodies and qpos0 is all zero, mjData should be the
-  // same whether it was made from the full model or the partial model.
-  {
-    MJDATA_POINTERS_PREAMBLE((&partial_model))
-    #define X(type, name, nr, nc)                                              \
-      if (strcmp(#name, "D_rownnz") && strcmp(#name, "D_rowadr")  &&           \
-          strcmp(#name, "B_rownnz") && strcmp(#name, "B_rowadr"))              \
-        EXPECT_EQ(std::memcmp(data_from_partial->name, data_from_model->name,  \
-                              sizeof(type)*(partial_model.nr)*(nc)),           \
-                  0) << "mjData::" #name " differs";
-    MJDATA_POINTERS
-    #undef X
-  }
-
-  mj_deleteData(data_from_model);
-  mj_deleteData(data_from_partial);
-}
-
 TEST_F(EngineIoTest, MakeDataLoadsQpos0) {
   constexpr char xml[] = R"(
   <mujoco>
@@ -173,51 +120,6 @@ TEST_F(EngineIoTest, MakeDataLoadsMocapBodies) {
   mj_deleteModel(model);
 }
 
-TEST_F(EngineIoTest, CopyDataWithPartialModel) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-      <body mocap="true" pos="42 0 42">
-        <geom type="sphere" size="0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
-  mjData* data = mj_makeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  mjModel partial_model = PartialModel(model);
-  mj_deleteModel(model);
-  mjData* copy = mj_makeData(&partial_model);
-  ASSERT_THAT(copy, NotNull());
-
-  data->qpos[0] = 1;
-  mj_copyData(copy, &partial_model, data);
-
-  EXPECT_EQ(copy->nbuffer, data->nbuffer);
-  EXPECT_EQ(copy->qpos[0], 1);
-  {
-    MJDATA_POINTERS_PREAMBLE((&partial_model))
-    #define X(type, name, nr, nc)                                     \
-        EXPECT_EQ(std::memcmp(copy->name, data->name,                 \
-                              sizeof(type)*(partial_model.nr)*(nc)),  \
-                  0) << "mjData::" #name " differs";
-    MJDATA_POINTERS
-    #undef X
-  }
-
-  mj_deleteData(data);
-  mj_deleteData(copy);
-}
-
 TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
   constexpr char xml[] = "<mujoco/>";
 

From 7cb84d45c126f5009db5556c82987e9c2ad83451 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 28 Nov 2023 06:03:00 -0800
Subject: [PATCH 024/121] Prevent integer overflow in history buffer for large
 models.

PiperOrigin-RevId: 585949038
Change-Id: Iabec5feedd1632b635583a608a5488b39e6bb9a2
---
 simulate/simulate.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index f1d27cf3..0b2a150a 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -17,6 +17,7 @@
 #include <algorithm>
 #include <atomic>
 #include <chrono>
+#include <climits>
 #include <cstdio>
 #include <cstring>
 #include <memory>
@@ -2228,13 +2229,13 @@ void Simulate::LoadOnRenderThread() {
 
   // allocate history buffer: smaller of {2000 states, 100 MB}
   if (!this->is_passive_) {
-    constexpr int kHistoryLength = 2000;
     constexpr int kMaxHistoryBytes = 1e8;
 
     // get state size, size of history buffer
     state_size_ = mj_stateSize(this->m_, mjSTATE_INTEGRATION);
     int state_bytes = state_size_ * sizeof(mjtNum);
-    int history_bytes = mjMIN(state_bytes * kHistoryLength, kMaxHistoryBytes);
+    int history_length = mjMIN(INT_MAX / state_bytes, 2000);
+    int history_bytes = mjMIN(state_bytes * history_length, kMaxHistoryBytes);
     nhistory_ = history_bytes / state_bytes;
 
     // allocate history buffer, reset cursor and UI slider

From 7d8d4d398ee2d704edbfc07bd9ab67e458a2c77c Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 28 Nov 2023 06:12:35 -0800
Subject: [PATCH 025/121] Make elasticity plugins compatible with flex pins.
 Fixes #1235.

Before change:
poncho       18.20s
poncho_flex  44.60s
floppy       4.70s
floppy_flex  6.43s

After change:
poncho       18.23s
poncho_flex  44.62s
floppy       4.67s
floppy_flex  6.57s

PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
---
 doc/changelog.rst                           |  1 +
 model/plugin/elasticity/trampoline_flex.xml |  8 +-----
 plugin/elasticity/elasticity.h              | 12 +++++++--
 plugin/elasticity/membrane.cc               | 30 ++++++++++++++-------
 plugin/elasticity/solid.cc                  | 30 ++++++++++++++-------
 5 files changed, 52 insertions(+), 29 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 57802a76..677cdbcf 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -33,6 +33,7 @@ Bug fixes
 - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
   Before this fix such actuators could lead to non-conservation of momentum.
 - Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
+- Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
 
 Version 3.0.1 (November 15, 2023)
 ---------------------------------
diff --git a/model/plugin/elasticity/trampoline_flex.xml b/model/plugin/elasticity/trampoline_flex.xml
index 874e12fa..106e37cc 100644
--- a/model/plugin/elasticity/trampoline_flex.xml
+++ b/model/plugin/elasticity/trampoline_flex.xml
@@ -44,6 +44,7 @@
               radius=".001" mass="10" name="plate" dim="2">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
       <edge equality="false" damping="10"/>
+      <pin id="0 15 240 255"/>
       <plugin plugin="mujoco.elasticity.membrane">
         <config key="poisson" value="0"/>
         <config key="thickness" value="1e-2"/>
@@ -52,11 +53,4 @@
       </plugin>
     </flexcomp>
   </worldbody>
-
-  <equality>
-    <connect body1="plate_0" anchor="0 0 0"/>
-    <connect body1="plate_15" anchor="0 0 0"/>
-    <connect body1="plate_240" anchor="0 0 0"/>
-    <connect body1="plate_255" anchor="0 0 0"/>
-  </equality>
 </mujoco>
diff --git a/plugin/elasticity/elasticity.h b/plugin/elasticity/elasticity.h
index 52670c75..8436777e 100644
--- a/plugin/elasticity/elasticity.h
+++ b/plugin/elasticity/elasticity.h
@@ -90,6 +90,8 @@ inline void ComputeForce(mjtNum* qfrc_passive,
                          const std::vector<T>& elements,
                          const std::vector<mjtNum>& metric,
                          const std::vector<mjtNum>& elongationglob,
+                         const mjModel* m,
+                         const int* vertbodyid,
                          const mjtNum* xpos) {
   for (int t = 0; t < elements.size(); t++)  {
     const int* v = elements[t].vertices;
@@ -126,8 +128,14 @@ inline void ComputeForce(mjtNum* qfrc_passive,
 
     // insert into global force
     for (int i = 0; i < T::kNumVerts; i++) {
-      for (int x = 0; x < 3; x++) {
-        qfrc_passive[3*v[i]+x] -= force[3*i+x];
+      int body_dofnum = 3;
+      int body_dofadr = 3*v[i];
+      if (vertbodyid) {
+        body_dofnum = m->body_dofnum[vertbodyid[v[i]]];
+        body_dofadr = m->body_dofadr[vertbodyid[v[i]]];
+      }
+      for (int x = 0; x < body_dofnum; x++) {
+        qfrc_passive[body_dofadr+x] -= force[3*i+x];
       }
     }
   }
diff --git a/plugin/elasticity/membrane.cc b/plugin/elasticity/membrane.cc
index d0a93454..51283099 100644
--- a/plugin/elasticity/membrane.cc
+++ b/plugin/elasticity/membrane.cc
@@ -114,12 +114,17 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
 
   // count flexes
   for (int i = 0; i < m->nflex; i++) {
-    if (m->flex_vertbodyid[m->flex_vertadr[i]] == i0) {
-      f0 = i;
-      break;
+    for (int j = 0; j < m->flex_vertnum[i]; j++) {
+      if (m->flex_vertbodyid[m->flex_vertadr[i]+j] == i0) {
+        f0 = i;
+      }
     }
   }
 
+  // vertex positions
+  mjtNum* body_pos =
+      f0 < 0 ? m->body_pos + 3*i0 : m->flex_xvert0 + 3*m->flex_vertadr[f0];
+
   // generate triangles from the vertices
   nt = CreateStencils<Stencil2D>(elements, edges, simplex, edgeidx);
 
@@ -130,13 +135,14 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
   for (int t = 0; t < nt; t++) {
     int* v = elements[t].vertices;
     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");
+      int bi = f0 < 0 ? i0+v[i] : m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
+      if (bi && m->body_plugin[bi] != instance) {
+        mju_error("Body %d does not have plugin instance %d", bi, instance);
       }
     }
 
     // triangles area
-    mjtNum volume = ComputeVolume(m->body_pos+3*i0, v);
+    mjtNum volume = ComputeVolume(body_pos, v);
 
     // material parameters
     mjtNum mu = E / (2*(1+nu)) * mju_abs(volume) / 4 * thickness;
@@ -147,7 +153,7 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
 
     // compute edge basis
     for (int e = 0; e < kNumEdges; e++) {
-      ComputeBasis(basis[e], m->body_pos+3*i0, v,
+      ComputeBasis(basis[e], body_pos, v,
                    Stencil2D::edge[Stencil2D::edge[e][0]],
                    Stencil2D::edge[Stencil2D::edge[e][1]], volume);
     }
@@ -164,7 +170,7 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
   elongation.assign(ne, 0);
 
   // compute edge lengths at equilibrium (m->flexedge_length0 not yet available)
-  UpdateSquaredLengths(reference, edges, m->body_pos+3*i0);
+  UpdateSquaredLengths(reference, edges, body_pos);
 
   // save previous lengths
   previous = reference;
@@ -191,8 +197,12 @@ void Membrane::Compute(const mjModel* m, mjData* d, int instance) {
   }
 
   // compute gradient of elastic energy and insert into passive force
-  ComputeForce<Stencil2D>(d->qfrc_passive + m->body_dofadr[i0], elements,
-                          metric, elongation, d->xpos + 3 * i0);
+  int flex_vertadr = f0 < 0 ? -1 : m->flex_vertadr[f0];
+  int* bodyid = f0 < 0 ? nullptr : m->flex_vertbodyid + flex_vertadr;
+  mjtNum* xpos = f0 < 0 ? d->xpos + 3*i0 : d->flexvert_xpos + 3*flex_vertadr;
+  mjtNum* qfrc = d->qfrc_passive + (f0 < 0 ? m->body_dofadr[i0] : 0);
+
+  ComputeForce<Stencil2D>(qfrc, elements, metric, elongation, m, bodyid, xpos);
 
   // update stored lengths
   if (kD > 0) {
diff --git a/plugin/elasticity/solid.cc b/plugin/elasticity/solid.cc
index cca4ff78..35516a89 100644
--- a/plugin/elasticity/solid.cc
+++ b/plugin/elasticity/solid.cc
@@ -119,12 +119,17 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
 
   // count flexes
   for (int i = 0; i < m->nflex; i++) {
-    if (m->flex_vertbodyid[m->flex_vertadr[i]] == i0) {
-      f0 = i;
-      break;
+    for (int j = 0; j < m->flex_vertnum[i]; j++) {
+      if (m->flex_vertbodyid[m->flex_vertadr[i]+j] == i0) {
+        f0 = i;
+      }
     }
   }
 
+  // vertex positions
+  mjtNum* body_pos =
+      f0 < 0 ? m->body_pos + 3*i0 : m->flex_xvert0 + 3*m->flex_vertadr[f0];
+
   // generate tetrahedra from the vertices
   nt = CreateStencils<Stencil3D>(elements, edges, simplex, edgeidx);
 
@@ -135,20 +140,21 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
   for (int t = 0; t < nt; t++) {
     int* v = elements[t].vertices;
     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");
+      int bi = f0 < 0 ? i0+v[i] : m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
+      if (bi && m->body_plugin[bi] != instance) {
+        mju_error("Body %d does not have plugin instance %d", bi, instance);
       }
     }
 
     // tetrahedron volume
-    mjtNum volume = ComputeVolume(m->body_pos+3*i0, v);
+    mjtNum volume = ComputeVolume(body_pos, v);
 
     // local geometric quantities
     mjtNum basis[kNumEdges][9] = {{0}, {0}, {0}, {0}, {0}, {0}};
 
     // compute edge basis
     for (int e = 0; e < kNumEdges; e++) {
-      ComputeBasis(basis[e], m->body_pos+3*i0, v,
+      ComputeBasis(basis[e], body_pos, v,
                    face[e2f[e][0]], face[e2f[e][1]], volume);
     }
 
@@ -168,7 +174,7 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
   elongation.assign(ne, 0);
 
   // compute edge lengths at equilibrium (m->flexedge_length0 not yet available)
-  UpdateSquaredLengths(reference, edges, m->body_pos+3*i0);
+  UpdateSquaredLengths(reference, edges, body_pos);
 
   // save previous lengths
   previous = reference;
@@ -195,8 +201,12 @@ void Solid::Compute(const mjModel* m, mjData* d, int instance) {
   }
 
   // compute gradient of elastic energy and insert into passive force
-  ComputeForce<Stencil3D>(d->qfrc_passive + m->body_dofadr[i0], elements,
-                          metric, elongation, d->xpos + 3 * i0);
+  int flex_vertadr = f0 < 0 ? -1 : m->flex_vertadr[f0];
+  int* bodyid = f0 < 0 ? nullptr : m->flex_vertbodyid + flex_vertadr;
+  mjtNum* xpos = f0 < 0 ? d->xpos + 3*i0 : d->flexvert_xpos + 3*flex_vertadr;
+  mjtNum* qfrc = d->qfrc_passive + (f0 < 0 ? m->body_dofadr[i0] : 0);
+
+  ComputeForce<Stencil3D>(qfrc, elements, metric, elongation, m, bodyid, xpos);
 
   // update stored lengths
   if (kD > 0) {

From e1669b568ba5792a7ce16515c5e4f8165d3d99a8 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 28 Nov 2023 07:27:02 -0800
Subject: [PATCH 026/121] Change default values of flex visualization flags.

Deactivated vertices, edges, faces and activated skins. The skin is less precise but faster to render and more importantly when the wireframe is active it allows to look inside the body much more easily.

PiperOrigin-RevId: 585970250
Change-Id: Icb6c0ff6266e552cffce9b0c810f634f9a29a55e
---
 src/engine/engine_vis_init.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/engine/engine_vis_init.c b/src/engine/engine_vis_init.c
index 815879de..11ab0f5e 100644
--- a/src/engine/engine_vis_init.c
+++ b/src/engine/engine_vis_init.c
@@ -92,10 +92,10 @@ const char* mjVISSTRING[mjNVISFLAG][3] = {
   {"S&elect Point",   "0", ""},
   {"Static Bo&dy",    "1", "D"},
   {"Skin",            "1", ";"},
-  {"Flex Vert",       "1", "."},
-  {"Flex Edge",       "1", ""},
-  {"Flex Face",       "1", ""},
-  {"Flex Skin",       "0", ""},
+  {"Flex Vert",       "0", ""},
+  {"Flex Edge",       "0", ""},
+  {"Flex Face",       "0", ""},
+  {"Flex Skin",       "1", ""},
   {"Body Tree",       "0", "`"},
   {"Flex Tree",       "0", ""},
   {"Mesh Tree",       "0", "\\"},

From 2f37147fc00ce1d7db5ead236705fd19ea22eed8 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 28 Nov 2023 10:11:12 -0800
Subject: [PATCH 027/121] Guard against NaNs in MJX solver when no cost is
 imposed.  Fixes #1225.

PiperOrigin-RevId: 586020958
Change-Id: I82f398b1538d2c3801a35c80c862e49be3b110a2
---
 mjx/mujoco/mjx/_src/solver.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
index 567cb709..c3f5b7c1 100644
--- a/mjx/mujoco/mjx/_src/solver.py
+++ b/mjx/mujoco/mjx/_src/solver.py
@@ -128,7 +128,7 @@ class _LSPoint(PyTreeNode):
 
     cost = alpha * alpha * quad_total[2] + alpha * quad_total[1] + quad_total[0]
     deriv_0 = 2 * alpha * quad_total[2] + quad_total[1]
-    deriv_1 = 2 * quad_total[2]
+    deriv_1 = 2 * quad_total[2] + (quad_total[2] == 0) * mujoco.mjMINVAL
     return _LSPoint(alpha=alpha, cost=cost, deriv_0=deriv_0, deriv_1=deriv_1)
 
 

From 822b03446c2d59db7f8a5ff1cd104e7a5234575d Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 29 Nov 2023 10:18:11 -0800
Subject: [PATCH 028/121] Improve pipeline documentation, expose `mj_implicit`
 function to public header.

PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
---
 doc/APIreference/functions.rst          | 11 +++
 doc/APIreference/functions_override.rst |  6 ++
 doc/computation/index.rst               | 89 +++++++++++++++----------
 doc/includes/references.h               |  1 +
 include/mujoco/mujoco.h                 |  3 +
 introspect/functions.py                 | 20 ++++++
 python/mujoco/functions.cc              |  1 +
 unity/Runtime/Bindings/MjBindings.cs    |  3 +
 8 files changed, 97 insertions(+), 37 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 9d1232c6..6bf64e11 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -583,6 +583,17 @@ mj_RungeKutta
 
 Runge-Kutta explicit order-N integrator.
 
+.. _mj_implicit:
+
+mj_implicit
+~~~~~~~~~~~
+
+.. mujoco-include:: mj_implicit
+
+Integrates the simulation state using an implicit-in-velocity integrator (either "implicit" or "implicitfast", see
+:ref:`Numerical Integration<geIntegration>`), and advances simulation time. See `mjdata.h
+<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ for fields computed by this function.
+
 .. _mj_invPosition:
 
 mj_invPosition
diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst
index aaf6a2d3..812e6f43 100644
--- a/doc/APIreference/functions_override.rst
+++ b/doc/APIreference/functions_override.rst
@@ -69,6 +69,12 @@ These functions can be used to print various quantities to the screen for debugg
 These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and
 :ref:`mj_inverse`. It is unlikely that the user will need to call them.
 
+.. _mj_implicit:
+
+Integrates the simulation state using an implicit-in-velocity integrator (either "implicit" or "implicitfast", see
+:ref:`Numerical Integration<geIntegration>`), and advances simulation time. See `mjdata.h
+<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ for fields computed by this function.
+
 .. _Subcomponents:
 
 These are sub-components of the simulation pipeline, called internally from the components above. It is very unlikely
diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index 5665fb02..8afdb7cf 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -1538,44 +1538,59 @@ be used to skip default steps and to enable optional steps respectively. Callbac
 Forward dynamics
 ~~~~~~~~~~~~~~~~
 
-The top-level function :ref:`mj_step` invokes the sequence of computations below. Alternatively one can call
-:ref:`mj_forward` which invokes only steps 2-21.
+The source file `engine_forward.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_forward.c>`__
+contains the high-level forward dynamics pipeline:
 
-#. Check the positions and velocities for invalid or unacceptably large real values indicating divergence. If divergence
-   is detected, the state is automatically reset and the corresponding warning is raised.
-#. Compute the forward kinematics. This yields the global positions and orientations of all bodies, geoms, sites,
-   cameras and lights. It also normalizes all quaternions, just in case.
-#. Compute the body inertias and joint axes, in global frames centered at the centers of mass of the corresponding
-   kinematic subtrees (to improve floating-point accuracy).
-#. Compute the actuator lengths and moment arms.
-#. Compute the composite rigid body inertias and construct the joint-space inertia matrix.
-#. Compute the sparse factorization of the joint-space inertia matrix.
-#. Construct the list of active contacts. This includes both broad-phase and near-phase collision detection.
-#. Construct the constraint Jacobian and compute the constraint residuals.
-#. Compute the matrices and vectors needed by the constraint solvers.
-#. Compute the tendon lengths and moment arms. This includes the computation of minimal-length paths for spatial
-   tendons.
-#. Compute sensor data that only depends on position, and the potential energy if enabled.
-#. Compute the tendon and actuator velocities.
-#. Compute the body velocities and rates of change of the joint axes, again in the global coordinate frames centered at
-   the subtree centers of mass.
-#. Compute all passive forces: spring-dampers in joints and tendons, and fluid dynamics forces.
-#. Compute sensor data that depends on velocity, and the kinetic energy if enabled.
-   If required by sensors, call :ref:`mj_subtreeVel`.
-#. Compute the reference constraint acceleration.
-#. Compute the vector of Coriolis, centrifugal and gravitational forces.
-#. Compute the actuator forces and activation dynamics if defined.
-#. Compute the joint acceleration resulting from all forces except for the (still unknown) constraint forces.
-#. Compute the constraint forces with the selected solver, and update the joint acceleration so as to account for the
-   constraint forces. This yields the vector ``mjData.qacc`` which is the main output of forward dynamics.
-#. Compute sensor data that depends on force and acceleration if enabled.
-   If required by sensors, call :ref:`mj_rnePostConstraint`.
-#. Check the acceleration for invalid or unacceptably large real values. If divergence is detected, the state is
-   automatically reset and the corresponding warning is raised.
-#. Compare the results of forward and inverse dynamics, so as to diagnose poor solver convergence in the forward
-   dynamics. This is an optional step, and is performed only when enabled.
-#. Advance the simulation state by one time step, using the selected integrator. Note that the Runge-Kutta integrator
-   repeats the above sequence three more times, except for the optional computations which are performed only once.
+- The top-level function :ref:`mj_step` invokes the entire sequence of computations below.
+- :ref:`mj_forward` invokes only stages **2-22**, computing the continuous-time forward dynamics, ending with the
+  acceleration ``mjData.qacc``.
+- :ref:`mj_step1` invokes stages **1-18** and :ref:`mj_step2` invokes stages **19-25**, breaking :ref:`mj_step` into two
+  distinct phases. This allows the user to write controllers that depend on quantities derived from the positions and
+  velocities (but not forces, since those have not yet been computed). Note that the :ref:`mj_step1` → :ref:`mj_step2`
+  pipeline does not support the Runge Kutta integrator.
+
+1. Check the positions and velocities for invalid or unacceptably large real values indicating divergence. If divergence
+   is detected, the state is automatically reset and the corresponding warning is raised:
+   :ref:`mj_checkPos`, :ref:`mj_checkVel`
+2. Compute the forward kinematics. This yields the global positions and orientations of all bodies, geoms, sites,
+   cameras and lights. It also normalizes all quaternions: :ref:`mj_kinematics`, :ref:`mj_camLight`
+3. Compute the body inertias and joint axes, in global frames centered at the centers of mass of the corresponding
+   kinematic subtrees: :ref:`mj_comPos`
+4. Compute quantities related to :ref:`flex<deformable-flex>` objects: :ref:`mj_flex`
+5. Compute the actuator lengths and moment arms: :ref:`mj_tendon`
+6. Compute the composite rigid body inertias and joint-space inertia matrix: :ref:`mj_crb`
+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`
+9. Construct the constraint Jacobian and compute the constraint residuals: :ref:`mj_makeConstraint`
+10. Compute the matrices and vectors needed by the constraint solvers: :ref:`mj_projectConstraint`
+11. Compute the tendon lengths and moment arms. This includes the computation of minimal-length paths for spatial
+    tendons: :ref:`mj_transmission`
+12. Compute sensor data that only depends on position, and the potential energy if enabled: :ref:`mj_sensorPos`,
+    :ref:`mj_energyPos`
+13. Compute the tendon, flex edge and actuator velocities: :ref:`mj_fwdVelocity`
+14. Compute the body velocities and rates of change of the joint axes, again in the global coordinate frames centered at
+    the subtree centers of mass: :ref:`mj_comVel`
+15. Compute passive forces -- spring-dampers in joints and tendons, and fluid forces: :ref:`mj_passive`
+16. Compute sensor data that depends on velocity, and the kinetic energy if enabled
+    (if required by sensors, call :ref:`mj_subtreeVel`): :ref:`mj_sensorVel`
+17. Compute the reference constraint acceleration: :ref:`mj_referenceConstraint`
+18. Compute the vector of Coriolis, centrifugal and gravitational forces: :ref:`mj_rne`
+19. Compute the actuator forces and activation dynamics if defined: :ref:`mj_fwdActuation`
+20. Compute the joint acceleration resulting from all forces except for the (still unknown) constraint forces:
+    :ref:`mj_fwdAcceleration`
+21. Compute the constraint forces with the selected solver, and update the joint acceleration so as to account for the
+    constraint forces. This yields the vector ``mjData.qacc`` which is the main output of forward dynamics:
+    :ref:`mj_fwdConstraint`
+22. Compute sensor data that depends on force and acceleration if enabled
+    (if required by sensors, call :ref:`mj_rnePostConstraint`): :ref:`mj_sensorAcc`
+23. Check the acceleration for invalid or unacceptably large real values. If divergence is detected, the state is
+    automatically reset and the corresponding warning is raised: :ref:`mj_checkAcc`
+24. Compare the results of forward and inverse dynamics, so as to diagnose poor solver convergence in the forward
+    dynamics. This is an optional step, and is performed only when enabled: :ref:`mj_compareFwdInv`
+25. Advance the simulation state by one time step, using the selected integrator. Note that the Runge-Kutta integrator
+    repeats the above sequence three more times, except for the optional computations which are performed only once:
+    one of :ref:`mj_Euler`, :ref:`mj_RungeKutta`, :ref:`mj_implicit`
 
 .. _piInverse:
 
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 51412f28..9b169ab3 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2445,6 +2445,7 @@ void mj_fwdAcceleration(const mjModel* m, mjData* d);
 void mj_fwdConstraint(const mjModel* m, mjData* d);
 void mj_Euler(const mjModel* m, mjData* d);
 void mj_RungeKutta(const mjModel* m, mjData* d, int N);
+void mj_implicit(const mjModel* m, mjData* d);
 void mj_invPosition(const mjModel* m, mjData* d);
 void mj_invVelocity(const mjModel* m, mjData* d);
 void mj_invConstraint(const mjModel* m, mjData* d);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index ac1b509e..5f32cbc7 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -264,6 +264,9 @@ MJAPI void mj_Euler(const mjModel* m, mjData* d);
 // Runge-Kutta explicit order-N integrator.
 MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
 
+// Implicit-in-velocity integrators.
+MJAPI void mj_implicit(const mjModel* m, mjData* d);
+
 // Run position-dependent computations in inverse dynamics.
 MJAPI void mj_invPosition(const mjModel* m, mjData* d);
 
diff --git a/introspect/functions.py b/introspect/functions.py
index d6b1ae56..e57bd7a9 100644
--- a/introspect/functions.py
+++ b/introspect/functions.py
@@ -1156,6 +1156,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Runge-Kutta explicit order-N integrator.',
      )),
+    ('mj_implicit',
+     FunctionDecl(
+         name='mj_implicit',
+         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='Implicit-in-velocity integrators.',
+     )),
     ('mj_invPosition',
      FunctionDecl(
          name='mj_invPosition',
diff --git a/python/mujoco/functions.cc b/python/mujoco/functions.cc
index 8e154e1d..3d59f082 100644
--- a/python/mujoco/functions.cc
+++ b/python/mujoco/functions.cc
@@ -185,6 +185,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_fwdConstraint>(pymodule);
   Def<traits::mj_Euler>(pymodule);
   Def<traits::mj_RungeKutta>(pymodule);
+  Def<traits::mj_implicit>(pymodule);
   Def<traits::mj_invPosition>(pymodule);
   Def<traits::mj_invVelocity>(pymodule);
   Def<traits::mj_invConstraint>(pymodule);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index c44f2ef8..2b6d8090 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -6461,6 +6461,9 @@ public static unsafe extern void mj_Euler(mjModel_* m, mjData_* d);
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_RungeKutta(mjModel_* m, mjData_* d, int N);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mj_implicit(mjModel_* m, mjData_* d);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_invPosition(mjModel_* m, mjData_* d);
 

From b39cca725af08d2bf7570c2f5b32ebf1964b15c9 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 30 Nov 2023 04:12:57 -0800
Subject: [PATCH 029/121] Move headlight pos/dir computation from `mjr_render`
 to `mjv_updateScene`.

PiperOrigin-RevId: 586630110
Change-Id: Ia44ea944016ccfe081682375cdb975342695d826
---
 src/engine/engine_vis_state.c     |  6 +++---
 src/engine/engine_vis_visualize.c | 13 ++++++++++---
 src/render/render_gl3.c           | 25 ++++++++-----------------
 3 files changed, 21 insertions(+), 23 deletions(-)

diff --git a/src/engine/engine_vis_state.c b/src/engine/engine_vis_state.c
index 1a0a4f8b..5ef3c274 100644
--- a/src/engine/engine_vis_state.c
+++ b/src/engine/engine_vis_state.c
@@ -241,12 +241,12 @@ int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt
   // add all categories
   mjv_addGeoms(&m, &d, opt, pert, catmask, scn);
 
-  // add lights
-  mjv_makeLights(&m, &d, 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]) {
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 4c22ea6e..9154fa4d 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -30,6 +30,7 @@
 #include "engine/engine_util_misc.h"
 #include "engine/engine_util_spatial.h"
 #include "engine/engine_vis_init.h"
+#include "engine/engine_vis_interact.h"
 
 //----------------------------- utility functions and macros ---------------------------------------
 
@@ -2087,6 +2088,12 @@ void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn) {
     thislight->directional = 1;
     thislight->castshadow = 0;
 
+    // compute head position and gaze direction in model space
+    mjtNum hpos[3], hfwd[3];
+    mjv_cameraInModel(hpos, hfwd, NULL, scn);
+    mju_n2f(thislight->pos, hpos, 3);
+    mju_n2f(thislight->dir, hfwd, 3);
+
     // copy colors
     f2f(thislight->ambient, m->vis.headlight.ambient, 3);
     f2f(thislight->diffuse, m->vis.headlight.diffuse, 3);
@@ -2723,12 +2730,12 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
   // add all categories
   mjv_addGeoms(m, d, opt, pert, catmask, scn);
 
-  // add lights
-  mjv_makeLights(m, d, 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]) {
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
index ea75d05a..4e108c0d 100644
--- a/src/render/render_gl3.c
+++ b/src/render/render_gl3.c
@@ -613,7 +613,7 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
 
 
 // init lights
-static void initLights(mjvScene* scn, const float* headpos, const float* gazedir) {
+static void initLights(mjvScene* scn) {
   // create some ambient light if no ligths are present
   float global = scn->nlight ? 0 : 0.3f;
   float rgba_global[4] = {global, global, global, 1};
@@ -623,14 +623,6 @@ static void initLights(mjvScene* scn, const float* headpos, const float* gazedir
   glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, 0);
   glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
 
-  // headlight: set pos and dir
-  if (scn->lights[0].headlight) {
-    for (int i=0; i < 3; i++) {
-      scn->lights[0].pos[i] = headpos[i];
-      scn->lights[0].dir[i] = gazedir[i];
-    }
-  }
-
   // set light properties
   for (int i=0; i < scn->nlight; i++) {
     // colors
@@ -762,8 +754,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   int stereo, nt, ngeom = scn->ngeom, nlight = mjMIN(mjMAXLIGHT, scn->nlight);
   unsigned int drawbuffer;
   mjvGLCamera cam;
-  mjtNum hpos[3], hfwd[3];
-  float temp[4], headpos[3], forward[3], skyboxdst;
+  mjtNum hpos[3];
+  float temp[4], headpos[3], skyboxdst;
   float camProject[16], camView[16], lightProject[16], lightView[16];
   double clipplane[4];
   float biasMatrix[16] = {
@@ -827,13 +819,12 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     drawbuffer = GL_COLOR_ATTACHMENT0;
   }
 
-  // compute head position and gaze direction in model space
-  mjv_cameraInModel(hpos, hfwd, NULL, scn);
-  mju_n2f(headpos, hpos, 3);
-  mju_n2f(forward, hfwd, 3);
-
   // init lights
-  initLights(scn, headpos, forward);
+  initLights(scn);
+
+  // compute head position in model space
+  mjv_cameraInModel(hpos, NULL, NULL, scn);
+  mju_n2f(headpos, hpos, 3);
 
   // make list of transparent geoms
   nt = 0;

From 33bd2a986a00225ada84c8ef67f9f320be6be634 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 30 Nov 2023 04:25:08 -0800
Subject: [PATCH 030/121] Use mesh_pos, mesh_quat instead of geom_pos, geom_mat
 in ray_sdf.

PiperOrigin-RevId: 586632872
Change-Id: I39f99945ccdd6c54f7867adfe06a379d00dc8002
---
 src/engine/engine_ray.c | 23 +++++++++++++----------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/src/engine/engine_ray.c b/src/engine/engine_ray.c
index 4c08badc..c33edd5c 100644
--- a/src/engine/engine_ray.c
+++ b/src/engine/engine_ray.c
@@ -730,6 +730,7 @@ mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
                const mjtNum* pnt, const mjtNum* vec) {
   mjtNum distance_total = 0;
   mjtNum p[3];
+  mjtNum kMinDist = 1e-7;
 
   // exclude using bounding box
   if (ray_box(d->geom_xpos+3*g, d->geom_xmat+9*g, m->geom_size+3*g, pnt, vec, NULL) < 0) {
@@ -753,28 +754,30 @@ mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
   mjtNum sdf_quat[4], sdf_xmat[9], sdf_xpos[9];
   mjtNum negpos[3], negquat[4], xquat[4];
   mjtNum* xpos = d->geom_xpos + 3*g;
-  mjtNum* pos = m->geom_pos + 3*g;
-  mjtNum* quat = m->geom_quat + 4*g;
+  mjtNum* pos = m->mesh_pos + 3*m->geom_dataid[g];
+  mjtNum* quat = m->mesh_quat + 4*m->geom_dataid[g];
   mju_mat2Quat(xquat, d->geom_xmat + 9*g);
   mju_negPose(negpos, negquat, pos, quat);
   mju_mulPose(sdf_xpos, sdf_quat, xpos, xquat, negpos, negquat);
   mju_quat2Mat(sdf_xmat, sdf_quat);
 
-  // unit direction
-  mjtNum dir[3] = {vec[0], vec[1], vec[2]};
-  mju_normalize3(dir);
+  // map to local frame
+  mjtNum lpnt[3], lvec[3];
+  ray_map(sdf_xpos, sdf_xmat, pnt, vec, lpnt, lvec);
 
-  // ray marching
+  // unit direction
+  mju_normalize3(lvec);
+
+  // ray marching, see e.g. https://en.wikipedia.org/wiki/Ray_marching
   for (int i=0; i < 40; i++) {
-    mju_addScl3(p, pnt, dir, distance_total);
-    mju_subFrom3(p, sdf_xpos);
-    mju_rotVecMatT(p, p, sdf_xmat);
+    mju_addScl3(p, lpnt, lvec, distance_total);
     mjtNum distance = sdf->sdf_distance(p, (mjData*)d, instance);
     distance_total += distance;
-    if (distance < 1e-8) {
+    if (mju_abs(distance) < kMinDist) {
       return distance_total;
     }
     if (distance > 1e6) {
+      // no intersection
       break;
     }
   }

From a306e327074880e18b2b8213f2c539ec61008d74 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Thu, 30 Nov 2023 07:47:45 -0800
Subject: [PATCH 031/121] Add new hash for scipy in mjx/requirements.txt

PiperOrigin-RevId: 586674164
Change-Id: Idcda8f57addbce331da04cc1510e01ff91563040
---
 mjx/requirements.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/mjx/requirements.txt b/mjx/requirements.txt
index d5cab687..9ac5f83d 100644
--- a/mjx/requirements.txt
+++ b/mjx/requirements.txt
@@ -65,7 +65,8 @@ scipy==1.11.3; python_version >= '3.9' \
     --hash=sha256:c77da50c9a91e23beb63c2a711ef9e9ca9a2060442757dffee34ea41847d8156 \
     --hash=sha256:9ea7f579182d83d00fed0e5c11a4aa5ffe01460444219dedc448a36adf0c3917 \
     --hash=sha256:5305792c7110e32ff155aed0df46aa60a60fc6e52cd4ee02cdeb67eaccd5356e \
-    --hash=sha256:a63d1ec9cadecce838467ce0631c17c15c7197ae61e49429434ba01d618caa83
+    --hash=sha256:a63d1ec9cadecce838467ce0631c17c15c7197ae61e49429434ba01d618caa83 \
+    --hash=sha256:715c9966eb8906bc67e450e962bd07a5254420077178f98258904da4004a172f
 setuptools==68.2.2 \
     --hash=sha256:b454a35605876da60632df1a60f736524eb73cc47bbc9f3f1ef1b644de74fd2a
 trimesh==4.0.0 \

From 4c8ffb44bf59b29e23ea652e331f7e84ad84bb31 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 30 Nov 2023 09:42:07 -0800
Subject: [PATCH 032/121] Extend SDF outside the bounding box for SdfLib
 plugin.

SdfLib returns the sum of the distance from a given point to the bounding box and a saved minimum distance from the surface over the whole box boundary. This underestimates the true distance and can cause spurious contacts and jittering. This CL performs a box projection of points outside the bounding box and adds the distance of the original point from the box to the distance of the projected point to the surface. This overestimates the true distance and avoids spurious collisions.

PiperOrigin-RevId: 586701933
Change-Id: I22eecb9757fa22359440156ef6433135648fa3ff
---
 plugin/sdf/sdflib.cc | 31 ++++++++++++++++++++++++++++++-
 1 file changed, 30 insertions(+), 1 deletion(-)

diff --git a/plugin/sdf/sdflib.cc b/plugin/sdf/sdflib.cc
index 392119ae..a1405eb7 100644
--- a/plugin/sdf/sdflib.cc
+++ b/plugin/sdf/sdflib.cc
@@ -31,6 +31,34 @@ inline unsigned int* MakeNonConstUnsigned(const int* ptr) {
   return reinterpret_cast<unsigned int*>(const_cast<int*>(ptr));
 }
 
+mjtNum boxProjection(glm::vec3& point, const sdflib::BoundingBox& box) {
+  glm::vec3 r = point - box.getCenter();
+  glm::vec3 q = glm::abs(r) - 0.5f * box.getSize();
+  mjtNum dist_sqr = 0;
+  mjtNum eps = 1e-6;
+
+  // skip the projection if inside
+  if (q.x <= 0 && q.y <= 0 && q.z <= 0) {
+    return glm::max(q.x, glm::max(q.y, q.z));
+  }
+
+  // in-place projection inside the box if outside
+  if ( q.x >= 0 ) {
+    dist_sqr += q.x * q.x;
+    point.x -= r.x > 0 ? (q.x+eps) : -(q.x+eps);
+  }
+  if ( q.y >= 0 ) {
+    dist_sqr += q.y * q.y;
+    point.y -= r.y > 0 ? (q.y+eps) : -(q.y+eps);
+  }
+  if ( q.z >= 0 ) {
+    dist_sqr += q.z * q.z;
+    point.z -= r.z > 0 ? (q.z+eps) : -(q.z+eps);
+  }
+
+  return mju_sqrt(dist_sqr);
+}
+
 }  // namespace
 
 // factory function
@@ -89,7 +117,8 @@ void SdfLib::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
 // sdf
 mjtNum SdfLib::Distance(const mjtNum p[3]) const {
   glm::vec3 point(p[0], p[1], p[2]);
-  return sdf_func_.getDistance(point);
+  mjtNum boxDist = boxProjection(point, sdf_func_.getGridBoundingBox());
+  return sdf_func_.getDistance(point) + (boxDist <= 0 ? 0 : boxDist);
 }
 
 // gradient of sdf

From 67fa7c1dc21b535b9b5f906830f5ebf81dbf4d7e Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Thu, 30 Nov 2023 10:13:47 -0800
Subject: [PATCH 033/121] Add put_model, put_data, and get_data to MJX.

These io functions replace device_put, device_get_into. These new functions correctly copy intermediate fields such as efc_J, which the old functions could not.

PiperOrigin-RevId: 586712273
Change-Id: Ia3a4104af17db2ebd41b41a2ca501c5de9ac5d05
---
 doc/changelog.rst                             |   3 +
 mjx/mujoco/mjx/__init__.py                    |   3 +
 mjx/mujoco/mjx/_src/collision_driver.py       |  29 +-
 mjx/mujoco/mjx/_src/collision_driver_test.py  |   7 +-
 mjx/mujoco/mjx/_src/constraint.py             |  22 +-
 mjx/mujoco/mjx/_src/constraint_test.py        |   7 +-
 mjx/mujoco/mjx/_src/dataclasses.py            |   6 +-
 mjx/mujoco/mjx/_src/device.py                 |  11 +-
 mjx/mujoco/mjx/_src/io.py                     | 383 +++++++++++++----
 mjx/mujoco/mjx/_src/io_test.py                | 386 +++++++++++++++++-
 mjx/mujoco/mjx/_src/scan.py                   |   2 +-
 mjx/mujoco/mjx/_src/scan_test.py              |   7 +-
 mjx/mujoco/mjx/_src/solver.py                 |  20 +-
 mjx/mujoco/mjx/_src/types.py                  |  49 +--
 .../integration_test/collision_driver_test.py |   1 -
 15 files changed, 763 insertions(+), 173 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 677cdbcf..bf1cbe34 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -27,6 +27,9 @@ MJX
 ^^^
 
 - Added ``site_xpos`` and ``site_xmat`` to MJX.
+- Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
+  deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
+  ``efc_J``.
 
 Bug fixes
 ^^^^^^^^^
diff --git a/mjx/mujoco/mjx/__init__.py b/mjx/mujoco/mjx/__init__.py
index 3ec6312a..1c8d0661 100644
--- a/mjx/mujoco/mjx/__init__.py
+++ b/mjx/mujoco/mjx/__init__.py
@@ -21,7 +21,10 @@ from mujoco.mjx._src.device import device_get_into
 from mujoco.mjx._src.device import device_put
 from mujoco.mjx._src.forward import forward
 from mujoco.mjx._src.forward import step
+from mujoco.mjx._src.io import get_data
 from mujoco.mjx._src.io import make_data
+from mujoco.mjx._src.io import put_data
+from mujoco.mjx._src.io import put_model
 from mujoco.mjx._src.passive import passive
 from mujoco.mjx._src.smooth import com_pos
 from mujoco.mjx._src.smooth import com_vel
diff --git a/mjx/mujoco/mjx/_src/collision_driver.py b/mjx/mujoco/mjx/_src/collision_driver.py
index dde3fe92..c54278b2 100644
--- a/mjx/mujoco/mjx/_src/collision_driver.py
+++ b/mjx/mujoco/mjx/_src/collision_driver.py
@@ -40,7 +40,6 @@ from mujoco.mjx._src.types import DisableBit
 from mujoco.mjx._src.types import GeomType
 from mujoco.mjx._src.types import Model
 # pylint: enable=g-importing-member
-import numpy as np
 
 
 # pair-wise collision functions
@@ -81,6 +80,12 @@ def _add_candidate(
   if t1 > t2:
     t1, t2, g1, g2 = t2, t1, g2, g1
 
+  # MuJoCo does not collide planes with other planes or hfields
+  if t1 == GeomType.PLANE and t2 == GeomType.PLANE:
+    return
+  if t1 == GeomType.PLANE and t2 == GeomType.HFIELD:
+    return
+
   def mesh_key(i):
     convex_data = [[None] * m.ngeom] * 3
     if isinstance(m, Model):
@@ -284,13 +289,11 @@ def _collide_geoms(
       solimp=params.solimp,
       geom1=geom1,
       geom2=geom2,
-      dim=np.array([]),
-      efc_address=np.array([]),
   )
   return con
 
 
-def _max_contact_points(m: Model) -> int:
+def _max_contact_points(m: Union[Model, mujoco.MjModel]) -> int:
   """Returns the maximum number of contact points when set as a numeric."""
   for i in range(m.nnumeric):
     name = m.names[m.name_numericadr[i] :].decode('utf-8').split('\x00', 1)[0]
@@ -334,7 +337,7 @@ def collision_candidates(m: Union[Model, mujoco.MjModel]) -> CandidateSet:
   return candidate_set
 
 
-def ncon(m: Model) -> int:
+def ncon(m: Union[Model, mujoco.MjModel]) -> int:
   """Returns the number of contacts computed in MJX given a model."""
   if m.opt.disableflags & DisableBit.CONTACT:
     return 0
@@ -354,9 +357,8 @@ def ncon(m: Model) -> int:
 
 def collision(m: Model, d: Data) -> Data:
   """Collides geometries."""
-  ncon_ = ncon(m)
-  if ncon_ == 0:
-    return d.replace(contact=Contact.zero(), ncon=0)
+  if ncon(m) == 0:
+    return d.replace(contact=Contact.zero())
 
   candidate_set = collision_candidates(m)
 
@@ -376,13 +378,4 @@ def collision(m: Model, d: Data) -> Data:
     _, idx = jax.lax.top_k(-contact.dist, k=max_contact_points)
     contact = jax.tree_map(lambda x, idx=idx: jp.take(x, idx, axis=0), contact)
 
-  if ncon_ != contact.dist.shape[0]:
-    raise RuntimeError('Number of contacts does not match ncon.')
-
-  # TODO(robotics-simulation): move this logic to device_put
-  ns = d.ne + d.nf + d.nl
-  contact = contact.replace(efc_address=np.arange(ns, ns + ncon_ * 4, 4))
-  # TODO(robotics-simulation): add support for other friction dimensions
-  contact = contact.replace(dim=3 * np.ones(ncon_, dtype=np.int32))
-
-  return d.replace(contact=contact, ncon=ncon_)
+  return d.replace(contact=contact)
diff --git a/mjx/mujoco/mjx/_src/collision_driver_test.py b/mjx/mujoco/mjx/_src/collision_driver_test.py
index b735e014..afb7bd94 100644
--- a/mjx/mujoco/mjx/_src/collision_driver_test.py
+++ b/mjx/mujoco/mjx/_src/collision_driver_test.py
@@ -253,7 +253,6 @@ class CapsuleCollisionTest(parameterized.TestCase):
     self.assertGreater(c.dist[1], 0)
     # extract the contact point with penetration
     c = jax.tree_map(lambda x: jp.take(x, 0, axis=0)[None], dx.contact)
-    c = c.replace(dim=c.dim[np.array([0])])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'capsule_convex_edge', 1e-4)
 
@@ -281,7 +280,6 @@ class ConvexTest(absltest.TestCase):
     np.testing.assert_array_less(-dx.contact.dist[2:], 0)
     # extract the contact points with penetration
     c = jax.tree_map(lambda x: jp.take(x, jp.array([0, 1]), axis=0), dx.contact)
-    c = c.replace(dim=c.dim[np.array([0, 1])])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'box_plane', 1e-2)
 
@@ -339,7 +337,6 @@ class ConvexTest(absltest.TestCase):
     np.testing.assert_array_less(-dx.contact.dist[1:], 0)
     # extract the contact point with penetration
     c = jax.tree_map(lambda x: jp.take(x, 0, axis=0)[None], dx.contact)
-    c = c.replace(dim=c.dim[np.array([0])])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(c, d.contact, field.name, 'box_box_edge', 1e-2)
 
@@ -517,8 +514,8 @@ 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.ncon, 3)
-    self.assertEqual(dx_top_k.ncon, 2)
+    self.assertEqual(dx_all.contact.dist.shape, (3,))
+    self.assertEqual(dx_top_k.contact.dist.shape, (2,))
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/constraint.py b/mjx/mujoco/mjx/_src/constraint.py
index 313b43ff..50efcad3 100644
--- a/mjx/mujoco/mjx/_src/constraint.py
+++ b/mjx/mujoco/mjx/_src/constraint.py
@@ -14,11 +14,12 @@
 # ==============================================================================
 """Core non-smooth constraint functions."""
 
-from typing import Optional, Tuple
+from typing import Optional, Tuple, Union
 
 import jax
 from jax import numpy as jp
 import mujoco
+from mujoco.mjx._src import collision_driver
 from mujoco.mjx._src import math
 from mujoco.mjx._src import support
 # pylint: disable=g-importing-member
@@ -276,7 +277,7 @@ def _instantiate_limit_slide_hinge(m: Model, d: Data) -> Optional[_Efc]:
 def _instantiate_contact(m: Model, d: Data) -> Optional[_Efc]:
   """Calculates constraint rows for contacts."""
 
-  if (m.opt.disableflags & DisableBit.CONTACT) or d.ncon == 0:
+  if collision_driver.ncon(m) == 0:
     return None
 
   @jax.vmap
@@ -313,7 +314,9 @@ def _instantiate_contact(m: Model, d: Data) -> Optional[_Efc]:
   return _Efc(j, pos, pos, invweight, solref, solimp, frictionloss)
 
 
-def count_constraints(m: Model, d: Data) -> Tuple[int, int, int, int]:
+def count_constraints(
+    m: Union[Model, mujoco.MjModel]
+) -> Tuple[int, int, int, int]:
   """Returns equality, friction, limit, and contact constraint counts."""
   if m.opt.disableflags & DisableBit.CONSTRAINT:
     return 0, 0, 0, 0
@@ -333,10 +336,7 @@ def count_constraints(m: Model, d: Data) -> Tuple[int, int, int, int]:
   else:
     nl = int(m.jnt_limited.sum())
 
-  if m.opt.disableflags & DisableBit.CONTACT:
-    nc = 0
-  else:
-    nc = d.ncon * 4
+  nc = collision_driver.ncon(m) * 4
 
   return ne, nf, nl, nc
 
@@ -344,10 +344,6 @@ def count_constraints(m: Model, d: Data) -> Tuple[int, int, int, int]:
 def make_constraint(m: Model, d: Data) -> Data:
   """Creates constraint jacobians and other supporting data."""
 
-  ns = sum(count_constraints(m, d)[:-1])
-  # TODO(robotics-simulation): make device_put set nefc/efc_address instead
-  d = d.tree_replace({'contact.efc_address': np.arange(ns, ns + d.ncon * 4, 4)})
-
   if m.opt.disableflags & DisableBit.CONSTRAINT:
     efcs = ()
   else:
@@ -364,7 +360,7 @@ 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, nefc=0)
+    d = d.replace(efc_D=z, efc_aref=z, efc_frictionloss=z)
     return d
 
   efc = jax.tree_map(lambda *x: jp.concatenate(x), *efcs)
@@ -378,6 +374,6 @@ def make_constraint(m: Model, d: Data) -> Data:
 
   aref, r = fn(efc)
   d = d.replace(efc_J=efc.J, efc_D=1 / r, efc_aref=aref)
-  d = d.replace(efc_frictionloss=efc.frictionloss, nefc=r.shape[0])
+  d = d.replace(efc_frictionloss=efc.frictionloss)
 
   return d
diff --git a/mjx/mujoco/mjx/_src/constraint_test.py b/mjx/mujoco/mjx/_src/constraint_test.py
index 8ce1bfa6..0510e1df 100644
--- a/mjx/mujoco/mjx/_src/constraint_test.py
+++ b/mjx/mujoco/mjx/_src/constraint_test.py
@@ -136,13 +136,8 @@ class ConstraintTest(parameterized.TestCase):
     m = test_util.load_test_file('ant.xml')
     d = mujoco.MjData(m)
 
-    m.opt.disableflags = m.opt.disableflags & ~DisableBit.CONSTRAINT
-    mx, dx = mjx.device_put(m), mjx.device_put(d)
-    dx = constraint.make_constraint(mx, dx)
-    self.assertGreater(dx.efc_J.shape[0], 1)
-
     m.opt.disableflags = m.opt.disableflags | DisableBit.CONSTRAINT
-    mx = mjx.device_put(m)
+    mx, dx = mjx.device_put(m), mjx.device_put(d)
     dx = constraint.make_constraint(mx, dx)
     self.assertEqual(dx.efc_J.shape[0], 0)
 
diff --git a/mjx/mujoco/mjx/_src/dataclasses.py b/mjx/mujoco/mjx/_src/dataclasses.py
index 0936bec6..b939ab9e 100644
--- a/mjx/mujoco/mjx/_src/dataclasses.py
+++ b/mjx/mujoco/mjx/_src/dataclasses.py
@@ -18,7 +18,7 @@ import copy
 import dataclasses
 
 import typing
-from typing import Dict, Optional, Sequence, TypeVar
+from typing import Any, Dict, Optional, Sequence, TypeVar
 import jax
 import numpy as np
 
@@ -113,6 +113,10 @@ class PyTreeNode:
     # stub for pytype
     raise NotImplementedError
 
+  @classmethod
+  def fields(cls) -> tuple[dataclasses.Field[Any], ...]:
+    return dataclasses.fields(cls)
+
   def tree_replace(
       self, params: Dict[str, Optional[jax.typing.ArrayLike]]
   ) -> 'PyTreeNode':
diff --git a/mjx/mujoco/mjx/_src/device.py b/mjx/mujoco/mjx/_src/device.py
index ffd687b8..327b89de 100644
--- a/mjx/mujoco/mjx/_src/device.py
+++ b/mjx/mujoco/mjx/_src/device.py
@@ -25,6 +25,7 @@ import mujoco
 from mujoco.mjx._src import collision_driver
 from mujoco.mjx._src import mesh
 from mujoco.mjx._src import types
+import numpy as np
 
 _MJ_TYPE_ATTR = {
     mujoco.mjtBias: (mujoco.MjModel.actuator_biastype,),
@@ -68,7 +69,6 @@ _TRANSFORMS = {
     (types.Data, 'xmat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
     (types.Data, 'geom_xmat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
     (types.Data, 'site_xmat'): lambda x: x.reshape(x.shape[:-1] + (3, 3)),
-    (types.Model, 'actuator_trnid'): lambda x: x[:, 0],
     (types.Contact, 'frame'): (
         lambda x: x.reshape(x.shape[:-1] + (3, 3))  # pylint: disable=g-long-lambda
         if x is not None and x.shape[0] else jp.zeros((0, 3, 3))
@@ -265,9 +265,16 @@ def device_get_into(result, value):
 
   else:
     if isinstance(result, mujoco.MjData):
+      ncon = value.contact.dist.shape[0]
+      nefc = value.efc_J.shape[0]
       mujoco._functions._realloc_con_efc(  # pylint: disable=protected-access
-          result, ncon=value.ncon, nefc=value.nefc
+          result, ncon=ncon, nefc=nefc
       )
+      result.ncon = ncon
+      result.nefc = nefc
+      efc_start = nefc - ncon * 4
+      result.contact.efc_address[:] = np.arange(efc_start, nefc, 4)
+      result.contact.dim[:] = 3
 
     for f in dataclasses.fields(value):  # type: ignore
       if (type(value), f.name) in _DERIVED:
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 55381f41..060ffa50 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -14,94 +14,337 @@
 # ==============================================================================
 """Functions to initialize, load, or save data."""
 
+import copy
+from typing import List, Union
+
+import jax
 from jax import numpy as jp
+import mujoco
 from mujoco.mjx._src import collision_driver
 from mujoco.mjx._src import constraint
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Contact
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
+from mujoco.mjx._src import mesh
+from mujoco.mjx._src import types
 import numpy as np
 
 
-def make_data(m: Model) -> Data:
+def _put_option(o: mujoco.MjOption, device=None) -> types.Option:
+  """Puts mujoco.MjOption onto a device, resulting in mjx.Option."""
+  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.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:
+      raise NotImplementedError(f'{mujoco.mjtEnableBit(2 ** i)}')
+
+  static_fields = {
+      f.name: copy.copy(getattr(o, f.name))
+      for f in types.Option.fields()
+      if f.type in (int, bytes, np.ndarray)
+  }
+  static_fields['integrator'] = types.IntegratorType(o.integrator)
+  static_fields['cone'] = types.ConeType(o.cone)
+  static_fields['solver'] = types.SolverType(o.solver)
+  static_fields['disableflags'] = types.DisableBit(o.disableflags)
+
+  device_fields = {
+      f.name: copy.copy(getattr(o, f.name))
+      for f in types.Option.fields()
+      if f.type is jax.Array
+  }
+  device_fields = jax.device_put(device_fields, device=device)
+
+  has_fluid_params = o.density > 0 or o.viscosity > 0 or o.wind.any()
+
+  return types.Option(
+      has_fluid_params=has_fluid_params,
+      **static_fields,
+      **device_fields,
+  )
+
+
+def _put_statistic(s: mujoco.MjStatistic, device=None) -> types.Statistic:
+  """Puts mujoco.MjStatistic onto a device, resulting in mjx.Statistic."""
+  return types.Statistic(
+      meaninertia=jax.device_put(s.meaninertia, device=device)
+  )
+
+
+def put_model(m: mujoco.MjModel, device=None) -> types.Model:
+  """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
+  if m.ntendon:
+    raise NotImplementedError('tendons are not supported')
+
+  if (m.geom_condim != 3).any() or (m.pair_dim != 3).any():
+    raise NotImplementedError('only condim=3 is supported')
+
+  # check collision geom types
+  for g1, g2, *_ in collision_driver.collision_candidates(m):
+    if collision_driver.get_collision_fn((g1, g2)) is None:
+      g1, g2 = mujoco.mjtGeom(g1), mujoco.mjtGeom(g2)
+      raise NotImplementedError(f'({g1}, {g2}) has no collision function')
+
+  for enum_field, enum_type, mj_type in (
+      (m.actuator_biastype, types.BiasType, mujoco.mjtBias),
+      (m.actuator_dyntype, types.DynType, mujoco.mjtDyn),
+      (m.actuator_gaintype, types.GainType, mujoco.mjtGain),
+      (m.actuator_trntype, types.TrnType, mujoco.mjtTrn),
+      (m.eq_type, types.EqType, mujoco.mjtEq),
+  ):
+    missing = set(enum_field) - set(enum_type)
+    if missing:
+      raise NotImplementedError(
+          f'{[mj_type(m) for m in missing]} not supported'
+      )
+
+  opt = _put_option(m.opt, device=device)
+  stat = _put_statistic(m.stat, device=device)
+
+  static_fields = {
+      f.name: getattr(m, f.name)
+      for f in types.Model.fields()
+      if f.type in (int, bytes, np.ndarray)
+  }
+
+  device_fields = {
+      f.name: copy.copy(getattr(m, f.name))  # copy because device_put is async
+      for f in types.Model.fields()
+      if f.type is jax.Array
+  }
+  device_fields.update(mesh.get(m))
+  device_fields = jax.device_put(device_fields, device=device)
+
+  return types.Model(
+      opt=opt,
+      stat=stat,
+      **static_fields,
+      **device_fields,
+  )
+
+
+def make_data(m: Union[types.Model, mujoco.MjModel]) -> types.Data:
   """Allocate and initialize Data."""
 
+  ncon = collision_driver.ncon(m)
+  ne, nf, nl, nc = constraint.count_constraints(m)
+  nefc = ne + nf + nl + nc
+
+  zero_nv = jp.zeros(m.nv, dtype=jp.float32)
+  zero_nv_6 = jp.zeros((m.nv, 6), dtype=jp.float32)
+  zero_nbody_3 = jp.zeros((m.nbody, 3), dtype=jp.float32)
+  zero_nbody_6 = jp.zeros((m.nbody, 6), dtype=jp.float32)
+  zero_nbody_10 = jp.zeros((m.nbody, 10), dtype=jp.float32)
+  zero_nbody_3_3 = jp.zeros((m.nbody, 3, 3), dtype=jp.float32)
+  zero_nefc = jp.zeros(nefc, dtype=jp.float32)
+  zero_na = jp.zeros(m.na, dtype=jp.float32)
+  zero_nu = jp.zeros(m.nu, dtype=jp.float32)
+  zero_njnt_3 = jp.zeros((m.njnt, 3), dtype=jp.float32)
+  zero_nm = jp.zeros(m.nM, dtype=jp.float32)
+
   # create first d to get num contacts and nc
-  d = Data(
+  d = types.Data(
       solver_niter=jp.array(0, dtype=jp.int32),
-      ne=0,
-      nf=0,
-      nl=0,
-      nefc=0,
-      ncon=0,
-      time=jp.zeros((), dtype=jp.float32),
+      time=jp.array(0.0),
       qpos=m.qpos0,
-      qvel=jp.zeros(m.nv, dtype=jp.float32),
-      act=jp.zeros(m.na, dtype=jp.float32),
-      qacc_warmstart=jp.zeros(m.nv, dtype=jp.float32),
-      ctrl=jp.zeros(m.nu, dtype=jp.float32),
-      qfrc_applied=jp.zeros(m.nv, dtype=jp.float32),
-      xfrc_applied=jp.zeros((m.nbody, 6), dtype=jp.float32),
+      qvel=zero_nv,
+      act=zero_na,
+      qacc_warmstart=zero_nv,
+      ctrl=zero_nu,
+      qfrc_applied=zero_nv,
+      xfrc_applied=zero_nbody_6,
       eq_active=jp.zeros(m.neq, dtype=jp.int32),
-      qacc=jp.zeros(m.nv, dtype=jp.float32),
-      act_dot=jp.zeros(m.na, dtype=jp.float32),
-      xpos=jp.zeros((m.nbody, 3), dtype=jp.float32),
+      qacc=zero_nv,
+      act_dot=zero_na,
+      xpos=zero_nbody_3,
       xquat=jp.zeros((m.nbody, 4), dtype=jp.float32),
-      xmat=jp.zeros((m.nbody, 3, 3), dtype=jp.float32),
-      xipos=jp.zeros((m.nbody, 3), dtype=jp.float32),
-      ximat=jp.zeros((m.nbody, 3, 3), dtype=jp.float32),
-      xanchor=jp.zeros((m.njnt, 3), dtype=jp.float32),
-      xaxis=jp.zeros((m.njnt, 3), dtype=jp.float32),
+      xmat=zero_nbody_3_3,
+      xipos=zero_nbody_3,
+      ximat=zero_nbody_3_3,
+      xanchor=zero_njnt_3,
+      xaxis=zero_njnt_3,
       geom_xpos=jp.zeros((m.ngeom, 3), dtype=jp.float32),
       geom_xmat=jp.zeros((m.ngeom, 3, 3), dtype=jp.float32),
       site_xpos=jp.zeros((m.nsite, 3), dtype=jp.float32),
       site_xmat=jp.zeros((m.nsite, 3, 3), dtype=jp.float32),
-      subtree_com=jp.zeros((m.nbody, 3), dtype=jp.float32),
-      cdof=jp.zeros((m.nv, 6), dtype=jp.float32),
-      cinert=jp.zeros((m.nbody, 10), dtype=jp.float32),
-      actuator_length=jp.zeros(m.nu, dtype=jp.float32),
+      subtree_com=zero_nbody_3,
+      cdof=zero_nv_6,
+      cinert=zero_nbody_10,
+      actuator_length=zero_nu,
       actuator_moment=jp.zeros((m.nu, m.nv), dtype=jp.float32),
-      crb=jp.zeros((m.nbody, 10), dtype=jp.float32),
-      qM=jp.zeros(m.nM, dtype=jp.float32),
-      qLD=jp.zeros(m.nM, dtype=jp.float32),
-      qLDiagInv=jp.zeros(m.nv, dtype=jp.float32),
-      qLDiagSqrtInv=jp.zeros(m.nv, dtype=jp.float32),
-      contact=Contact.zero(),
-      efc_J=jp.zeros((), dtype=jp.float32),
-      efc_frictionloss=jp.zeros((), dtype=jp.float32),
-      efc_D=jp.zeros((), dtype=jp.float32),
-      actuator_velocity=jp.zeros(m.nu, dtype=jp.float32),
-      cvel=jp.zeros((m.nbody, 6), dtype=jp.float32),
-      cdof_dot=jp.zeros((m.nv, 6), dtype=jp.float32),
-      qfrc_bias=jp.zeros(m.nv, dtype=jp.float32),
-      qfrc_passive=jp.zeros(m.nv, dtype=jp.float32),
-      efc_aref=jp.zeros((), dtype=jp.float32),
-      actuator_force=jp.zeros(m.nu, dtype=jp.float32),
-      qfrc_actuator=jp.zeros(m.nv, dtype=jp.float32),
-      qfrc_smooth=jp.zeros(m.nv, dtype=jp.float32),
-      qacc_smooth=jp.zeros(m.nv, dtype=jp.float32),
-      qfrc_constraint=jp.zeros(m.nv, dtype=jp.float32),
-      qfrc_inverse=jp.zeros(m.nv, dtype=jp.float32),
-      efc_force=jp.zeros((), dtype=jp.float32),
-  )
-
-  # get contact data with correct shapes
-  ncon = collision_driver.ncon(m)
-  d = d.replace(contact=Contact.zero((ncon,)), ncon=ncon)
-  d = d.tree_replace({'contact.dim': 3 * np.ones(ncon)})
-
-  ne, nf, nl, nc = constraint.count_constraints(m, d)
-  d = d.replace(ne=ne, nf=nf, nl=nl, nefc=ne + nf + nl + nc)
-  ns = ne + nf + nl
-  d = d.tree_replace({'contact.efc_address': np.arange(ns, ns + ncon * 4, 4)})
-  d = d.replace(
-      efc_J=jp.zeros((d.nefc, m.nv), dtype=jp.float32),
-      efc_frictionloss=jp.zeros(d.nefc, dtype=jp.float32),
-      efc_D=jp.zeros(d.nefc, dtype=jp.float32),
-      efc_aref=jp.zeros(d.nefc, dtype=jp.float32),
-      efc_force=jp.zeros(d.nefc, dtype=jp.float32),
+      crb=zero_nbody_10,
+      qM=zero_nm,
+      qLD=zero_nm,
+      qLDiagInv=zero_nv,
+      qLDiagSqrtInv=zero_nv,
+      contact=types.Contact.zero(ncon),
+      efc_J=jp.zeros((nefc, m.nv), dtype=jp.float32),
+      efc_frictionloss=zero_nefc,
+      efc_D=zero_nefc,
+      actuator_velocity=zero_nu,
+      cvel=zero_nbody_6,
+      cdof_dot=zero_nv_6,
+      qfrc_bias=zero_nv,
+      qfrc_passive=zero_nv,
+      efc_aref=zero_nefc,
+      actuator_force=zero_nu,
+      qfrc_actuator=zero_nv,
+      qfrc_smooth=zero_nv,
+      qacc_smooth=zero_nv,
+      qfrc_constraint=zero_nv,
+      qfrc_inverse=zero_nv,
+      efc_force=zero_nefc,
   )
 
   return d
+
+
+def _get_contact(
+    c: mujoco._structs._MjContactList,
+    cx: types.Contact,
+    efc_start: int,
+):
+  """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
+
+  ncon = con_id.shape[0]
+  c.efc_address[:] = np.arange(efc_start, efc_start + ncon * 4, 4)[con_id]
+
+
+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]."""
+  dx = jax.device_get(d)
+  batched = len(d.qpos.shape) > 1
+  batch_size = d.qpos.shape[0] if batched else 1
+  ne, nf, nl, nc = constraint.count_constraints(m)
+  efc_type = np.array([
+      mujoco.mjtConstraint.mjCNSTR_EQUALITY,
+      mujoco.mjtConstraint.mjCNSTR_FRICTION_DOF,
+      mujoco.mjtConstraint.mjCNSTR_LIMIT_JOINT,
+      mujoco.mjtConstraint.mjCNSTR_CONTACT_PYRAMIDAL,
+  ]).repeat([ne, nf, nl, nc])
+
+  ds = []
+  for i in range(batch_size):
+    dx_i = jax.tree_map(lambda x, i=i: x[i], dx) if batched else d
+    ncon = (dx_i.contact.dist <= 0).sum()
+    efc_active = (dx_i.efc_J != 0).any(axis=1)
+    efc_con = efc_type == mujoco.mjtConstraint.mjCNSTR_CONTACT_PYRAMIDAL
+    nefc, nc = efc_active.sum(), (efc_active & efc_con).sum()
+    d_i = mujoco.MjData(m)
+    d_i.nnzJ = nefc * m.nv
+    mujoco._functions._realloc_con_efc(d_i, ncon=ncon, nefc=nefc)  # pylint: disable=protected-access
+    d_i.efc_J_rownnz[:] = np.repeat(m.nv, nefc)
+    d_i.efc_J_rowadr[:] = np.arange(0, nefc * m.nv, m.nv)
+    d_i.efc_J_colind[:] = np.tile(np.arange(m.nv), nefc)
+
+    for field in types.Data.fields():
+      if field.name == 'contact':
+        _get_contact(d_i.contact, dx_i.contact, nefc - nc)
+        continue
+
+      value = getattr(dx_i, field.name)
+
+      if field.name in ('xmat', 'ximat', 'geom_xmat'):
+        value = value.reshape((-1, 9))
+
+      if field.name in ('efc_frictionloss', 'efc_D', 'efc_aref', 'efc_force'):
+        value = value[efc_active]
+
+      if field.name == 'efc_J':
+        value = value[efc_active].reshape(-1)
+
+      if value.shape:
+        getattr(d_i, field.name)[:] = value
+      else:
+        setattr(d_i, field.name, value)
+
+    d_i.efc_type[:] = efc_type[efc_active]
+    ds.append(d_i)
+
+  return ds if batched else ds[0]
+
+
+def _put_contact(
+    c: mujoco._structs._MjContactList, ncon: int, device=None
+) -> types.Contact:
+  """Puts mujoco.structs._MjContactList onto a device, resulting in mjx.Contact."""
+  fields = {
+      f.name: copy.copy(getattr(c, f.name)) for f in types.Contact.fields()
+  }
+  fields['frame'] = fields['frame'].reshape((-1, 3, 3))
+  pad_size = ncon - c.dist.shape[0]
+  pad_fn = lambda x: np.concatenate(
+      (x, np.zeros((pad_size,) + x.shape[1:], dtype=x.dtype))
+  )
+  fields = jax.tree_map(pad_fn, fields)
+  fields['dist'][-pad_size:] = np.inf
+  fields = jax.device_put(fields, device=device)
+
+  return types.Contact(**fields)
+
+
+def put_data(m: mujoco.MjModel, d: mujoco.MjData, device=None) -> types.Data:
+  """Puts mujoco.MjData onto a device, resulting in mjx.Data."""
+  ncon = collision_driver.ncon(m)
+  ne, nf, nl, nc = constraint.count_constraints(m)
+  nefc = ne + nf + nl + nc
+
+  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 = {
+      f.name: copy.copy(getattr(d, f.name))  # copy because device_put is async
+      for f in types.Data.fields()
+      if f.type is jax.Array
+  }
+
+  for fname in ('xmat', 'ximat', 'geom_xmat'):
+    fields[fname] = fields[fname].reshape((-1, 3, 3))
+
+  # pad efc fields: MuJoCo efc arrays are sparse for inactive constraints.
+  # efc_J is also optionally column-sparse (typically for large nv).  MJX is
+  # neither: it contains zeros for inactive constraints, and efc_J is always
+  # (nefc, nv).  this may change in the future.
+  if mujoco.mj_isSparse(m):
+    nr = d.efc_J_rownnz.shape[0]
+    efc_j = np.zeros((nr, m.nv))
+    for i in range(nr):
+      rowadr = d.efc_J_rowadr[i]
+      for j in range(d.efc_J_rownnz[i]):
+        efc_j[i, d.efc_J_colind[rowadr + j]] = fields['efc_J'][rowadr + j]
+    fields['efc_J'] = efc_j
+  else:
+    fields['efc_J'] = fields['efc_J'].reshape((-1, m.nv))
+
+  for fname in ('efc_J', '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(4):
+      value_beg = sum([ne, nf, nl][:i])
+      d_beg = sum([d.ne, d.nf, d.nl][:i])
+      size = [d.ne, d.nf, d.nl, d.nefc - d.nl - d.nf - d.ne][i]
+      value[value_beg:value_beg+size] = fields[fname][d_beg:d_beg+size]
+    fields[fname] = value
+
+  fields = jax.device_put(fields, device=device)
+  fields['contact'] = _put_contact(d.contact, ncon, device=device)
+
+  return types.Data(**fields)
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 269509a8..4c7b0065 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -17,26 +17,390 @@
 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
+import numpy as np
+
+
+_MULTIPLE_CONVEX_OBJECTS = """
+  <mujoco>
+    <option timestep="0.001"/>
+    <default>
+      <geom solref=".006 1"/>
+    </default>
+    <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"/>
+      <mesh name="boxoid" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 .5 -1 -1 2" scale=".3 .2 .1"/>
+      <mesh name="pentaprism" vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0 1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1" scale=".2 .2 .1"/>
+    </asset>
+    <worldbody>
+      <geom type="plane" pos="0 0 -.5" size="3 3 .01"/>
+      <geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
+      <body pos="-.3 -.3 .3">
+        <freejoint/>
+        <geom type="mesh" mesh="boxoid" rgba=".8 0 0 1" euler="3 5 -130"/>
+      </body>
+      <body pos=".3 .3 0.3">
+        <freejoint/>
+        <geom type="box" euler="3 5 -80" size=".3 .2 .1" rgba="0 .8 0 1"/>
+      </body>
+      <body pos=".3 .3 .6">
+        <freejoint/>
+        <geom type="mesh" mesh="pentaprism" rgba="0 0 .8 1"/>
+      </body>
+      <body pos=".6 -.3 .3">
+        <joint name="joint" axis="1 0 0" type="hinge" range="-45 45"/>
+        <geom type="capsule" size=".2 .05" rgba=".6 0 .6 1"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <motor joint="joint"/>
+    </actuator>
+  </mujoco>
+"""
+
+_MULTIPLE_CONSTRAINTS = """
+  <mujoco>
+    <worldbody>
+      <geom type="plane" size="3 3 .01"/>
+      <body name="cap1" pos="-.3 -.3 .2">
+        <freejoint/>
+        <geom type="capsule" size=".2 .05"/>
+        <body name="cap2" pos=".6 -.3 .3">
+          <joint axis="0 1 0" type="hinge" range="-45 45"/>
+          <joint axis="1 0 0" type="hinge" range="-0.001 0.001"/>
+          <geom type="capsule" size=".2 .05"/>
+        </body>
+      </body>
+    </worldbody>
+    <equality>
+      <connect body1="cap2" anchor="0 0 1"/>
+    </equality>
+  </mujoco>
+"""
 
 
 class IoTest(parameterized.TestCase):
 
-  @parameterized.parameters(test_util.TEST_FILES)
-  def test_make_data(self, fname):
-    """Test that data created by make_data matches data returned by step."""
+  def test_put_model(self):
+    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
+    mx = mjx.put_model(m)
+    self.assertEqual(mx.nq, m.nq)
+    self.assertEqual(mx.nv, m.nv)
+    self.assertEqual(mx.nu, m.nu)
+    self.assertEqual(mx.na, m.na)
+    self.assertEqual(mx.nbody, m.nbody)
+    self.assertEqual(mx.njnt, m.njnt)
+    self.assertEqual(mx.ngeom, m.ngeom)
+    self.assertEqual(mx.nmesh, m.nmesh)
+    self.assertEqual(mx.npair, m.npair)
+    self.assertEqual(mx.nexclude, m.nexclude)
+    self.assertEqual(mx.neq, m.neq)
+    self.assertEqual(mx.nnumeric, m.nnumeric)
+    self.assertEqual(mx.nM, m.nM)
+    self.assertAlmostEqual(mx.opt.timestep, m.opt.timestep)
 
-    m = test_util.load_test_file(fname)
-    mx = mjx.device_put(m)
-    dx = mjx.make_data(mx)
-    dx_step = mjx.step(mx, dx)
+    np.testing.assert_allclose(mx.body_parentid, m.body_parentid)
+    np.testing.assert_allclose(mx.geom_type, m.geom_type)
+    np.testing.assert_allclose(mx.geom_bodyid, m.geom_bodyid)
+    np.testing.assert_almost_equal(mx.geom_solref, m.geom_solref)
+    np.testing.assert_almost_equal(mx.geom_pos, m.geom_pos)
+    self.assertLen(mx.geom_convex_face, 6)
+    self.assertLen(mx.geom_convex_vert, 6)
+    self.assertLen(mx.geom_convex_edge, 6)
+    self.assertLen(mx.geom_convex_facenormal, 6)
 
-    _, dx_treedef = jax.tree_util.tree_flatten(dx)
-    _, dx_step_treedef = jax.tree_util.tree_flatten(dx_step)
+    np.testing.assert_allclose(mx.jnt_type, m.jnt_type)
+    np.testing.assert_allclose(mx.jnt_dofadr, m.jnt_dofadr)
+    np.testing.assert_allclose(mx.jnt_bodyid, m.jnt_bodyid)
+    np.testing.assert_allclose(mx.jnt_limited, m.jnt_limited)
+    np.testing.assert_almost_equal(mx.jnt_axis, m.jnt_axis)
 
-    self.assertEqual(dx_treedef, dx_step_treedef)
+    np.testing.assert_allclose(mx.actuator_trntype, m.actuator_trntype)
+    np.testing.assert_allclose(mx.actuator_dyntype, m.actuator_dyntype)
+    np.testing.assert_allclose(mx.actuator_gaintype, m.actuator_gaintype)
+    np.testing.assert_allclose(mx.actuator_biastype, m.actuator_biastype)
+    np.testing.assert_allclose(mx.actuator_trnid, m.actuator_trnid)
 
+  def test_fluid_params(self):
+    """Test that has_fluid_params is set when fluid params are present."""
+    m = mjx.put_model(
+        mujoco.MjModel.from_xml_string(
+            '<mujoco><option viscosity="3.0"/><worldbody/></mujoco>'
+        )
+    )
+    self.assertTrue(m.opt.has_fluid_params)
+
+  def test_put_model_implicit_not_implemented(self):
+    """Test that MJX guards against models with unimplemented features."""
+
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(
+          mujoco.MjModel.from_xml_string(
+              '<mujoco><option integrator="implicit"/><worldbody/></mujoco>'
+          )
+      )
+
+  def test_put_model_cone_not_implemented(self):
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(
+          mujoco.MjModel.from_xml_string(
+              '<mujoco><option cone="elliptic"/><worldbody/></mujoco>'
+          )
+      )
+
+  def test_put_model_pgs_not_implemented(self):
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(
+          mujoco.MjModel.from_xml_string(
+              '<mujoco><option solver="PGS"/><worldbody/></mujoco>'
+          )
+      )
+
+  def test_put_model_site_actuator_not_implemented(self):
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(mujoco.MjModel.from_xml_string("""
+        <mujoco>
+          <worldbody>
+            <site name="ref"/>
+            <body>
+              <site name="end"/>
+            </body>
+          </worldbody>
+          <actuator>
+            <general site="end" refsite="ref"/>
+          </actuator>
+        </mujoco>"""))
+
+  def test_put_model_tendon_not_implemented(self):
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(mujoco.MjModel.from_xml_string("""
+        <mujoco>
+          <worldbody>
+            <body>
+              <joint name="left_hip" type="hinge"/>
+              <geom size="0.05"/>
+            </body>
+          </worldbody>
+          <tendon>
+            <fixed>
+              <joint coef="1" joint="left_hip"/>
+            </fixed>
+          </tendon>
+        </mujoco>"""))
+
+  def test_put_model_condim_not_implemented(self):
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(mujoco.MjModel.from_xml_string("""
+        <mujoco>
+          <worldbody>
+            <body>
+              <freejoint/>
+              <geom size="0.05" condim="1"/>
+            </body>
+            <body>
+              <freejoint/>
+              <geom size="0.05" condim="1"/>
+            </body>
+          </worldbody>
+        </mujoco>"""))
+
+  def test_put_model_cylinder_not_implemented(self):
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(mujoco.MjModel.from_xml_string("""
+        <mujoco>
+          <worldbody>
+            <body>
+              <freejoint/>
+              <geom type="cylinder" size="0.05 0.05"/>
+            </body>
+            <body>
+              <freejoint/>
+              <geom size="0.05"/>
+            </body>
+          </worldbody>
+        </mujoco>"""))
+
+  def test_make_data(self):
+    """Test that make_data returns the correct shapes."""
+
+    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
+    d = mjx.make_data(m)
+
+    nq = 22
+    nbody = 5
+    ncon = 46
+    nv = 19
+    nefc = 185
+    nm = 64
+
+    self.assertEqual(d.qpos.shape, (nq,))
+    self.assertEqual(d.qvel.shape, (nv,))
+    self.assertEqual(d.act.shape, (0,))
+    self.assertEqual(d.qacc_warmstart.shape, (nv,))
+    self.assertEqual(d.ctrl.shape, (1,))
+    self.assertEqual(d.qfrc_applied.shape, (nv,))
+    self.assertEqual(d.xfrc_applied.shape, (nbody, 6))
+    self.assertEqual(d.eq_active.shape, (0,))
+    self.assertEqual(d.qacc.shape, (nv,))
+    self.assertEqual(d.act_dot.shape, (0,))
+    self.assertEqual(d.xpos.shape, (nbody, 3))
+    self.assertEqual(d.xquat.shape, (nbody, 4))
+    self.assertEqual(d.xmat.shape, (nbody, 3, 3))
+    self.assertEqual(d.xipos.shape, (nbody, 3))
+    self.assertEqual(d.ximat.shape, (nbody, 3, 3))
+    self.assertEqual(d.xanchor.shape, (4, 3))
+    self.assertEqual(d.xaxis.shape, (4, 3))
+    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, (nm,))
+    self.assertEqual(d.qLD.shape, (nm,))
+    self.assertEqual(d.qLDiagInv.shape, (nv,))
+    self.assertEqual(d.qLDiagSqrtInv.shape, (nv,))
+    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.cvel.shape, (nbody, 6))
+    self.assertEqual(d.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.actuator_force.shape, (1,))
+    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,))
+
+  def test_put_data(self):
+    """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)
+
+    # 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.qM, d.qM)
+
+    # 4 contacts, 2 for each capsule against the plane
+    self.assertEqual(dx.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(np.isinf(dx.contact.dist[1:]).all())
+    self.assertEqual(dx.contact.frame.shape, (4, 3, 3))
+    np.testing.assert_allclose(
+        dx.contact.frame[0].reshape(9), d.contact.frame[0]
+    )
+    np.testing.assert_allclose(dx.contact.frame[1:], 0)
+
+    # xmat, ximat, geom_xmat are all shape transformed
+    self.assertEqual(dx.xmat.shape, (3, 3, 3))
+    self.assertEqual(dx.ximat.shape, (3, 3, 3))
+    self.assertEqual(dx.geom_xmat.shape, (3, 3, 3))
+    np.testing.assert_allclose(dx.xmat.reshape((3, 9)), d.xmat)
+    np.testing.assert_allclose(dx.ximat.reshape((3, 9)), d.ximat)
+    np.testing.assert_allclose(dx.geom_xmat.reshape((3, 9)), d.geom_xmat)
+
+    # efc_ are also shape transformed and padded
+    self.assertEqual(dx.efc_J.shape, (21, 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[5:9], d_efc_j[4:8])  # contact
+    np.testing.assert_allclose(dx.efc_J[9:], 0)  # no contact
+
+    # check another efc_ too
+    self.assertEqual(dx.efc_aref.shape, (21,))  # 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[5:9], d.efc_aref[4:8])
+    np.testing.assert_allclose(dx.efc_aref[9:], 0)
+
+    # check sparse transform is correct
+    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
+    d = mujoco.MjData(m)
+    mujoco.mj_step(m, d, 2)
+    dx_from_sparse = mjx.put_data(m, d)
+    np.testing.assert_allclose(dx_from_sparse.efc_J, dx.efc_J, atol=1e-8)
+
+  def test_get_data(self):
+    """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)
+    d_2: mujoco.MjData = mjx.get_data(m, dx)
+
+    # check a few fields
+    np.testing.assert_allclose(d_2.qpos, d.qpos)
+    np.testing.assert_allclose(d_2.xpos, d.xpos)
+    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)
+
+    # only 1 contact active
+    self.assertEqual(d_2.contact.dist.shape, (1,))
+    self.assertEqual(d_2.ncon, 1)
+    np.testing.assert_allclose(d_2.contact.dist, d.contact.dist)
+    self.assertEqual(d_2.contact.frame.shape, (1, 9))
+    np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
+
+    # xmat, ximat, geom_xmat are all shape transformed
+    self.assertEqual(d_2.xmat.shape, (3, 9))
+    self.assertEqual(d_2.ximat.shape, (3, 9))
+    self.assertEqual(d_2.geom_xmat.shape, (3, 9))
+    np.testing.assert_allclose(d_2.xmat, d.xmat)
+    np.testing.assert_allclose(d_2.ximat, d.ximat)
+    np.testing.assert_allclose(d_2.geom_xmat, d.geom_xmat)
+
+    # efc_* are also shape transformed and filtered
+    self.assertEqual(d_2.efc_J.shape, (64,))  # nefc * nv
+    np.testing.assert_allclose(d_2.efc_J, d.efc_J)
+    self.assertEqual(d_2.efc_aref.shape, (8,))  # nefc
+    np.testing.assert_allclose(d_2.efc_aref, d.efc_aref)
+
+    # efc_address is created on demand
+    np.testing.assert_allclose(d_2.contact.efc_address, d.contact.efc_address)
+
+  def test_get_data_batched(self):
+    """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)
+    # second data in batch has contact dist > 0, disables contact
+    dx_b = jax.tree_map(lambda x: jp.stack((x, x + 0.05)), dx)
+    ds = mjx.get_data(m, dx_b)
+    self.assertLen(ds, 2)
+    np.testing.assert_allclose(ds[0].qpos, d.qpos)
+    np.testing.assert_allclose(ds[1].qpos, d.qpos + 0.05, atol=1e-8)
+    self.assertEqual(ds[0].ncon, 1)
+    self.assertEqual(ds[1].ncon, 0)
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/scan.py b/mjx/mujoco/mjx/_src/scan.py
index de904e14..ae0eeb30 100644
--- a/mjx/mujoco/mjx/_src/scan.py
+++ b/mjx/mujoco/mjx/_src/scan.py
@@ -221,7 +221,7 @@ def flat(
         'u': i,
         'a': m.actuator_actadr[i],
         'j': (
-            m.actuator_trnid[i]
+            m.actuator_trnid[i, 0]
             if m.actuator_trntype[i] == TrnType.JOINT
             else np.array(-1)
         ),
diff --git a/mjx/mujoco/mjx/_src/scan_test.py b/mjx/mujoco/mjx/_src/scan_test.py
index 9b845de1..fe4448ca 100644
--- a/mjx/mujoco/mjx/_src/scan_test.py
+++ b/mjx/mujoco/mjx/_src/scan_test.py
@@ -210,15 +210,16 @@ class ScanTest(absltest.TestCase):
         m, fn, 'ujqva', 'ujqva', *args, group_by='u'
     )
 
+    actuator_trnid = m.actuator_trnid[:, 0]
     np.testing.assert_array_equal(gear, m.actuator_gear)
-    np.testing.assert_array_equal(jnt_typ, m.jnt_type[m.actuator_trnid])
+    np.testing.assert_array_equal(jnt_typ, m.jnt_type[actuator_trnid])
     np.testing.assert_array_equal(act, jp.array([1.4, 1.1]))
     expected_vadr = np.concatenate(
-        [np.nonzero(m.dof_jntid == trnid)[0] for trnid in m.actuator_trnid]
+        [np.nonzero(m.dof_jntid == trnid)[0] for trnid in actuator_trnid]
     )
     np.testing.assert_array_equal(vadr, expected_vadr)
     expected_qadr = np.concatenate(
-        [np.nonzero(scan._q_jointid(m) == i)[0] for i in m.actuator_trnid]
+        [np.nonzero(scan._q_jointid(m) == i)[0] for i in actuator_trnid]
     )
     np.testing.assert_array_equal(qadr, expected_qadr)
 
diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
index c3f5b7c1..f8ef9bed 100644
--- a/mjx/mujoco/mjx/_src/solver.py
+++ b/mjx/mujoco/mjx/_src/solver.py
@@ -19,6 +19,7 @@ from typing import Optional
 import jax
 from jax import numpy as jp
 import mujoco
+from mujoco.mjx._src import constraint
 from mujoco.mjx._src import math
 from mujoco.mjx._src import smooth
 # pylint: disable=g-importing-member
@@ -69,12 +70,12 @@ class _Context(PyTreeNode):
     # TODO(robotics-team): determine nv at which sparse mul is faster
     M = smooth.dense_m(m, d) if m.nv < 100 else None  # pylint: disable=invalid-name
     ma = smooth.mul_m(m, d, d.qacc) if M is None else M @ d.qacc
-    nv_0 = jp.zeros((m.nv,))
+    nv_0 = jp.zeros(m.nv)
     ctx = _Context(
         qacc=d.qacc,
         qfrc_constraint=d.qfrc_constraint,
         Jaref=jaref,
-        efc_force=jp.zeros(d.nefc),
+        efc_force=d.efc_force,
         M=M,
         Ma=ma,
         grad=nv_0,
@@ -111,7 +112,7 @@ class _LSPoint(PyTreeNode):
   @classmethod
   def create(
       cls,
-      d: Data,
+      m: Model,
       ctx: _Context,
       alpha: jax.Array,
       jv: jax.Array,
@@ -122,7 +123,8 @@ class _LSPoint(PyTreeNode):
     # roughly corresponds to CGEval in mujoco/src/engine/engine_solver.c
 
     # TODO(robotics-team): change this to support friction constraints
-    active = ((ctx.Jaref + alpha * jv) < 0).at[:d.ne + d.nf].set(True)
+    ne, nf, *_ = constraint.count_constraints(m)
+    active = ((ctx.Jaref + alpha * jv) < 0).at[:ne + nf].set(True)
     quad = jax.vmap(jp.multiply)(quad, active)  # only active
     quad_total = quad_gauss + jp.sum(quad, axis=0)
 
@@ -177,12 +179,11 @@ def _update_constraint(m: Model, d: Data, ctx: _Context) -> _Context:
   Returns:
     context with new constraint force and costs
   """
-  del m
-
   # TODO(robotics-team): add friction constraints
 
   # only count active constraints
-  active = (ctx.Jaref < 0).at[:d.ne + d.nf].set(True)
+  ne, nf, *_ = constraint.count_constraints(m)
+  active = (ctx.Jaref < 0).at[:ne + nf].set(True)
 
   efc_force = d.efc_D * -ctx.Jaref * active
   qfrc_constraint = d.efc_J.T @ efc_force
@@ -221,7 +222,8 @@ def _update_gradient(m: Model, d: Data, ctx: _Context) -> _Context:
   if m.opt.solver == SolverType.CG:
     mgrad = smooth.solve_m(m, d, grad)
   elif m.opt.solver == SolverType.NEWTON:
-    active = (ctx.Jaref < 0).at[:d.ne + d.nf].set(True)
+    ne, nf, *_ = constraint.count_constraints(m)
+    active = (ctx.Jaref < 0).at[:ne + nf].set(True)
     h = (d.efc_J.T * d.efc_D * active) @ d.efc_J
     h = smooth.dense_m(m, d) + h
     h_ = jax.scipy.linalg.cho_factor(h)
@@ -265,7 +267,7 @@ def _linesearch(m: Model, d: Data, ctx: _Context) -> _Context:
   quad = jp.stack((0.5 * ctx.Jaref * ctx.Jaref, jv * ctx.Jaref, 0.5 * jv * jv))
   quad = (quad * d.efc_D).T
 
-  point_fn = lambda alpha: _LSPoint.create(d, ctx, alpha, jv, quad, quad_gauss)
+  point_fn = lambda a: _LSPoint.create(m, ctx, a, jv, quad, quad_gauss)
 
   def cond(ctx: _LSContext) -> jax.Array:
     done = ctx.ls_iter >= m.opt.ls_iterations
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 963109e6..19b37630 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -21,6 +21,7 @@ import jax
 import jax.numpy as jp
 import mujoco
 # pylint: disable=g-importing-member
+from mujoco.mjx._src import dataclasses
 from mujoco.mjx._src.dataclasses import PyTreeNode
 # pylint: enable=g-importing-member
 import numpy as np
@@ -213,7 +214,6 @@ class Option(PyTreeNode):
     integrator:       integration mode
     cone:             type of friction cone
     solver:           solver algorithm
-    integrator:       integration mode
     iterations:       number of main solver iterations
     ls_iterations:    maximum number of CG/Newton linesearch iterations
     disableflags:     bit flags for disabling standard features
@@ -329,8 +329,8 @@ class Model(PyTreeNode):
     geom_margin: include in solver if dist<margin-gap         (ngeom,)
     geom_gap: include in solver if dist<margin-gap            (ngeom,)
     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)
+    site_pos: local position offset rel. to body              (nsite, 3)
+    site_quat: local orientation offset rel. to body          (nsite, 4)
     geom_convex_face: vertex face data, MJX only              (ngeom,)
     geom_convex_vert: vertex data, MJX only                   (ngeom,)
     geom_convex_edge: unique edge data, MJX only              (ngeom,)
@@ -508,10 +508,8 @@ class Contact(PyTreeNode):
     solref: constraint solver reference, normal direction             (mjNREF,)
     solreffriction: constraint solver reference, friction directions  (mjNREF,)
     solimp: constraint solver impedance                               (mjNIMP,)
-    dim: contact space dimensionality: 1, 3, 4 or 6
     geom1: id of geom 1
     geom2: id of geom 2
-    efc_address: address in efc; -1: not included
   """
   dist: jax.Array
   pos: jax.Array
@@ -521,29 +519,25 @@ class Contact(PyTreeNode):
   solref: jax.Array
   solreffriction: jax.Array
   solimp: jax.Array
-  # unsupported: mu, H
-  dim: np.ndarray
+  # unsupported: mu, H, dim
   geom1: jax.Array
   geom2: jax.Array
-  efc_address: np.ndarray
-  # unsupported: exclude
+  # unsupported: efc_address, exclude
 
   @classmethod
-  def zero(cls, shape=(0,)) -> 'Contact':
+  def zero(cls, ncon: int = 0) -> 'Contact':
     """Returns a contact filled with zeros."""
     return Contact(
-        dist=jp.zeros(shape),
-        pos=jp.zeros(shape + (3,)),
-        frame=jp.zeros(shape + (3, 3)),
-        includemargin=jp.zeros(shape),
-        friction=jp.zeros(shape + (5,)),
-        solref=jp.zeros(shape + (mujoco.mjNREF,)),
-        solreffriction=jp.zeros(shape + (mujoco.mjNREF,)),
-        solimp=jp.zeros(shape + (mujoco.mjNIMP,)),
-        dim=np.zeros(shape, dtype=np.int32),
-        geom1=jp.zeros(shape, dtype=jp.int32),
-        geom2=jp.zeros(shape, dtype=jp.int32),
-        efc_address=np.zeros(shape, dtype=np.int32),
+        dist=jp.zeros(ncon),
+        pos=jp.zeros((ncon, 3,)),
+        frame=jp.zeros((ncon, 3, 3)),
+        includemargin=jp.zeros(ncon),
+        friction=jp.zeros((ncon, 5)),
+        solref=jp.zeros((ncon, mujoco.mjNREF)),
+        solreffriction=jp.zeros((ncon, mujoco.mjNREF)),
+        solimp=jp.zeros((ncon, mujoco.mjNIMP,)),
+        geom1=jp.zeros(ncon, dtype=jp.int32),
+        geom2=jp.zeros(ncon, dtype=jp.int32),
     )
 
 
@@ -552,11 +546,6 @@ class Data(PyTreeNode):
 
   Attributes:
     solver_niter: number of solver iterations, per island         (mjNISLAND,)
-    ne: number of equality constraints
-    nf: number of friction constraints
-    nl: number of limit constraints
-    nefc: number of constraints
-    ncon: nubmer of contacts
     time: simulation time
     qpos: position                                                (nq,)
     qvel: velocity                                                (nv,)
@@ -610,12 +599,6 @@ class Data(PyTreeNode):
   """
   # solver statistics:
   solver_niter: jax.Array
-  # sizes (variable in MJ, constant in MJX)
-  ne: int
-  nf: int
-  nl: int
-  nefc: int
-  ncon: int
   # global properties:
   time: jax.Array
   # state:
diff --git a/mjx/mujoco/mjx/integration_test/collision_driver_test.py b/mjx/mujoco/mjx/integration_test/collision_driver_test.py
index d49ef10a..1e28b053 100644
--- a/mjx/mujoco/mjx/integration_test/collision_driver_test.py
+++ b/mjx/mujoco/mjx/integration_test/collision_driver_test.py
@@ -82,7 +82,6 @@ class CollisionDriverIntegrationTest(parameterized.TestCase):
     mjx_contact = jax.tree_map(
         lambda x: x.take(np.array(idx), axis=0), dx.contact
     )
-    mjx_contact = mjx_contact.replace(dim=mjx_contact.dim[idx])
     for field in dataclasses.fields(Contact):
       _assert_attr_eq(mjx_contact, d.contact, field.name, seed, 1e-7)
 

From c0b7b9873d8c2152877dd03f55e2f848454017b4 Mon Sep 17 00:00:00 2001
From: Matthew Bennice <mbennice@google.com>
Date: Sat, 2 Dec 2023 03:50:27 -0800
Subject: [PATCH 034/121] Store paths for hfields, textures, and skins similar
 to meshes.

PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
---
 doc/includes/references.h            | 28 ++++++---
 include/mujoco/mjmodel.h             | 23 ++++---
 include/mujoco/mjvisualize.h         |  5 ++
 include/mujoco/mjxmacro.h            |  3 +
 introspect/structs.py                | 62 ++++++++++++++++---
 src/engine/engine_io.c               |  5 +-
 src/user/user_model.cc               | 93 +++++++++++++++++-----------
 src/user/user_objects.h              |  7 +++
 test/testdata/model.xml              |  1 +
 unity/Runtime/Bindings/MjBindings.cs |  6 ++
 10 files changed, 166 insertions(+), 67 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 9b169ab3..f4aedde9 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1182,20 +1182,23 @@ struct mjModel_ {
   int*      skin_bonebodyid;      // body id of each bone                     (nskinbone x 1)
   int*      skin_bonevertid;      // mesh ids of vertices in each bone        (nskinbonevert x 1)
   float*    skin_bonevertweight;  // weights of vertices in each bone         (nskinbonevert x 1)
+  int*      skin_pathadr;         // address of asset path for skin; -1: none (nskin x 1)
 
   // height fields
-  mjtNum*   hfield_size;          // (x, y, z_top, z_bottom)                  (nhfield x 4)
-  int*      hfield_nrow;          // number of rows in grid                   (nhfield x 1)
-  int*      hfield_ncol;          // number of columns in grid                (nhfield x 1)
-  int*      hfield_adr;           // address in hfield_data                   (nhfield x 1)
-  float*    hfield_data;          // elevation data                           (nhfielddata x 1)
+  mjtNum*   hfield_size;          // (x, y, z_top, z_bottom)                    (nhfield x 4)
+  int*      hfield_nrow;          // number of rows in grid                     (nhfield x 1)
+  int*      hfield_ncol;          // number of columns in grid                  (nhfield x 1)
+  int*      hfield_adr;           // address in hfield_data                     (nhfield x 1)
+  float*    hfield_data;          // elevation data                             (nhfielddata x 1)
+  int*      hfield_pathadr;       // address of asset path for hfield; -1: none (nhfield x 1)
 
   // textures
-  int*      tex_type;             // texture type (mjtTexture)                (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_adr;              // address in rgb                           (ntex x 1)
-  mjtByte*  tex_rgb;              // rgb (alpha = 1)                          (ntexdata x 1)
+  int*      tex_type;             // texture type (mjtTexture)                  (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_adr;              // address in rgb                             (ntex x 1)
+  mjtByte*  tex_rgb;              // rgb (alpha = 1)                            (ntexdata x 1)
+  int*      tex_pathadr;         // address of asset path for texture; -1: none (ntex x 1)
 
   // materials
   int*      mat_texid;            // texture id; -1: none                     (nmat x 1)
@@ -2248,6 +2251,8 @@ struct mjvSceneState_ {
     mjtNum* flex_radius;
     float* flex_rgba;
 
+    int* hfield_pathadr;
+
     int* mesh_bvhadr;
     int* mesh_bvhnum;
     int* mesh_texcoordadr;
@@ -2274,6 +2279,9 @@ struct mjvSceneState_ {
     int* skin_bonebodyid;
     int* skin_bonevertid;
     float* skin_bonevertweight;
+    int* skin_pathadr;
+
+    int* tex_pathadr;
 
     int* mat_texid;
     mjtByte* mat_texuniform;
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index b9f7b8e9..663e191f 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -895,20 +895,23 @@ struct mjModel_ {
   int*      skin_bonebodyid;      // body id of each bone                     (nskinbone x 1)
   int*      skin_bonevertid;      // mesh ids of vertices in each bone        (nskinbonevert x 1)
   float*    skin_bonevertweight;  // weights of vertices in each bone         (nskinbonevert x 1)
+  int*      skin_pathadr;         // address of asset path for skin; -1: none (nskin x 1)
 
   // height fields
-  mjtNum*   hfield_size;          // (x, y, z_top, z_bottom)                  (nhfield x 4)
-  int*      hfield_nrow;          // number of rows in grid                   (nhfield x 1)
-  int*      hfield_ncol;          // number of columns in grid                (nhfield x 1)
-  int*      hfield_adr;           // address in hfield_data                   (nhfield x 1)
-  float*    hfield_data;          // elevation data                           (nhfielddata x 1)
+  mjtNum*   hfield_size;          // (x, y, z_top, z_bottom)                    (nhfield x 4)
+  int*      hfield_nrow;          // number of rows in grid                     (nhfield x 1)
+  int*      hfield_ncol;          // number of columns in grid                  (nhfield x 1)
+  int*      hfield_adr;           // address in hfield_data                     (nhfield x 1)
+  float*    hfield_data;          // elevation data                             (nhfielddata x 1)
+  int*      hfield_pathadr;       // address of asset path for hfield; -1: none (nhfield x 1)
 
   // textures
-  int*      tex_type;             // texture type (mjtTexture)                (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_adr;              // address in rgb                           (ntex x 1)
-  mjtByte*  tex_rgb;              // rgb (alpha = 1)                          (ntexdata x 1)
+  int*      tex_type;             // texture type (mjtTexture)                  (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_adr;              // address in rgb                             (ntex x 1)
+  mjtByte*  tex_rgb;              // rgb (alpha = 1)                            (ntexdata x 1)
+  int*      tex_pathadr;         // address of asset path for texture; -1: none (ntex x 1)
 
   // materials
   int*      mat_texid;            // texture id; -1: none                     (nmat x 1)
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index e4114af8..d693df9c 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -520,6 +520,8 @@ struct mjvSceneState_ {
     mjtNum* flex_radius;
     float* flex_rgba;
 
+    int* hfield_pathadr;
+
     int* mesh_bvhadr;
     int* mesh_bvhnum;
     int* mesh_texcoordadr;
@@ -546,6 +548,9 @@ struct mjvSceneState_ {
     int* skin_bonebodyid;
     int* skin_bonevertid;
     float* skin_bonevertweight;
+    int* skin_pathadr;
+
+    int* tex_pathadr;
 
     int* mat_texid;
     mjtByte* mat_texuniform;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index be5a2b53..f4088314 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -395,16 +395,19 @@
     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   ( mjtNum,  hfield_size,           nhfield,       4                    ) \
     X   ( int,     hfield_nrow,           nhfield,       1                    ) \
     X   ( int,     hfield_ncol,           nhfield,       1                    ) \
     X   ( int,     hfield_adr,            nhfield,       1                    ) \
     X   ( float,   hfield_data,           nhfielddata,   1                    ) \
+    XMJV( 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_adr,               ntex,          1                    ) \
     X   ( mjtByte, tex_rgb,               ntexdata,      1                    ) \
+    XMJV( int,     tex_pathadr,           ntex,          1                    ) \
     XMJV( int,     mat_texid,             nmat,          1                    ) \
     XMJV( mjtByte, mat_texuniform,        nmat,          1                    ) \
     XMJV( float,   mat_texrepeat,         nmat,          2                    ) \
diff --git a/introspect/structs.py b/introspect/structs.py
index 088a9c2c..a1fa3159 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -2787,75 +2787,96 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='weights of vertices in each bone         (nskinbonevert x 1)',  # pylint: disable=line-too-long
              ),
+             StructFieldDecl(
+                 name='skin_pathadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='address of asset path for skin; -1: none (nskin x 1)',
+             ),
              StructFieldDecl(
                  name='hfield_size',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='(x, y, z_top, z_bottom)                  (nhfield x 4)',
+                 doc='(x, y, z_top, z_bottom)                    (nhfield x 4)',
              ),
              StructFieldDecl(
                  name='hfield_nrow',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of rows in grid                   (nhfield x 1)',
+                 doc='number of rows in grid                     (nhfield x 1)',
              ),
              StructFieldDecl(
                  name='hfield_ncol',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of columns in grid                (nhfield x 1)',
+                 doc='number of columns in grid                  (nhfield x 1)',
              ),
              StructFieldDecl(
                  name='hfield_adr',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='address in hfield_data                   (nhfield x 1)',
+                 doc='address in hfield_data                     (nhfield x 1)',
              ),
              StructFieldDecl(
                  name='hfield_data',
                  type=PointerType(
                      inner_type=ValueType(name='float'),
                  ),
-                 doc='elevation data                           (nhfielddata x 1)',  # pylint: disable=line-too-long
+                 doc='elevation data                             (nhfielddata x 1)',  # pylint: disable=line-too-long
+             ),
+             StructFieldDecl(
+                 name='hfield_pathadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='address of asset path for hfield; -1: none (nhfield x 1)',
              ),
              StructFieldDecl(
                  name='tex_type',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='texture type (mjtTexture)                (ntex x 1)',
+                 doc='texture type (mjtTexture)                  (ntex x 1)',
              ),
              StructFieldDecl(
                  name='tex_height',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of rows in texture image          (ntex x 1)',
+                 doc='number of rows in texture image            (ntex x 1)',
              ),
              StructFieldDecl(
                  name='tex_width',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='number of columns in texture image       (ntex x 1)',
+                 doc='number of columns in texture image         (ntex x 1)',
              ),
              StructFieldDecl(
                  name='tex_adr',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='address in rgb                           (ntex x 1)',
+                 doc='address in rgb                             (ntex x 1)',
              ),
              StructFieldDecl(
                  name='tex_rgb',
                  type=PointerType(
                      inner_type=ValueType(name='mjtByte'),
                  ),
-                 doc='rgb (alpha = 1)                          (ntexdata x 1)',
+                 doc='rgb (alpha = 1)                            (ntexdata x 1)',  # pylint: disable=line-too-long
+             ),
+             StructFieldDecl(
+                 name='tex_pathadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='address of asset path for texture; -1: none (ntex x 1)',
              ),
              StructFieldDecl(
                  name='mat_texid',
@@ -6825,6 +6846,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='hfield_pathadr',
+                             type=PointerType(
+                                 inner_type=ValueType(name='int'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='mesh_bvhadr',
                              type=PointerType(
@@ -7000,6 +7028,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='skin_pathadr',
+                             type=PointerType(
+                                 inner_type=ValueType(name='int'),
+                             ),
+                             doc='',
+                         ),
+                         StructFieldDecl(
+                             name='tex_pathadr',
+                             type=PointerType(
+                                 inner_type=ValueType(name='int'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='mat_texid',
                              type=PointerType(
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 4b1ae161..48a1bd8c 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1957,7 +1957,10 @@ const char* mj_validateReferences(const mjModel* m) {
   X(name_textadr,       ntext,          nnames        , 0                      ) \
   X(name_tupleadr,      ntuple,         nnames        , 0                      ) \
   X(name_keyadr,        nkey,           nnames        , 0                      ) \
-  X(mesh_pathadr,       nmesh,          npaths        , 0                      )
+  X(hfield_pathadr,     nhfield,        npaths        , 0                      ) \
+  X(mesh_pathadr,       nmesh,          npaths        , 0                      ) \
+  X(skin_pathadr,       nskin,          npaths        , 0                      ) \
+  X(tex_pathadr,        ntex,           npaths        , 0                      )
 
   #define X(adrarray, nadrs, ntarget, numarray) {             \
     int *nums = (numarray);                                   \
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index b3215aaa..693287fa 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -906,6 +906,18 @@ void mjCModel::SetDefaultNames(void) {
 const int nPOS[4] = {7, 4, 1, 1};
 const int nVEL[4] = {6, 3, 1, 1};
 
+template <typename T>
+static size_t getpathslength(std::vector<T> list) {
+  size_t result = 0;
+  for (const auto& element : list) {
+    if (!element->get_file().empty()) {
+      result += element->get_file().length() + 1;
+    }
+  }
+
+  return result;
+}
+
 // set array sizes
 void mjCModel::SetSizes(void) {
   // set from object list sizes
@@ -1038,18 +1050,16 @@ void mjCModel::SetSizes(void) {
 
   // npaths
   npaths = 0;
-  for (int i=0; i<nmesh; i++) {
-    if (meshes[i]->file().empty()) {
-      continue;
-    }
-    npaths += (int)meshes[i]->file().length() + 1;
-  }
+  npaths += getpathslength(hfields);
+  npaths += getpathslength(meshes);
+  npaths += getpathslength(skins);
+  npaths += getpathslength(textures);
   if (npaths == 0) {
     npaths = 1;
   }
 
   // nemax
-  for (int i=0; i<neq; i++)
+  for (int i=0; i<neq; i++) {
     if (equalities[i]->type==mjEQ_CONNECT) {
       nemax += 3;
     } else if (equalities[i]->type==mjEQ_WELD) {
@@ -1057,6 +1067,7 @@ void mjCModel::SetSizes(void) {
     } else {
       nemax += 1;
     }
+  }
 }
 
 
@@ -1243,6 +1254,25 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
 }
 
 
+// Add items to a generic list. This enables the names and paths to be stored.
+// input - string to add
+// adr - current address in the list
+// output_adr_field - the field where the address should be stored (name_meshadr)
+// output_buffer - the field where the data should be stored (i.e. names or paths)
+static int addtolist(const std::string& input, int adr, int* output_adr_field, char* output_buffer) {
+  *output_adr_field = adr;
+
+  // copy input
+  memcpy(output_buffer+adr, input.c_str(), input.size());
+  adr += (int)input.size();
+
+  // append 0
+  output_buffer[adr] = 0;
+  adr++;
+
+  return adr;
+}
+
 // process names from one list: concatenate, compute addresses
 template <class T>
 static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) {
@@ -1262,15 +1292,7 @@ static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int*
   }
 
   for (unsigned int i=0; i<list.size(); i++) {
-    name_adr[i] = adr;
-
-    // copy name
-    memcpy(names+adr, list[i]->name.c_str(), list[i]->name.size());
-    adr += (int)list[i]->name.size();
-
-    // append 0
-    names[adr] = 0;
-    adr++;
+    adr = addtolist(list[i]->name, adr, &name_adr[i], names);
   }
 
   return adr;
@@ -1360,28 +1382,28 @@ void mjCModel::CopyNames(mjModel* m) {
   }
 }
 
-
-void mjCModel::CopyPaths(mjModel* m) {
-  // start with 0 address.
-  size_t adr = 0;
-  m->paths[0] = 0;
-
-  for (unsigned int i=0; i<meshes.size(); i++) {
-    if (meshes[i]->file().empty()) {
-      m->mesh_pathadr[i] = -1;
+// process paths from one list: concatenate, compute addresses
+template <class T>
+static int pathlist(vector<T*>& list, int adr, int* path_adr, char* paths) {
+  for (unsigned int i = 0; i < list.size(); ++i) {
+    path_adr[i] = -1;
+    if (!list[i] || list[i]->get_file().empty()) {
       continue;
     }
-    m->mesh_pathadr[i] = adr;
-
-    // copy path
-    size_t path_size = meshes[i]->file().size();
-    memcpy(m->paths+adr, meshes[i]->file().c_str(), path_size);
-    adr += path_size;
-
-    // append 0
-    m->paths[adr] = 0;
-    adr++;
+    adr = addtolist(list[i]->get_file(), adr, &path_adr[i], paths);
   }
+
+  return adr;
+}
+
+void mjCModel::CopyPaths(mjModel* m) {
+  // start with 0 address, unlike m->names m->paths might be empty
+  size_t adr = 0;
+  m->paths[0] = 0;
+  adr = pathlist(hfields, adr, m->hfield_pathadr, m->paths);
+  adr = pathlist(meshes, adr, m->mesh_pathadr, m->paths);
+  adr = pathlist(skins, adr, m->skin_pathadr, m->paths);
+  adr = pathlist(textures, adr, m->tex_pathadr, m->paths);
 }
 
 
@@ -2891,7 +2913,6 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // resolve asset references, compute sizes
   IndexAssets();
   SetSizes();
-
   // fuse static if enabled
   if (fusestatic) {
     FuseStatic();
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index ab9a1aa9..505e13f3 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -615,6 +615,7 @@ class mjCMesh: public mjCBase {
   // public getters
   const std::string& content_type() const { return content_type_; }
   const std::string& file() const { return file_; }
+  const std::string& get_file() const { return file_; }
   const double* refpos() const { return refpos_; }
   const double* refquat() const { return refquat_; }
   const double* scale() const { return scale_; }
@@ -766,6 +767,8 @@ class mjCSkin: public mjCBase {
   friend class mjXWriter;
 
  public:
+  std::string get_file() const { return file; }
+
   std::string file;                   // skin file
   std::string material;               // name of material used for rendering
   float rgba[4];                      // rgba when material is omitted
@@ -804,6 +807,8 @@ class mjCHField : public mjCBase {
   friend class mjXWriter;
 
  public:
+  std::string get_file() const { return file; }
+
   std::string content_type;       // content type of file
   std::string file;               // file: (nrow, ncol, [elevation data])
   double size[4];                 // hfield size (ignore referencing geom size)
@@ -831,6 +836,8 @@ class mjCTexture : public mjCBase {
   friend class mjXWriter;
 
  public:
+  std::string get_file() const { return file; }
+
   mjtTexture type;                // texture type
 
   // method 1: builtin
diff --git a/test/testdata/model.xml b/test/testdata/model.xml
index 6d2dcf76..8f1f16fe 100644
--- a/test/testdata/model.xml
+++ b/test/testdata/model.xml
@@ -18,6 +18,7 @@
                  -1.618     0       1
                  -1.618     0      -1"/>
     <hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .1 .03"/>
+    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
   </asset>
 
   <default>
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 2b6d8090..a17a2694 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5393,16 +5393,19 @@ public unsafe struct mjModel_ {
   public int* skin_bonebodyid;
   public int* skin_bonevertid;
   public float* skin_bonevertweight;
+  public int* skin_pathadr;
   public double* hfield_size;
   public int* hfield_nrow;
   public int* hfield_ncol;
   public int* hfield_adr;
   public float* hfield_data;
+  public int* hfield_pathadr;
   public int* tex_type;
   public int* tex_height;
   public int* tex_width;
   public int* tex_adr;
   public byte* tex_rgb;
+  public int* tex_pathadr;
   public int* mat_texid;
   public byte* mat_texuniform;
   public float* mat_texrepeat;
@@ -6164,6 +6167,7 @@ public unsafe struct model {
   public int* flex_bvhnum;
   public double* flex_radius;
   public float* flex_rgba;
+  public int* hfield_pathadr;
   public int* mesh_bvhadr;
   public int* mesh_bvhnum;
   public int* mesh_texcoordadr;
@@ -6189,6 +6193,8 @@ public unsafe struct model {
   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;

From 8ec1e4e2b88fd0c52eb9945dcab201ab50756aa3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 4 Dec 2023 13:55:38 +0000
Subject: [PATCH 035/121] Add heightfield geom type with Unity terrain, import
 not yet supported

---
 .../Components/MjShapeComponentEditor.cs      |  2 +-
 .../Components/Shapes/MjHeightFieldShape.cs   | 75 +++++++++++++++++++
 .../Shapes/MjHeightFieldShape.cs.meta         | 11 +++
 .../Components/Shapes/MjShapeComponent.cs     |  5 +-
 unity/Runtime/Tools/MjcfGenerationContext.cs  | 33 +++++++-
 5 files changed, 121 insertions(+), 5 deletions(-)
 create mode 100644 unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
 create mode 100644 unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta

diff --git a/unity/Editor/Components/MjShapeComponentEditor.cs b/unity/Editor/Components/MjShapeComponentEditor.cs
index 41b8ba22..99e24740 100644
--- a/unity/Editor/Components/MjShapeComponentEditor.cs
+++ b/unity/Editor/Components/MjShapeComponentEditor.cs
@@ -30,7 +30,7 @@ public class MjShapeComponentEditor : Editor {
     var shapeType = serializedObject.FindProperty("ShapeType");
     EditorGUILayout.PropertyField(shapeType);
     EditorGUILayout.PropertyField(
-        serializedObject.FindProperty($"{shapeType.enumDisplayNames[shapeType.enumValueIndex]}"),
+        serializedObject.FindProperty($"{shapeType.enumNames[shapeType.enumValueIndex]}"),
         includeChildren: true);
     serializedObject.ApplyModifiedProperties();
   }
diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
new file mode 100644
index 00000000..28dedbe6
--- /dev/null
+++ b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
@@ -0,0 +1,75 @@
+// Copyright 2019 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.
+
+using System;
+using System.IO;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco
+{
+
+[Serializable]
+public class MjHeightFieldShape : IMjShape
+{
+
+  public Terrain terrain;
+
+  [Tooltip("The path, relative to Application.dataPath, where the heightmap data will be save in PNG format.")]
+  public string heightMapExportPath;
+
+  public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath, heightMapExportPath));
+  public int HeightMapWidth => terrain.terrainData.heightmapTexture.width; 
+  public int HeightMapHeight => terrain.terrainData.heightmapTexture.height;
+  public Vector3 HeightMapScale => terrain.terrainData.heightmapScale;
+
+  public void ToMjcf(XmlElement mjcf, Transform transform)
+  {
+    ExportHeightMap();
+    var scene = MjScene.Instance;
+    var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
+    mjcf.SetAttribute("hfield", assetName);
+  }
+
+  public void FromMjcf(XmlElement mjcf)
+  {
+
+  }
+
+  public void ExportHeightMap()
+  {
+    RenderTexture.active = terrain.terrainData.heightmapTexture;
+    Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
+    texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height), 0, 0);
+    RenderTexture.active = null;
+    File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
+  }
+
+
+  public Vector4 GetChangeStamp()
+  {
+    return Vector4.one;
+  }
+
+  public Tuple<Vector3[], int[]> BuildMesh()
+  {
+    return Tuple.Create(new Vector3[]{}, new int[]{});
+  }
+
+  public void DebugDraw(Transform transform)
+  {
+  }
+}
+}
diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta
new file mode 100644
index 00000000..25ac41ef
--- /dev/null
+++ b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4572cd1b5f036db4483a214346587960
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/unity/Runtime/Components/Shapes/MjShapeComponent.cs b/unity/Runtime/Components/Shapes/MjShapeComponent.cs
index 2ebf4958..dc530fd2 100644
--- a/unity/Runtime/Components/Shapes/MjShapeComponent.cs
+++ b/unity/Runtime/Components/Shapes/MjShapeComponent.cs
@@ -34,7 +34,8 @@ public abstract class MjShapeComponent : MjComponent {
     Cylinder,
     Box,
     Plane,
-    Mesh
+    Mesh,
+    HField
   }
 
   public ShapeTypes ShapeType;
@@ -46,6 +47,7 @@ public abstract class MjShapeComponent : MjComponent {
   public MjEllipsoidShape Ellipsoid = new MjEllipsoidShape();
   public MjPlaneShape Plane = new MjPlaneShape();
   public MjMeshShape Mesh = new MjMeshShape();
+  public MjHeightFieldShape HField = new MjHeightFieldShape();
 
   public IMjShape Shape {
     get {
@@ -58,6 +60,7 @@ public abstract class MjShapeComponent : MjComponent {
         case ShapeTypes.Box: return Box;
         case ShapeTypes.Plane: return Plane;
         case ShapeTypes.Mesh: return Mesh;
+        case ShapeTypes.HField: return HField;
       }
     }
   }
diff --git a/unity/Runtime/Tools/MjcfGenerationContext.cs b/unity/Runtime/Tools/MjcfGenerationContext.cs
index c2ff59d8..454a6906 100644
--- a/unity/Runtime/Tools/MjcfGenerationContext.cs
+++ b/unity/Runtime/Tools/MjcfGenerationContext.cs
@@ -34,6 +34,7 @@ public class MjcfGenerationContext {
   private int _nuserSensor;
   private int _numGeneratedNames = 0;
   private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
+  private Dictionary<MjHeightFieldShape, string> _hFieldAssets = new Dictionary<MjHeightFieldShape, string>();
 
   public void GenerateMjcf(XmlElement mjcf) {
     GenerateConfigurationMjcf(mjcf);
@@ -50,6 +51,17 @@ public class MjcfGenerationContext {
     }
     return _meshAssets[mesh];
   }
+  
+  // Adds a mesh to the list of assets that will be added to the generated MJCF.
+  // Returns the unique name that identifies this new asset.
+  public string AddHeightFieldAsset(MjHeightFieldShape hField) {
+    if (!_hFieldAssets.ContainsKey(hField)) {
+      var uniqueName = $"hfield_{_numGeneratedNames}";
+      _numGeneratedNames++;
+      _hFieldAssets.Add(hField, uniqueName);
+    }
+    return _hFieldAssets[hField];
+  }
 
   public string GenerateName(Component comp) {
     var settings = MjGlobalSettings.Instance;
@@ -81,10 +93,15 @@ public class MjcfGenerationContext {
   private void GenerateAssetsMjcf(XmlElement mjcf) {
     var doc = mjcf.OwnerDocument;
     var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset"));
-    foreach (var asset in _meshAssets) {
+    foreach (var meshAsset in _meshAssets) {
       var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh"));
-      meshMjcf.SetAttribute("name", asset.Value);
-      GenerateMeshMjcf(asset.Key, meshMjcf);
+      meshMjcf.SetAttribute("name", meshAsset.Value);
+      GenerateMeshMjcf(meshAsset.Key, meshMjcf);
+    }
+   foreach (var hFieldAsset in _hFieldAssets) {
+      var hFieldMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("hfield"));
+      hFieldMjcf.SetAttribute("name", hFieldAsset.Value);
+      GenerateHeightFieldMjcf(hFieldAsset.Key, hFieldMjcf);
     }
   }
 
@@ -97,5 +114,15 @@ public class MjcfGenerationContext {
     }
     mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
   }
+  
+  private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
+    mjcf.SetAttribute("nrow", "0");
+    mjcf.SetAttribute("ncol", "0");
+    mjcf.SetAttribute("content_type", "image/png");
+    mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
+            
+    mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapHeight/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {hFieldComponent.HeightMapScale.y*2} {hFieldComponent.terrain.transform.position.y}"));
+
+  }
 }
 }

From f5a2879f9d2fbed0f6ccb22736fc138823a5eee3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 4 Dec 2023 14:00:24 +0000
Subject: [PATCH 036/121] Fix braces convention

---
 .../Components/Shapes/MjHeightFieldShape.cs   | 19 ++++++-------------
 1 file changed, 6 insertions(+), 13 deletions(-)

diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
index 28dedbe6..14597256 100644
--- a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
+++ b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
@@ -24,7 +24,6 @@ namespace Mujoco
 [Serializable]
 public class MjHeightFieldShape : IMjShape
 {
-
   public Terrain terrain;
 
   [Tooltip("The path, relative to Application.dataPath, where the heightmap data will be save in PNG format.")]
@@ -35,21 +34,18 @@ public class MjHeightFieldShape : IMjShape
   public int HeightMapHeight => terrain.terrainData.heightmapTexture.height;
   public Vector3 HeightMapScale => terrain.terrainData.heightmapScale;
 
-  public void ToMjcf(XmlElement mjcf, Transform transform)
-  {
+  public void ToMjcf(XmlElement mjcf, Transform transform){
     ExportHeightMap();
     var scene = MjScene.Instance;
     var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
     mjcf.SetAttribute("hfield", assetName);
   }
 
-  public void FromMjcf(XmlElement mjcf)
-  {
+  public void FromMjcf(XmlElement mjcf){
 
   }
 
-  public void ExportHeightMap()
-  {
+  public void ExportHeightMap(){
     RenderTexture.active = terrain.terrainData.heightmapTexture;
     Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
     texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height), 0, 0);
@@ -58,18 +54,15 @@ public class MjHeightFieldShape : IMjShape
   }
 
 
-  public Vector4 GetChangeStamp()
-  {
+  public Vector4 GetChangeStamp(){
     return Vector4.one;
   }
 
-  public Tuple<Vector3[], int[]> BuildMesh()
-  {
+  public Tuple<Vector3[], int[]> BuildMesh(){
     return Tuple.Create(new Vector3[]{}, new int[]{});
   }
 
-  public void DebugDraw(Transform transform)
-  {
+  public void DebugDraw(Transform transform){
   }
 }
 }

From 236dcb4ffd57a534adc1869a120472fb88fe26bc Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 4 Dec 2023 08:30:41 -0800
Subject: [PATCH 037/121] Fix a bug with PID actuators, when plugin definition
 order differs from actuator order.

PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
---
 plugin/actuator/pid.cc           |  8 ++++----
 plugin/actuator/pid.h            |  2 +-
 test/plugin/actuator/pid_test.cc | 12 ++++++++----
 3 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/plugin/actuator/pid.cc b/plugin/actuator/pid.cc
index 54260fe0..62fba647 100644
--- a/plugin/actuator/pid.cc
+++ b/plugin/actuator/pid.cc
@@ -160,7 +160,7 @@ mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, const State& state,
 }
 
 void Pid::ActDot(const mjModel* m, mjData* d, int instance) const {
-  State state = GetState(m, d, instance);
+  State state = GetState(m, d, actuator_idx_);
   mjtNum ctrl = GetCtrl(m, d, state, /*actearly=*/false);
   mjtNum error = ctrl - d->actuator_length[actuator_idx_];
 
@@ -180,7 +180,7 @@ void Pid::ActDot(const mjModel* m, mjData* d, int instance) const {
 }
 
 void Pid::Compute(const mjModel* m, mjData* d, int instance) {
-  State state = GetState(m, d, instance);
+  State state = GetState(m, d, actuator_idx_);
   mjtNum ctrl = GetCtrl(m, d, state, m->actuator_actearly[actuator_idx_]);
 
   mjtNum error = ctrl - d->actuator_length[actuator_idx_];
@@ -217,9 +217,9 @@ int Pid::ActDim(const mjModel* m, int instance, int actuator_id) {
   return (i_gain ? 1 : 0) + (HasSlew(m, instance) ? 1 : 0);
 }
 
-Pid::State Pid::GetState(const mjModel* m, mjData* d, int instance) const {
+Pid::State Pid::GetState(const mjModel* m, mjData* d, int actuator_idx) const {
   State state;
-  int state_idx = m->actuator_actadr[instance];
+  int state_idx = m->actuator_actadr[actuator_idx];
   if (config_.i_gain) {
     state.integral = d->act[state_idx++];
   }
diff --git a/plugin/actuator/pid.h b/plugin/actuator/pid.h
index 1e2c5f24..185e07f3 100644
--- a/plugin/actuator/pid.h
+++ b/plugin/actuator/pid.h
@@ -84,7 +84,7 @@ class Pid {
     mjtNum integral = 0;
   };
   // Reads data from d->act and returns it as a State struct.
-  State GetState(const mjModel* m, mjData* d, int instance) const;
+  State GetState(const mjModel* m, mjData* d, int actuator_idx) const;
 
   // Returns the PID setpoint, which is normally d->ctrl, but can be d->act for
   // actuators with dyntype != none.
diff --git a/test/plugin/actuator/pid_test.cc b/test/plugin/actuator/pid_test.cc
index 5e13c439..06938d2f 100644
--- a/test/plugin/actuator/pid_test.cc
+++ b/test/plugin/actuator/pid_test.cc
@@ -322,10 +322,6 @@ TEST_F(PidTest, ITerm) {
   <mujoco>
   <extension>
     <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="40.0"/>
-        <config key="kd" value="4"/>
-      </instance>
       <instance name="pid2">
         <config key="kp" value="40.0"/>
         <config key="ki" value="40"/>
@@ -337,6 +333,14 @@ TEST_F(PidTest, ITerm) {
         <config key="kd" value="4"/>
         <config key="imax" value="5"/>
       </instance>
+      <!-- intentionally put the plugin instances out of order, to test
+           any accidentaly dependency on the plugin definition order matching
+           the actuator order.
+      -->
+      <instance name="pid1">
+        <config key="kp" value="40.0"/>
+        <config key="kd" value="4"/>
+      </instance>
     </plugin>
   </extension>
 

From c062a8db19b645e15cc4522779471e5c89b1581d Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 4 Dec 2023 10:07:20 -0800
Subject: [PATCH 038/121] Allow multiple actuators to use the same PID plugin.

Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
---
 plugin/actuator/pid.cc           | 110 +++++++++++++++----------------
 plugin/actuator/pid.h            |  13 ++--
 test/plugin/actuator/pid_test.cc |  61 +++++++++++++++++
 3 files changed, 122 insertions(+), 62 deletions(-)

diff --git a/plugin/actuator/pid.cc b/plugin/actuator/pid.cc
index 62fba647..d99ceb15 100644
--- a/plugin/actuator/pid.cc
+++ b/plugin/actuator/pid.cc
@@ -107,46 +107,39 @@ std::unique_ptr<Pid> Pid::Create(const mjModel* m, int instance) {
     return nullptr;
   }
 
-  int actuator_idx = -1;
+  std::vector<int> actuators;
   for (int i = 0; i < m->nu; i++) {
     if (m->actuator_plugin[i] == instance) {
-      if (actuator_idx != -1) {
-        mju_warning("multiple actuators found for plugin instance %d",
-                    instance);
-        return nullptr;
-      }
-      actuator_idx = i;
+      actuators.push_back(i);
     }
   }
-  if (actuator_idx == -1) {
+  if (actuators.empty()) {
     mju_warning("actuator not found for plugin instance %d", instance);
     return nullptr;
   }
-  return std::unique_ptr<Pid>(new Pid(config, actuator_idx));
+  return std::unique_ptr<Pid>(new Pid(config, std::move(actuators)));
 }
 
-void Pid::Reset(mjtNum* plugin_state) {
-  integral_ = 0.0;
-  previous_ctrl_ = 0.0;
-}
+void Pid::Reset(mjtNum* plugin_state) {}
 
-mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, const State& state,
+mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, int actuator_idx,
+                    const State& state,
                     bool actearly) const {
   mjtNum ctrl = 0;
-  if (m->actuator_dyntype[actuator_idx_] == mjDYN_NONE) {
-    ctrl = d->ctrl[actuator_idx_];
+  if (m->actuator_dyntype[actuator_idx] == mjDYN_NONE) {
+    ctrl = d->ctrl[actuator_idx];
     // clamp ctrl
-    if (m->actuator_ctrllimited[actuator_idx_]) {
-      ctrl = mju_clip(ctrl, m->actuator_ctrlrange[2 * actuator_idx_],
-                      m->actuator_ctrlrange[2 * actuator_idx_ + 1]);
+    if (m->actuator_ctrllimited[actuator_idx]) {
+      ctrl = mju_clip(ctrl, m->actuator_ctrlrange[2 * actuator_idx],
+                      m->actuator_ctrlrange[2 * actuator_idx + 1]);
     }
   } else {
     // Use of act instead of ctrl, to create integrated-velocity controllers or
     // to filter the controls.
-    int actadr = m->actuator_actadr[actuator_idx_] +
-                 m->actuator_actnum[actuator_idx_] - 1;
+    int actadr = m->actuator_actadr[actuator_idx] +
+                 m->actuator_actnum[actuator_idx] - 1;
     if (actearly) {
-      ctrl = NextActivation(m, d, actuator_idx_, actadr, d->act_dot[actadr]);
+      ctrl = NextActivation(m, d, actuator_idx, actadr, d->act_dot[actadr]);
     } else {
       ctrl = d->act[actadr];
     }
@@ -160,48 +153,55 @@ mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, const State& state,
 }
 
 void Pid::ActDot(const mjModel* m, mjData* d, int instance) const {
-  State state = GetState(m, d, actuator_idx_);
-  mjtNum ctrl = GetCtrl(m, d, state, /*actearly=*/false);
-  mjtNum error = ctrl - d->actuator_length[actuator_idx_];
+  for (int actuator_idx : actuators_) {
+    State state = GetState(m, d, actuator_idx);
+    mjtNum ctrl = GetCtrl(m, d, actuator_idx, state, /*actearly=*/false);
+    mjtNum error = ctrl - d->actuator_length[actuator_idx];
 
-  int state_idx = m->actuator_actadr[actuator_idx_];
-  if (config_.i_gain) {
-    mjtNum integral = state.integral + error * m->opt.timestep;
-    if (config_.i_max.has_value()) {
-      integral = mju_clip(integral, -*config_.i_max, *config_.i_max);
+    int state_idx = m->actuator_actadr[actuator_idx];
+    if (config_.i_gain) {
+      mjtNum integral = state.integral + error * m->opt.timestep;
+      if (config_.i_max.has_value()) {
+        integral = mju_clip(integral, -*config_.i_max, *config_.i_max);
+      }
+      d->act_dot[state_idx] = (integral - d->act[state_idx]) / m->opt.timestep;
+      ++state_idx;
+    }
+    if (config_.slew_max.has_value()) {
+      d->act_dot[state_idx] = (ctrl - d->act[state_idx]) / m->opt.timestep;
+      ++state_idx;
     }
-    d->act_dot[state_idx] = (integral - d->act[state_idx]) / m->opt.timestep;
-    ++state_idx;
-  }
-  if (config_.slew_max.has_value()) {
-    d->act_dot[state_idx] = (ctrl - d->act[state_idx]) / m->opt.timestep;
-    ++state_idx;
   }
 }
 
 void Pid::Compute(const mjModel* m, mjData* d, int instance) {
-  State state = GetState(m, d, actuator_idx_);
-  mjtNum ctrl = GetCtrl(m, d, state, m->actuator_actearly[actuator_idx_]);
+  for (int i = 0; i < actuators_.size(); i++) {
+    int actuator_idx = actuators_[i];
+    State state = GetState(m, d, actuator_idx);
+    mjtNum ctrl =
+        GetCtrl(m, d, actuator_idx, state, m->actuator_actearly[actuator_idx]);
 
-  mjtNum error = ctrl - d->actuator_length[actuator_idx_];
+    mjtNum error = ctrl - d->actuator_length[actuator_idx];
 
-  mjtNum ctrl_dot = m->actuator_dyntype[actuator_idx_] == mjDYN_NONE
-                        ? 0
-                        : d->act_dot[m->actuator_actadr[actuator_idx_] +
-                                     m->actuator_actnum[actuator_idx_] - 1];
-  mjtNum error_dot = ctrl_dot - d->actuator_velocity[actuator_idx_];
+    mjtNum ctrl_dot = m->actuator_dyntype[actuator_idx] == mjDYN_NONE
+                          ? 0
+                          : d->act_dot[m->actuator_actadr[actuator_idx] +
+                                       m->actuator_actnum[actuator_idx] - 1];
+    mjtNum error_dot = ctrl_dot - d->actuator_velocity[actuator_idx];
 
-  if (config_.i_gain) {
-    integral_ = state.integral + error * m->opt.timestep;
-    if (config_.i_max.has_value()) {
-      integral_ = mju_clip(integral_, -*config_.i_max, *config_.i_max);
+    mjtNum integral = 0;
+    if (config_.i_gain) {
+      integral = state.integral + error * m->opt.timestep;
+      if (config_.i_max.has_value()) {
+        integral =
+            mju_clip(integral, -*config_.i_max, *config_.i_max);
+      }
     }
-  }
 
-  d->actuator_force[actuator_idx_] = config_.p_gain * error +
-                                     config_.d_gain * error_dot +
-                                     config_.i_gain * integral_;
-  previous_ctrl_ = ctrl;
+    d->actuator_force[actuator_idx] = config_.p_gain * error +
+                                      config_.d_gain * error_dot +
+                                      config_.i_gain * integral;
+  }
 }
 
 void Pid::Advance(const mjModel* m, mjData* d, int instance) const {
@@ -279,7 +279,7 @@ void Pid::RegisterPlugin() {
   mjp_registerPlugin(&plugin);
 }
 
-Pid::Pid(PidConfig config, int actuator_idx)
-    : config_(std::move(config)), actuator_idx_(actuator_idx) {}
+Pid::Pid(PidConfig config, std::vector<int> actuators)
+    : config_(std::move(config)), actuators_(std::move(actuators)) {}
 
 }  // namespace mujoco::plugin::actuator
diff --git a/plugin/actuator/pid.h b/plugin/actuator/pid.h
index 185e07f3..87a1014e 100644
--- a/plugin/actuator/pid.h
+++ b/plugin/actuator/pid.h
@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <optional>
+#include <vector>
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
@@ -73,7 +74,7 @@ class Pid {
   static void RegisterPlugin();
 
  private:
-  Pid(PidConfig config, int actuator_idx);
+  Pid(PidConfig config, std::vector<int> actuators);
 
   struct State {
     mjtNum previous_ctrl = 0;
@@ -88,14 +89,12 @@ class Pid {
 
   // Returns the PID setpoint, which is normally d->ctrl, but can be d->act for
   // actuators with dyntype != none.
-  mjtNum GetCtrl(const mjModel* m, const mjData* d, const State& state,
-                 bool actearly) const;
+  mjtNum GetCtrl(const mjModel* m, const mjData* d, int actuator_idx,
+                 const State& state, bool actearly) const;
 
   PidConfig config_;
-  int actuator_idx_ = 0;
-
-  mjtNum integral_ = 0.0;
-  mjtNum previous_ctrl_ = 0.0;
+  // set of actuator IDs controlled by this plugin instance.
+  std::vector<int> actuators_;
 };
 
 }  // namespace mujoco::plugin::actuator
diff --git a/test/plugin/actuator/pid_test.cc b/test/plugin/actuator/pid_test.cc
index 06938d2f..1eec513d 100644
--- a/test/plugin/actuator/pid_test.cc
+++ b/test/plugin/actuator/pid_test.cc
@@ -562,6 +562,67 @@ TEST_F(PidTest, CopyData) {
   EXPECT_EQ(d1->qpos[1], d2->qpos[1]);
 }
 
+TEST_F(PidTest, MultipleActuatorsSamePlugin) {
+  constexpr absl::string_view kModelXml = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.pid">
+      <instance name="pid">
+        <config key="kp" value="4.0"/>
+        <config key="slewmax" value="0.75"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 0" timestep="0.001"/>
+
+  <worldbody>
+    <body>
+      <joint name="j1" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+    <body pos="0.04 0 0" >
+      <joint name="j2" type="slide"/>
+      <geom size="0.01"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <plugin joint="j1" plugin="mujoco.pid" instance="pid" />
+    <plugin joint="j2" plugin="mujoco.pid" instance="pid" />
+  </actuator>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(kModelXml, error, sizeof(error));
+  ASSERT_THAT(m, NotNull()) << error;
+  absl::Cleanup m_deleter = [m] { mj_deleteModel(m); };
+
+  // having a slew rate means that there should be one extra state variable
+  // for the plugin.
+  EXPECT_EQ(m->actuator_actnum[0], 1);
+  EXPECT_EQ(m->actuator_actnum[1], 1);
+
+  mjData* d = mj_makeData(m);
+  absl::Cleanup d_deleter = [d] { mj_deleteData(d); };
+
+  // Set different ctrls for the two actuators, and check that they're
+  // independent.
+  d->ctrl[0] = 1.0;
+  d->ctrl[1] = -1.0;
+
+  for (int i = 0; i < 2; i++) {
+    mj_step(m, d);
+
+    EXPECT_EQ(d->actuator_force[0], -d->actuator_force[1])
+        << "actuator_force mismatch at step " << i;
+    EXPECT_EQ(d->qfrc_actuator[0], -d->qfrc_actuator[1])
+        << "qfrc_actuator mismatch at step " << i;
+    EXPECT_EQ(d->qpos[0], -d->qpos[1]) << "qpos mismatch at step " << i;
+  }
+}
+
 TEST_F(PidTest, InvalidClamp) {
   constexpr absl::string_view kModelXml = R"(
   <mujoco>

From 8c7c39a211e2cc4c6ff693d577b1ee18afaea481 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 5 Dec 2023 03:55:58 -0800
Subject: [PATCH 039/121] Lock the sim mutex in PhysicsLoop and PhysicsThread.

This prevents an invalid memory access when the stack is used in engine_vis.

Fixes #1219.

PiperOrigin-RevId: 588017796
Change-Id: I1ee18c5aa5e96ccaeebb0a467cd384355882b80b
---
 simulate/main.cc | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/simulate/main.cc b/simulate/main.cc
index 57763646..f23a0e30 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -267,6 +267,9 @@ void PhysicsLoop(mj::Simulate& sim) {
       if (dnew) {
         sim.Load(mnew, dnew, sim.dropfilename);
 
+        // lock the sim mutex
+        const std::unique_lock<std::recursive_mutex> lock(sim.mtx);
+
         mj_deleteData(d);
         mj_deleteModel(m);
 
@@ -292,6 +295,9 @@ void PhysicsLoop(mj::Simulate& sim) {
       if (dnew) {
         sim.Load(mnew, dnew, sim.filename);
 
+        // lock the sim mutex
+        const std::unique_lock<std::recursive_mutex> lock(sim.mtx);
+
         mj_deleteData(d);
         mj_deleteModel(m);
 
@@ -421,9 +427,18 @@ void PhysicsThread(mj::Simulate* sim, const char* filename) {
   if (filename != nullptr) {
     sim->LoadMessage(filename);
     m = LoadModel(filename, *sim);
-    if (m) d = mj_makeData(m);
+    if (m) {
+      // lock the sim mutex
+      const std::unique_lock<std::recursive_mutex> lock(sim->mtx);
+
+      d = mj_makeData(m);
+    }
     if (d) {
       sim->Load(m, d, filename);
+
+      // lock the sim mutex
+      const std::unique_lock<std::recursive_mutex> lock(sim->mtx);
+
       mj_forward(m, d);
 
       // allocate ctrlnoise

From 3c05f9fafcf670ead3e1e2ae3d00a4f43d1d684f Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 5 Dec 2023 09:38:47 -0800
Subject: [PATCH 040/121] Add a note to future change log about releasing 10.16
 macOS wheels.

This change relates to #1213, and should fix it when we push the next release.

PiperOrigin-RevId: 588099974
Change-Id: Ic1c4164f8a6400e92b5f509c3e03ff9fbc1c6033
---
 doc/changelog.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index bf1cbe34..826c1a1d 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -37,6 +37,9 @@ Bug fixes
   Before this fix such actuators could lead to non-conservation of momentum.
 - Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
 - Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
+- Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
+  supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
+  :github:issue:`1213`.
 
 Version 3.0.1 (November 15, 2023)
 ---------------------------------

From 5e9906be8422f6d928f0bb8d7cbef82145537aab Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 5 Dec 2023 10:18:53 -0800
Subject: [PATCH 041/121] s/paramters/parameters/

PiperOrigin-RevId: 588113325
Change-Id: I1b7e754c747baedb8d2b154c3dc395a7062e8fc5
---
 src/engine/engine_io.c        | 2 +-
 src/engine/engine_io.h        | 2 +-
 src/engine/engine_util_misc.c | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 48a1bd8c..32994e9c 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -94,7 +94,7 @@ void mj_defaultLROpt(mjLROpt* opt) {
 
 //------------------------------- mjOption ---------------------------------------------------------
 
-// set default solver paramters
+// set default solver parameters
 void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp) {
   if (solref) {
     solref[0] = 0.02;       // timeconst
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index 6983990d..4f8b530c 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -35,7 +35,7 @@ extern "C" {
 // Set default options for length range computation.
 MJAPI void mj_defaultLROpt(mjLROpt* opt);
 
-// set default solver paramters
+// set default solver parameters
 MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
 
 // set options to default values
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index e1e126d7..30eb0d2a 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -163,7 +163,7 @@ static mjtNum wrap_circle(mjtNum* pnt, const mjtNum* d, const mjtNum* sd, mjtNum
 //  input: pair of 2D points in d[4], radius
 //  output: pair of 2D points in pnt[4]; return 0 if wrap, -1 if no wrap
 static mjtNum wrap_inside(mjtNum* pnt, const mjtNum* d, mjtNum rad) {
-  // algorithm paramters
+  // algorithm parameters
   const int maxiter = 20;
   const mjtNum zinit = 1 - 1e-7;
   const mjtNum tolerance = 1e-6;

From 899ba4b7ec4583236d7edfd58bc169428a4400c3 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Tue, 5 Dec 2023 11:01:35 -0800
Subject: [PATCH 042/121] Add missing period in documentation.

PiperOrigin-RevId: 588127219
Change-Id: Ib39808f303cebb6c619d1119024e9a1352326473
---
 doc/XMLreference.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 50307135..fa963647 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -4620,7 +4620,7 @@ joint types (slide and hinge) can be used.
 :at:`polycoef`: :at-val:`real(5), "0 1 0 0 0"`
    Coefficients a0 ... a4 of the quartic polynomial. If the two joint values are y and x, and their reference positions
    (corresponding to the joint values in the initial model configuration) are y0 and x0, the constraint is:
-   y-y0 = a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4
+   y-y0 = a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4.
    Omitting the second joint is equivalent to setting x = x0, in which case the constraint is y = y0 + a0.
 
 

From b3ccf67ebf016ecee4a46a980da1ccd84867b11e Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 5 Dec 2023 23:07:00 -0800
Subject: [PATCH 043/121] Cleanup MJX tests and migrate them to
 put_model/put_data.

PiperOrigin-RevId: 588304729
Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
---
 mjx/mujoco/mjx/__init__.py                    |   8 +
 mjx/mujoco/mjx/_src/collision_driver_test.py  |  36 ++-
 mjx/mujoco/mjx/_src/constraint_test.py        | 177 +++++---------
 mjx/mujoco/mjx/_src/device.py                 |   9 +
 mjx/mujoco/mjx/_src/device_test.py            |  10 +-
 mjx/mujoco/mjx/_src/forward.py                |  24 +-
 mjx/mujoco/mjx/_src/forward_test.py           | 145 ++++++-----
 mjx/mujoco/mjx/_src/io.py                     |   3 +-
 mjx/mujoco/mjx/_src/passive.py                |   2 +-
 mjx/mujoco/mjx/_src/passive_test.py           | 121 ++++-----
 mjx/mujoco/mjx/_src/scan_test.py              |   2 +-
 mjx/mujoco/mjx/_src/smooth.py                 |  22 +-
 mjx/mujoco/mjx/_src/smooth_test.py            | 231 +++++++-----------
 mjx/mujoco/mjx/_src/solver_test.py            | 137 ++++-------
 mjx/mujoco/mjx/_src/support_test.py           |  10 +-
 mjx/mujoco/mjx/_src/test_util.py              |   4 +-
 .../integration_test/collision_driver_test.py |   4 +-
 .../mjx/integration_test/forward_test.py      |   7 +-
 .../mjx/integration_test/smooth_test.py       |   4 +-
 mjx/mujoco/mjx/test_data/ant.xml              |  82 -------
 mjx/mujoco/mjx/test_data/constraints.xml      |  53 ++++
 mjx/mujoco/mjx/test_data/equality.xml         |  71 ------
 mjx/mujoco/mjx/test_data/humanoid.xml         | 109 ---------
 mjx/mujoco/mjx/test_data/pendula.xml          |  43 ++--
 24 files changed, 446 insertions(+), 868 deletions(-)
 delete mode 100644 mjx/mujoco/mjx/test_data/ant.xml
 create mode 100644 mjx/mujoco/mjx/test_data/constraints.xml
 delete mode 100644 mjx/mujoco/mjx/test_data/equality.xml
 delete mode 100644 mjx/mujoco/mjx/test_data/humanoid.xml

diff --git a/mjx/mujoco/mjx/__init__.py b/mjx/mujoco/mjx/__init__.py
index 1c8d0661..d8e3f437 100644
--- a/mjx/mujoco/mjx/__init__.py
+++ b/mjx/mujoco/mjx/__init__.py
@@ -16,10 +16,17 @@
 
 # pylint:disable=g-importing-member
 from mujoco.mjx._src.collision_driver import collision
+from mujoco.mjx._src.constraint import count_constraints
 from mujoco.mjx._src.constraint import make_constraint
 from mujoco.mjx._src.device import device_get_into
 from mujoco.mjx._src.device import device_put
+from mujoco.mjx._src.forward import euler
 from mujoco.mjx._src.forward import forward
+from mujoco.mjx._src.forward import fwd_acceleration
+from mujoco.mjx._src.forward import fwd_actuation
+from mujoco.mjx._src.forward import fwd_position
+from mujoco.mjx._src.forward import fwd_velocity
+from mujoco.mjx._src.forward import rungekutta4
 from mujoco.mjx._src.forward import step
 from mujoco.mjx._src.io import get_data
 from mujoco.mjx._src.io import make_data
@@ -34,4 +41,5 @@ from mujoco.mjx._src.smooth import kinematics
 from mujoco.mjx._src.smooth import mul_m
 from mujoco.mjx._src.smooth import rne
 from mujoco.mjx._src.smooth import transmission
+from mujoco.mjx._src.solver import solve
 from mujoco.mjx._src.types import *
diff --git a/mjx/mujoco/mjx/_src/collision_driver_test.py b/mjx/mujoco/mjx/_src/collision_driver_test.py
index afb7bd94..5b58f7f8 100644
--- a/mjx/mujoco/mjx/_src/collision_driver_test.py
+++ b/mjx/mujoco/mjx/_src/collision_driver_test.py
@@ -52,9 +52,9 @@ def _collide(
     mjcf: str, assets: Optional[Dict[str, str]] = None
 ) -> Tuple[mujoco.MjModel, mujoco.MjData, Model, Data]:
   m = mujoco.MjModel.from_xml_string(mjcf, assets or {})
-  mx = mjx.device_put(m)
+  mx = mjx.put_model(m)
   d = mujoco.MjData(m)
-  dx = mjx.device_put(d)
+  dx = mjx.put_data(m, d)
 
   mujoco.mj_step(m, d)
   collision_jit_fn = jax.jit(mjx.collision)
@@ -418,9 +418,9 @@ class BodyPairFilterTest(absltest.TestCase):
   def test_filter_parent_child(self):
     """Tests that parent-child collisions get filtered."""
     m = mujoco.MjModel.from_xml_string(self._PARENT_CHILD)
-    mx = mjx.device_put(m)
+    mx = mjx.put_model(m)
     d = mujoco.MjData(m)
-    dx = mjx.device_put(d)
+    dx = mjx.put_data(m, d)
 
     mujoco.mj_step(m, d)
     collision_jit_fn = jax.jit(mjx.collision)
@@ -435,9 +435,9 @@ class BodyPairFilterTest(absltest.TestCase):
     """Tests that filterparent flag disables parent-child filtering."""
     m = mujoco.MjModel.from_xml_string(self._PARENT_CHILD)
     m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_FILTERPARENT
-    mx = mjx.device_put(m)
+    mx = mjx.put_model(m)
     d = mujoco.MjData(m)
-    dx = mjx.device_put(d)
+    dx = mjx.put_data(m, d)
 
     mujoco.mj_step(m, d)
     collision_jit_fn = jax.jit(mjx.collision)
@@ -454,22 +454,14 @@ class NconTest(parameterized.TestCase):
   """Tests ncon."""
 
   def test_ncon(self):
-    m = test_util.load_test_file('ant.xml')
-    d = mujoco.MjData(m)
-    d.qpos[2] = 0.0
-
-    mx = mjx.device_put(m)
-    ncon = collision_driver.ncon(mx)
-    self.assertEqual(ncon, 4)
+    m = test_util.load_test_file('constraints.xml')
+    ncon = collision_driver.ncon(m)
+    self.assertEqual(ncon, 16)
 
   def test_disable_contact(self):
-    m = test_util.load_test_file('ant.xml')
-    d = mujoco.MjData(m)
-    d.qpos[2] = 0.0
-
-    m.opt.disableflags = m.opt.disableflags | DisableBit.CONTACT
-    mx = mjx.device_put(m)
-    ncon = collision_driver.ncon(mx)
+    m = test_util.load_test_file('constraints.xml')
+    m.opt.disableflags |= DisableBit.CONTACT
+    ncon = collision_driver.ncon(m)
     self.assertEqual(ncon, 0)
 
 
@@ -500,12 +492,12 @@ class TopKContactTest(absltest.TestCase):
 
   def test_top_k_contacts(self):
     m = mujoco.MjModel.from_xml_string(self._CAPSULES)
-    mx_top_k = mjx.device_put(m)
+    mx_top_k = mjx.put_model(m)
     mx_all = mx_top_k.replace(
         nnumeric=0, name_numericadr=np.array([]), numeric_data=np.array([])
     )
     d = mujoco.MjData(m)
-    dx = mjx.device_put(d)
+    dx = mjx.put_data(m, d)
 
     collision_jit_fn = jax.jit(mjx.collision)
     kinematics_jit_fn = jax.jit(mjx.kinematics)
diff --git a/mjx/mujoco/mjx/_src/constraint_test.py b/mjx/mujoco/mjx/_src/constraint_test.py
index 0510e1df..a2bd8cc9 100644
--- a/mjx/mujoco/mjx/_src/constraint_test.py
+++ b/mjx/mujoco/mjx/_src/constraint_test.py
@@ -15,159 +15,92 @@
 """Tests for constraint 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 constraint
 from mujoco.mjx._src import test_util
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import SolverType
-# pylint: enable=g-importing-member
 import numpy as np
 
 
-def _assert_eq(a, b, name, step, fname, atol=5e-3, rtol=5e-3):
-  err_msg = f'mismatch: {name} at step {step} in {fname}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
+# tolerance for difference between MuJoCo and MJX constraint calculations,
+# mostly due to float precision
+_TOLERANCE = 5e-5
 
 
-class ConstraintTest(parameterized.TestCase):
+def _assert_eq(a, b, name):
+  tol = _TOLERANCE * 10   # avoid test noise
+  err_msg = f'mismatch: {name}'
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
 
-  @parameterized.parameters(enumerate(test_util.TEST_FILES))
-  def test_constraints(self, seed, fname):
+
+def _assert_attr_eq(a, b, attr):
+  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
+
+
+class ConstraintTest(absltest.TestCase):
+
+  def test_constraints(self):
     """Test constraints."""
-    np.random.seed(seed)
-
-    # exclude convex.xml since convex contacts are not exactly equivalent
-    if fname == 'convex.xml':
-      return
-
-    m = test_util.load_test_file(fname)
+    m = test_util.load_test_file('constraints.xml')
     d = mujoco.MjData(m)
-    mx = mjx.device_put(m)
-    dx = mjx.make_data(mx)
+    mujoco.mj_step(m, d, 100)  # at 100 steps mix of active/inactive constraints
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
 
-    forward_jit_fn = jax.jit(mjx.forward)
-
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    for i in range(100):
-      dx = dx.replace(qpos=jax.device_put(d.qpos), qvel=jax.device_put(d.qvel))
-      mujoco.mj_step(m, d)
-      dx = forward_jit_fn(mx, dx)
-
-      nnz_filter = dx.efc_J.any(axis=1)
-
-      mj_efc_j = d.efc_J.reshape((-1, m.nv))
-      mjx_efc_j = dx.efc_J[nnz_filter]
-      _assert_eq(mj_efc_j, mjx_efc_j, 'efc_J', i, fname)
-
-      mjx_efc_d = dx.efc_D[nnz_filter]
-      _assert_eq(d.efc_D, mjx_efc_d, 'efc_D', i, fname)
-
-      mjx_efc_aref = dx.efc_aref[nnz_filter]
-      _assert_eq(d.efc_aref, mjx_efc_aref, 'efc_aref', i, fname)
-
-      mjx_efc_frictionloss = dx.efc_frictionloss[nnz_filter]
-      _assert_eq(
-          d.efc_frictionloss,
-          mjx_efc_frictionloss,
-          'efc_frictionloss',
-          i,
-          fname,
-      )
-
-  _JNT_RANGE = """
-    <mujoco>
-      <worldbody>
-        <body pos="0 0 1">
-          <joint type="slide" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1"
-           damping="5e-4"/>
-          <geom type="box" size="0.2 0.15 0.1" mass="1"/>
-          <body>
-            <joint axis="0 1 0" damping="2e-6"/>
-            <geom type="capsule" fromto="0 0 0 0 0 1" size="0.045" mass=".1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_jnt_range(self):
-    """Tests that mixed joint ranges are respected."""
-    # TODO(robotics-simulation): also test ball
-    m = mujoco.MjModel.from_xml_string(self._JNT_RANGE)
-    m.opt.solver = SolverType.CG.value
-    d = mujoco.MjData(m)
-    d.qpos = np.array([2.0, 15.0])
-
-    mx = mjx.device_put(m)
-    dx = mjx.device_put(d)
-    efc = jax.jit(constraint._instantiate_limit_slide_hinge)(mx, dx)
-
-    # first joint is outside the joint range
-    np.testing.assert_array_almost_equal(efc.J[0, 0], -1.0)
-
-    # second joint has no range, so only one efc row
-    self.assertEqual(efc.J.shape[0], 1)
+    dx = mjx.make_constraint(mx, dx)
+    nnz = dx.efc_J.any(axis=1)
+    _assert_eq(d.efc_J, dx.efc_J[nnz].reshape(-1), 'efc_J')
+    _assert_eq(d.efc_D, dx.efc_D[nnz], 'efc_D')
+    _assert_eq(d.efc_aref, dx.efc_aref[nnz], 'efc_aref')
+    _assert_eq(d.efc_frictionloss, dx.efc_frictionloss[nnz], 'efc_frictionloss')
 
   def test_disable_refsafe(self):
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('constraints.xml')
 
     timeconst = m.opt.timestep / 4.0  # timeconst < 2 * timestep
     solimp = jp.array([timeconst, 1.0])
     solref = jp.array([0.8, 0.99, 0.001, 0.2, 2])
     pos = jp.ones(3)
 
-    m.opt.disableflags = m.opt.disableflags | DisableBit.REFSAFE
+    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.REFSAFE
     mx = mjx.device_put(m)
     k, *_ = constraint._kbi(mx, solimp, solref, pos)
     self.assertEqual(k, 1 / (0.99**2 * timeconst**2))
 
-    m.opt.disableflags = m.opt.disableflags & ~DisableBit.REFSAFE
-    mx = mjx.device_put(m)
-    k, *_ = constraint._kbi(mx, solimp, solref, pos)
-    self.assertEqual(k, 1 / (0.99**2 * (2 * m.opt.timestep) ** 2))
-
-  def test_disableconstraint(self):
-    m = test_util.load_test_file('ant.xml')
-    d = mujoco.MjData(m)
-
-    m.opt.disableflags = m.opt.disableflags | DisableBit.CONSTRAINT
-    mx, dx = mjx.device_put(m), mjx.device_put(d)
-    dx = constraint.make_constraint(mx, dx)
+  def test_disable_constraint(self):
+    m = test_util.load_test_file('constraints.xml')
+    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONSTRAINT
+    ne, nf, nl, nc = mjx.count_constraints(m)
+    self.assertEqual(ne, 0)
+    self.assertEqual(nf, 0)
+    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)
 
   def test_disable_equality(self):
-    m = test_util.load_test_file('equality.xml')
-    d = mujoco.MjData(m)
-
-    m.opt.disableflags = m.opt.disableflags | DisableBit.EQUALITY
-    mx, dx = mjx.device_put(m), mjx.device_put(d)
-    dx = constraint.make_constraint(mx, dx)
-    self.assertEqual(dx.efc_J.shape[0], 0)
+    m = test_util.load_test_file('constraints.xml')
+    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.EQUALITY
+    ne, nf, nl, nc = mjx.count_constraints(m)
+    self.assertEqual(ne, 0)
+    self.assertEqual(nf, 0)
+    self.assertEqual(nl, 2)
+    self.assertEqual(nc, 64)
+    dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
+    self.assertEqual(dx.efc_J.shape[0], 66)  # only joint range, contact
 
   def test_disable_contact(self):
-    m = test_util.load_test_file('ant.xml')
-    d = mujoco.MjData(m)
-    d.qpos[2] = 0.0
-    mujoco.mj_forward(m, d)
-
-    m.opt.disableflags = m.opt.disableflags & ~DisableBit.CONTACT
-    mx, dx = mjx.device_put(m), mjx.device_put(d)
-    dx = dx.tree_replace(
-        {'contact.frame': dx.contact.frame.reshape((-1, 3, 3))}
-    )
-    efc = constraint._instantiate_contact(mx, dx)
-    self.assertIsNotNone(efc)
-
-    m.opt.disableflags = m.opt.disableflags | DisableBit.CONTACT
-    mx, dx = mjx.device_put(m), mjx.device_put(d)
-    efc = constraint._instantiate_contact(mx, dx)
-    self.assertIsNone(efc)
+    m = test_util.load_test_file('constraints.xml')
+    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONTACT
+    ne, nf, nl, nc = mjx.count_constraints(m)
+    self.assertEqual(ne, 10)
+    self.assertEqual(nf, 0)
+    self.assertEqual(nl, 2)
+    self.assertEqual(nc, 0)
+    dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
+    self.assertEqual(dx.efc_J.shape[0], 12)  # only joint range, limit
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/device.py b/mjx/mujoco/mjx/_src/device.py
index 327b89de..2819d9ea 100644
--- a/mjx/mujoco/mjx/_src/device.py
+++ b/mjx/mujoco/mjx/_src/device.py
@@ -184,6 +184,11 @@ def device_put(value):
   Returns:
     on-device MJX struct reflecting the input value
   """
+  warnings.warn(
+      'device_put is deprecated, use put_model and put_data instead',
+      category=DeprecationWarning,
+  )
+
   clz = _TYPE_MAP.get(type(value))
   if clz is None:
     raise NotImplementedError(f'{type(value)} is not supported for device_put.')
@@ -242,6 +247,10 @@ def device_get_into(result, value):
   Raises:
     RuntimeError: if result length doesn't match data batch size
   """
+  warnings.warn(
+      'device_get_into is deprecated, use get_data instead',
+      category=DeprecationWarning,
+  )
 
   value = jax.device_get(value)
 
diff --git a/mjx/mujoco/mjx/_src/device_test.py b/mjx/mujoco/mjx/_src/device_test.py
index e6eb7562..9f518d91 100644
--- a/mjx/mujoco/mjx/_src/device_test.py
+++ b/mjx/mujoco/mjx/_src/device_test.py
@@ -130,31 +130,31 @@ class ValidateInputTest(absltest.TestCase):
       mjx.device_put(m)
 
   def test_trn(self):
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('pendula.xml')
     m.actuator_trntype[0] = mujoco.mjtTrn.mjTRN_SITE
     with self.assertRaises(NotImplementedError):
       mjx.device_put(m)
 
   def test_dyn(self):
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('pendula.xml')
     m.actuator_dyntype[0] = mujoco.mjtDyn.mjDYN_MUSCLE
     with self.assertRaises(NotImplementedError):
       mjx.device_put(m)
 
   def test_gain(self):
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('pendula.xml')
     m.actuator_gaintype[0] = mujoco.mjtGain.mjGAIN_MUSCLE
     with self.assertRaises(NotImplementedError):
       mjx.device_put(m)
 
   def test_bias(self):
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('pendula.xml')
     m.actuator_gaintype[0] = mujoco.mjtGain.mjGAIN_MUSCLE
     with self.assertRaises(NotImplementedError):
       mjx.device_put(m)
 
   def test_condim(self):
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('constraints.xml')
     for i in [1, 4, 6]:
       m.geom_condim[0] = i
       with self.assertRaises(NotImplementedError):
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 06bec894..827c8f31 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -60,7 +60,7 @@ def named_scope(fn, name: str = ''):
 
 
 @named_scope
-def _position(m: Model, d: Data) -> Data:
+def fwd_position(m: Model, d: Data) -> Data:
   """Position-dependent computations."""
   # TODO(robotics-simulation): tendon
   d = smooth.kinematics(m, d)
@@ -74,7 +74,7 @@ def _position(m: Model, d: Data) -> Data:
 
 
 @named_scope
-def _velocity(m: Model, d: Data) -> Data:
+def fwd_velocity(m: Model, d: Data) -> Data:
   """Velocity-dependent computations."""
   d = d.replace(actuator_velocity=d.actuator_moment @ d.qvel)
   d = smooth.com_vel(m, d)
@@ -84,7 +84,7 @@ def _velocity(m: Model, d: Data) -> Data:
 
 
 @named_scope
-def _actuation(m: Model, d: Data) -> Data:
+def fwd_actuation(m: Model, d: Data) -> Data:
   """Actuation-dependent computations."""
   if not m.nu or m.opt.disableflags & DisableBit.ACTUATION:
     return d.replace(
@@ -190,7 +190,7 @@ def _actuation(m: Model, d: Data) -> Data:
 
 
 @named_scope
-def _acceleration(m: Model, d: Data) -> Data:
+def fwd_acceleration(m: Model, d: Data) -> Data:
   """Add up all non-constraint forces, compute qacc_smooth."""
   qfrc_applied = d.qfrc_applied + support.xfrc_accumulate(m, d)
   qfrc_smooth = d.qfrc_passive - d.qfrc_bias + d.qfrc_actuator + qfrc_applied
@@ -263,7 +263,7 @@ def _advance(
 
 
 @named_scope
-def _euler(m: Model, d: Data) -> Data:
+def euler(m: Model, d: Data) -> Data:
   """Euler integrator, semi-implicit in velocity."""
   # integrate damping implicitly
   qacc = d.qacc
@@ -277,7 +277,7 @@ def _euler(m: Model, d: Data) -> Data:
 
 
 @named_scope
-def _rungekutta4(m: Model, d: Data) -> Data:
+def rungekutta4(m: Model, d: Data) -> Data:
   """Runge-Kutta explicit order 4 integrator."""
   d_t0 = d
   # pylint: disable=invalid-name
@@ -323,10 +323,10 @@ def _rungekutta4(m: Model, d: Data) -> Data:
 @named_scope
 def forward(m: Model, d: Data) -> Data:
   """Forward dynamics."""
-  d = _position(m, d)
-  d = _velocity(m, d)
-  d = _actuation(m, d)
-  d = _acceleration(m, d)
+  d = fwd_position(m, d)
+  d = fwd_velocity(m, d)
+  d = fwd_actuation(m, d)
+  d = fwd_acceleration(m, d)
 
   if d.efc_J.size == 0:
     d = d.replace(qacc=d.qacc_smooth)
@@ -343,9 +343,9 @@ def step(m: Model, d: Data) -> Data:
   d = forward(m, d)
 
   if m.opt.integrator == IntegratorType.EULER:
-    d = _euler(m, d)
+    d = euler(m, d)
   elif m.opt.integrator == IntegratorType.RK4:
-    d = _rungekutta4(m, d)
+    d = rungekutta4(m, d)
   else:
     raise NotImplementedError(f'integrator {m.opt.integrator} not implemented.')
 
diff --git a/mjx/mujoco/mjx/_src/forward_test.py b/mjx/mujoco/mjx/_src/forward_test.py
index 40da667c..fbe28c9d 100644
--- a/mjx/mujoco/mjx/_src/forward_test.py
+++ b/mjx/mujoco/mjx/_src/forward_test.py
@@ -15,77 +15,75 @@
 """Tests for forward 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 forward
 from mujoco.mjx._src import test_util
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import DisableBit
-# pylint: enable=g-importing-member
 import numpy as np
 
 
-def _assert_attr_eq(a, b, attr, step, fname, atol=1e-3, rtol=1e-3):
-  err_msg = f'mismatch: {attr} at step {step} in {fname}'
-  a, b = getattr(a, attr), getattr(b, attr)
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
+# tolerance for difference between MuJoCo and MJX forward calculations - mostly
+# due to float precision
+_TOLERANCE = 1e-5
 
 
-class ForwardTest(parameterized.TestCase):
+def _assert_eq(a, b, name):
+  tol = _TOLERANCE * 10  # avoid test noise
+  err_msg = f'mismatch: {name}'
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
 
-  @parameterized.parameters(
-      filter(lambda s: s not in ('equality.xml',), test_util.TEST_FILES)
-  )
-  def test_forward(self, fname):
-    """Test mujoco mj forward function matches mujoco_mjx forward function."""
-    np.random.seed(test_util.TEST_FILES.index(fname))
 
-    m = test_util.load_test_file(fname)
+def _assert_attr_eq(a, b, attr):
+  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
+
+
+class ForwardTest(absltest.TestCase):
+
+  def test_forward(self):
+    m = test_util.load_test_file('constraints.xml')
     d = mujoco.MjData(m)
-    mx = mjx.device_put(m)
-    dx = mjx.make_data(mx)
-    forward_jit_fn = jax.jit(mjx.forward)
+    # apply some control and xfrc input
+    d.ctrl = np.array([-18, 0.59, 0.47])
+    d.xfrc_applied[0, 2] = 0.1  # torque
+    d.xfrc_applied[1, 4] = 0.3  # linear force
+    mujoco.mj_step(m, d, 100)  # get some dynamics going
+    mujoco.mj_forward(m, d)
 
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv) * 0.05
-    for i in range(100):
-      qpos, qvel = d.qpos.copy(), d.qvel.copy()
-      mujoco.mj_step(m, d)
-      dx = forward_jit_fn(mx, dx.replace(qpos=qpos, qvel=qvel))
+    mx = mjx.put_model(m)
 
-      _assert_attr_eq(d, dx, 'qfrc_smooth', i, fname)
-      _assert_attr_eq(d, dx, 'qacc_smooth', i, fname)
+    # fwd_actuation
+    dx = jax.jit(mjx.fwd_actuation)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'act_dot')
+    _assert_attr_eq(d, dx, 'qfrc_actuator')
 
-  @parameterized.parameters(
-      filter(lambda s: s not in ('equality.xml',), test_util.TEST_FILES)
-  )
-  def test_step(self, fname):
-    """Test mujoco mj step matches mujoco_mjx step."""
-    np.random.seed(test_util.TEST_FILES.index(fname))
-    m = test_util.load_test_file(fname)
-    step_jit_fn = jax.jit(forward.step)
+    # fwd_accleration (fwd_position and fwd_velocity already tested elsewhere)
+    dx = jax.jit(mjx.fwd_acceleration)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qfrc_smooth')
+    _assert_attr_eq(d, dx, 'qacc_smooth')
 
-    mx = mjx.device_put(m)
+    # euler
+    dx = jax.jit(mjx.euler)(mx, mjx.put_data(m, d))
+    mujoco.mj_Euler(m, d)
+    _assert_attr_eq(d, dx, 'act')
+    _assert_attr_eq(d, dx, 'qpos')
+    _assert_attr_eq(d, dx, 'time')
+
+  def test_step(self):
+    m = test_util.load_test_file('constraints.xml')
     d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.normal(m.nv) * 0.05
-    for i in range(100):
-      # in order to avoid re-jitting, reuse the same mj_data shape
-      qpos, qvel = d.qpos, d.qvel
-      d = mujoco.MjData(m)
-      d.qpos, d.qvel = qpos, qvel
-      dx = mjx.device_put(d)
+    # apply some control and xfrc input
+    d.ctrl = np.array([-18, 0.59, 0.47])
+    d.xfrc_applied[0, 2] = 0.1  # torque
+    d.xfrc_applied[1, 4] = 0.3  # linear force
+    mujoco.mj_step(m, d, 100)  # get some dynamics going
 
-      mujoco.mj_step(m, d)
-      dx = step_jit_fn(mx, dx)
-
-      _assert_attr_eq(d, dx, 'qvel', i, fname, atol=1e-2)
-      _assert_attr_eq(d, dx, 'qpos', i, fname, atol=1e-2)
-      _assert_attr_eq(d, dx, 'act', i, fname)
-      _assert_attr_eq(d, dx, 'time', i, fname)
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.step)(mx, mjx.put_data(m, d))
+    mujoco.mj_step(m, d)
+    _assert_attr_eq(d, dx, 'act')
+    _assert_attr_eq(d, dx, 'time')
+    _assert_attr_eq(d, dx, 'qvel')
+    _assert_attr_eq(d, dx, 'qpos')
 
   def test_rk4(self):
     m = mujoco.MjModel.from_xml_string("""
@@ -94,7 +92,6 @@ class ForwardTest(parameterized.TestCase):
             <flag constraint="disable"/>
           </option>
           <worldbody>
-            <light pos="0 0 1"/>
             <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
             <body pos="0.15 0 0">
               <joint type="hinge" axis="0 1 0"/>
@@ -107,39 +104,33 @@ class ForwardTest(parameterized.TestCase):
           </worldbody>
         </mujoco>
         """)
-    step_jit_fn = jax.jit(forward.step)
 
-    mx = mjx.device_put(m)
     d = mujoco.MjData(m)
     # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.normal(m.nv) * 0.05
-    for i in range(100):
-      # in order to avoid re-jitting, reuse the same mj_data shape
-      qpos, qvel = d.qpos, d.qvel
-      d = mujoco.MjData(m)
-      d.qpos, d.qvel = qpos, qvel
-      dx = mjx.device_put(d)
+    d.qvel = np.array([0.2, -0.1])
+    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
+    mujoco.mj_forward(m, d)
 
-      mujoco.mj_step(m, d)
-      dx = step_jit_fn(mx, dx)
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.rungekutta4)(mx, mjx.put_data(m, d))
+    mujoco.mj_RungeKutta(m, d, 4)
 
-      _assert_attr_eq(d, dx, 'qvel', i, 'test_rk4', atol=1e-2)
-      _assert_attr_eq(d, dx, 'qpos', i, 'test_rk4', atol=1e-2)
-      _assert_attr_eq(d, dx, 'act', i, 'test_rk4')
-      _assert_attr_eq(d, dx, 'time', i, 'test_rk4')
+    _assert_attr_eq(d, dx, 'qvel')
+    _assert_attr_eq(d, dx, 'qpos')
+    _assert_attr_eq(d, dx, 'act')
+    _assert_attr_eq(d, dx, 'time')
 
   def test_disable_eulerdamp(self):
-    m = test_util.load_test_file('ant.xml')
-    m.opt.disableflags = m.opt.disableflags | DisableBit.EULERDAMP
+    m = test_util.load_test_file('pendula.xml')
+    self.assertTrue((m.dof_damping > 0).any())
+    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.EULERDAMP
 
     d = mujoco.MjData(m)
-    mx = mjx.device_put(m)
-    self.assertTrue((mx.dof_damping > 0).any())
-    dx = mjx.device_put(d)
-    dx = jax.jit(forward.forward)(mx, dx)
+    d.qvel[:] = 1.0
+    d.qacc[:] = 1.0
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.euler)(mx, mjx.put_data(m, d))
 
-    dx = dx.replace(qvel=jp.ones_like(dx.qvel), qacc=jp.ones_like(dx.qacc))
-    dx = jax.jit(forward._euler)(mx, dx)
     np.testing.assert_allclose(dx.qvel, 1 + m.opt.timestep)
 
 
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 060ffa50..9658ad53 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -77,6 +77,7 @@ def _put_statistic(s: mujoco.MjStatistic, device=None) -> types.Statistic:
 
 def put_model(m: mujoco.MjModel, device=None) -> types.Model:
   """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
+
   if m.ntendon:
     raise NotImplementedError('tendons are not supported')
 
@@ -150,7 +151,7 @@ def make_data(m: Union[types.Model, mujoco.MjModel]) -> types.Data:
   d = types.Data(
       solver_niter=jp.array(0, dtype=jp.int32),
       time=jp.array(0.0),
-      qpos=m.qpos0,
+      qpos=jp.array(m.qpos0),
       qvel=zero_nv,
       act=zero_na,
       qacc_warmstart=zero_nv,
diff --git a/mjx/mujoco/mjx/_src/passive.py b/mjx/mujoco/mjx/_src/passive.py
index 9b0b41f0..268de126 100644
--- a/mjx/mujoco/mjx/_src/passive.py
+++ b/mjx/mujoco/mjx/_src/passive.py
@@ -76,7 +76,7 @@ def _inertia_box_fluid_model(
 def passive(m: Model, d: Data) -> Data:
   """Adds all passive forces."""
   if m.opt.disableflags & DisableBit.PASSIVE:
-    return d
+    return d.replace(qfrc_passive=jp.zeros(m.nv))
 
   # joint-level springs
   def fn(jnt_typs, stiffness, qpos_spring, qpos):
diff --git a/mjx/mujoco/mjx/_src/passive_test.py b/mjx/mujoco/mjx/_src/passive_test.py
index 4a5026c8..6ff5a596 100644
--- a/mjx/mujoco/mjx/_src/passive_test.py
+++ b/mjx/mujoco/mjx/_src/passive_test.py
@@ -14,100 +14,65 @@
 # ==============================================================================
 """Tests passive forces."""
 
-import itertools
-
 from absl.testing import absltest
-from absl.testing import parameterized
-from etils import epath
 import jax
-import jax.numpy as jp
 import mujoco
 from mujoco import mjx
+from mujoco.mjx._src import test_util
 import numpy as np
 
-
-def _assert_attr_eq(a, b, attr, step, fname, atol=1e-4, rtol=1e-4):
-  err_msg = f'mismatch: {attr} at step {step} in {fname}'
-  a, b = getattr(a, attr), getattr(b, attr)
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
+# tolerance for difference between MuJoCo and MJX passive calculations - mostly
+# due to float precision
+_TOLERANCE = 1e-7
 
 
-class PassiveTest(parameterized.TestCase):
+def _assert_eq(a, b, name):
+  tol = _TOLERANCE * 10  # avoid test noise
+  err_msg = f'mismatch: {name}'
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
 
-  @parameterized.parameters(enumerate(('ant.xml', 'pendula.xml')))
-  def test_stiffness_damping(self, seed, fname):
-    """Tests stiffness and damping on Ant."""
-    np.random.seed(seed)
-    path = epath.resource_path('mujoco.mjx') / 'test_data'
-    path /= fname
-    m = mujoco.MjModel.from_xml_string(path.read_text())
 
-    # set stiffness/damping
-    m.jnt_stiffness = np.random.uniform(size=m.njnt)
-    m.dof_damping = np.random.uniform(size=m.nv)
+def _assert_attr_eq(a, b, attr):
+  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
+
+
+class PassiveTest(absltest.TestCase):
+
+  def test_passive(self):
+    m = test_util.load_test_file('pendula.xml')
     d = mujoco.MjData(m)
-    d.qvel = np.random.random(m.nv)  # random kick
+    # give the system a little kick to ensure we have non-identity rotations
+    d.ctrl = np.array([0.1, -0.1, 0.2, 0.3, -0.4])
+    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
 
-    mx = mjx.device_put(m)
-    dx = mjx.make_data(mx)
+    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qfrc_passive')
 
-    passive_jit_fn = jax.jit(mjx.passive)
+    # test with fluid forces
+    m.opt.density = 0.01
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qfrc_passive')
 
-    for i in range(100):
-      qpos, qvel = d.qpos.copy(), d.qvel.copy()
-      mujoco.mj_step(m, d)
-      dx = passive_jit_fn(mx, dx.replace(qpos=qpos, qvel=qvel))
-      _assert_attr_eq(d, dx, 'qfrc_passive', i, fname)
+    m.opt.viscosity = 0.02
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qfrc_passive')
 
-  @parameterized.parameters(
-      itertools.product(range(3), ('pendula.xml',))
-  )
-  def test_fluid(self, seed, fname):
-    np.random.seed(seed)
-    path = epath.resource_path('mujoco.mjx') / 'test_data'
-    path /= fname
-    m = mujoco.MjModel.from_xml_string(path.read_text())
+    m.opt.wind = np.array([0.03, 0.04, 0.05])
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qfrc_passive')
 
-    # set density/viscosity/wind
-    m.opt.density = np.random.uniform()
-    m.opt.viscosity = np.random.uniform()
-    m.opt.wind = np.random.uniform()
-
-    passive_jit_fn = jax.jit(mjx.passive)
-
-    mx = mjx.device_put(m)
-    d = mujoco.MjData(m)
-    d.qvel = np.random.random(m.nv)  # random kick
-
-    for i in range(100):
-      mujoco.mj_step(m, d)
-      dx = mjx.device_put(d)
-      mujoco.mj_passive(m, d)
-      dx = passive_jit_fn(mx, dx)
-      _assert_attr_eq(d, dx, 'qfrc_passive', i, fname)
-
-  def test_disable_passive(self):
-    m = mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <option density="1" viscosity="2" wind="0.1 0.2 0.3">
-            <flag passive="disable"/>
-          </option>
-          <worldbody>
-            <body>
-              <joint damping="1" axis="1 0 0" type="ball"/>
-              <geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
-            </body>
-          </worldbody>
-        </mujoco>
-        """)
-    mx = mjx.device_put(m)
-    d = mujoco.MjData(m)
-    dx = mjx.device_put(d)
-    dx = dx.replace(qvel=jp.ones(mx.nv))
-
-    passive_jit_fn = jax.jit(mjx.passive)
-    dx = passive_jit_fn(mx, dx)
-    np.testing.assert_equal(dx.qfrc_passive, np.zeros(mx.nv))
+    # test disable passive
+    mx = mx.tree_replace({'opt.disableflags': mjx.DisableBit.PASSIVE})
+    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
+    np.testing.assert_allclose(dx.qfrc_passive, 0)
 
 
 if __name__ == '__main__':
diff --git a/mjx/mujoco/mjx/_src/scan_test.py b/mjx/mujoco/mjx/_src/scan_test.py
index fe4448ca..456067d6 100644
--- a/mjx/mujoco/mjx/_src/scan_test.py
+++ b/mjx/mujoco/mjx/_src/scan_test.py
@@ -193,7 +193,7 @@ class ScanTest(absltest.TestCase):
     </mujoco>
   """
 
-  def testscan_actuators(self):
+  def test_scan_actuators(self):
     """Tests scanning over actuators."""
     m = mujoco.MjModel.from_xml_string(self._MULTI_ACT_XML)
     m = mjx.device_put(m)
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 624291d8..ba470bed 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -435,40 +435,38 @@ def transmission(m: Model, d: Data) -> Data:
   if not m.nu:
     return d
 
-  def fn(gear, jnt_typ, m_i, m_j, qpos):
+  def fn(gear, jnt_typ, m_j, qpos):
     # handles joint transmissions only
     if jnt_typ == JointType.FREE:
       length = jp.zeros(1)
       moment = gear
-      m_i = jp.repeat(m_i, 6)
       m_j = m_j + jp.arange(6)
     elif jnt_typ == JointType.BALL:
-      axis, _ = math.quat_to_axis_angle(qpos)
-      length = jp.dot(axis, gear[:3])[None]
+      axis, angle = math.quat_to_axis_angle(qpos)
+      length = jp.dot(axis * angle, gear[:3])[None]
       moment = gear[:3]
-      m_i = jp.repeat(m_i, 3)
       m_j = m_j + jp.arange(3)
     elif jnt_typ in (JointType.SLIDE, JointType.HINGE):
       length = qpos * gear[0]
       moment = gear[:1]
-      m_i, m_j = m_i[None], m_j[None]
+      m_j = m_j[None]
     else:
       raise RuntimeError(f'unrecognized joint type: {jnt_typ}')
-    return length, moment, m_i, m_j
+    moment = jp.zeros((m.nv,)).at[m_j].set(moment)
+    return length, moment
 
-  length, m_val, m_i, m_j = scan.flat(
+  length, moment = scan.flat(
       m,
       fn,
-      'ujujq',
-      'uvvv',
+      'ujjq',
+      'uuuu',
       m.actuator_gear,
       m.jnt_type,
-      jp.arange(m.nu),
       jp.array(m.jnt_dofadr),
       d.qpos,
       group_by='u',
   )
-  moment = jp.zeros((m.nu, m.nv)).at[m_i, m_j].set(m_val)
   length = length.reshape((m.nu,))
+  moment = moment.reshape((m.nu, m.nv))
   d = d.replace(actuator_length=length, actuator_moment=moment)
   return d
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index bd9348bb..203cb654 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -15,122 +15,107 @@
 """Tests for smooth 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 test_util
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import DisableBit
-# pylint: enable=g-importing-member
 import numpy as np
 
-
-def _assert_eq(a, b, name, step, fname, atol=5e-4, rtol=5e-4):
-  err_msg = f'mismatch: {name} at step {step} in {fname}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
+# tolerance for difference between MuJoCo and MJX smooth calculations - mostly
+# due to float precision
+_TOLERANCE = 5e-5
 
 
-def _assert_attr_eq(a, b, attr, step, fname, atol=5e-4, rtol=5e-4):
-  err_msg = f'mismatch: {attr} at step {step} in {fname}'
-  a, b = getattr(a, attr), getattr(b, attr)
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
+def _assert_eq(a, b, name):
+  tol = _TOLERANCE * 10  # avoid test noise
+  err_msg = f'mismatch: {name}'
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
 
 
-class SmoothTest(parameterized.TestCase):
+def _assert_attr_eq(a, b, attr):
+  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
 
-  @parameterized.parameters(enumerate(test_util.TEST_FILES))
-  def test_smooth(self, seed, fname):
-    """Tests mujoco mj smooth functions match mujoco_mjx smooth functions."""
-    if fname in ('convex.xml', 'equality.xml'):
-      return
 
-    np.random.seed(seed)
+class SmoothTest(absltest.TestCase):
 
-    m = test_util.load_test_file(fname)
+  def setUp(self):
+    super().setUp()
+    # although we already have generous padding of thresholds, it doesn't hurt
+    # to also fix the seed to reduce test flakiness
+    np.random.seed(0)
+
+  def test_smooth(self):
+    """Tests MJX smooth functions match MuJoCo smooth functions."""
+
+    m = test_util.load_test_file('pendula.xml')
     d = mujoco.MjData(m)
-
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    com_pos_jit_fn = jax.jit(mjx.com_pos)
-    crb_jit_fn = jax.jit(mjx.crb)
-    factor_m_fn = jax.jit(mjx.factor_m)
-    com_vel_jit_fn = jax.jit(mjx.com_vel)
-    rne_jit_fn = jax.jit(mjx.rne)
-    mul_m_jit_fn = jax.jit(mjx.mul_m)
-    transmission_jit_fn = jax.jit(mjx.transmission)
-
-    mx = mjx.device_put(m)
-    dx = mjx.make_data(mx)
-
     # give the system a little kick to ensure we have non-identity rotations
     d.qvel = np.random.random(m.nv)
-    for i in range(100):
-      qpos, qvel = d.qpos.copy(), d.qvel.copy()
-      mujoco.mj_step(m, d)
+    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
 
-      # kinematics
-      dx = kinematics_jit_fn(mx, dx.replace(qpos=qpos, qvel=qvel))
-      _assert_attr_eq(d, dx, 'xanchor', i, fname)
-      _assert_attr_eq(d, dx, 'xaxis', i, fname)
-      _assert_attr_eq(d, dx, 'xpos', i, fname)
-      _assert_attr_eq(d, dx, 'xquat', i, fname)
-      _assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat', i, fname)
-      _assert_attr_eq(d, dx, 'xipos', i, fname)
-      _assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat', i, fname)
-      _assert_attr_eq(d, dx, 'geom_xpos', i, fname)
-      _assert_eq(
-          d.geom_xmat.reshape((-1, 3, 3)),
-          dx.geom_xmat,
-          'geom_xmat',
-          i,
-          fname,
-      )
+    # kinematics
+    dx = jax.jit(mjx.kinematics)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'xanchor')
+    _assert_attr_eq(d, dx, 'xaxis')
+    _assert_attr_eq(d, dx, 'xpos')
+    _assert_attr_eq(d, dx, 'xquat')
+    _assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat')
+    _assert_attr_eq(d, dx, 'xipos')
+    _assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
+    _assert_attr_eq(d, dx, 'geom_xpos')
+    _assert_eq(d.geom_xmat.reshape((-1, 3, 3)), dx.geom_xmat, 'geom_xmat')
+    _assert_attr_eq(d, dx, 'site_xpos')
+    _assert_eq(d.site_xmat.reshape((-1, 3, 3)), dx.site_xmat, 'site_xmat')
+    # 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')
+    # crb
+    dx = jax.jit(mjx.crb)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'crb')
+    _assert_attr_eq(d, dx, 'qM')
+    # factor_m
+    dx = mjx.put_data(m, d)
+    dx = jax.jit(mjx.factor_m)(mx, dx, dx.qM)
+    _assert_attr_eq(d, dx, 'qLD')
+    _assert_attr_eq(d, dx, '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')
+    # rne
+    dx = jax.jit(mjx.rne)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qfrc_bias')
+    # transmission
+    dx = jax.jit(mjx.transmission)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'actuator_length')
+    _assert_attr_eq(d, dx, 'actuator_moment')
 
-      # com_pos
-      dx = com_pos_jit_fn(mx, dx)
-      _assert_attr_eq(d, dx, 'subtree_com', i, fname)
-      _assert_attr_eq(d, dx, 'cinert', i, fname)
-      _assert_attr_eq(d, dx, 'cdof', i, fname)
+  def test_mul_m(self):
+    m = test_util.load_test_file('pendula.xml')
+    d = mujoco.MjData(m)
+    # give the system a little kick to ensure we have non-identity rotations
+    d.qvel = np.random.random(m.nv)
+    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+    vec = np.random.random(m.nv)
+    mjx_vec = jax.jit(mjx.mul_m)(mx, dx, jp.array(vec))
+    mj_vec = np.zeros(m.nv)
+    mujoco.mj_mulM(m, d, mj_vec, vec)
+    _assert_eq(mj_vec, mjx_vec, 'mul_m')
 
-      # crb
-      dx = crb_jit_fn(mx, dx)
-      _assert_attr_eq(d, dx, 'crb', i, fname)
-      _assert_attr_eq(d, dx, 'qM', i, fname)
-
-      # factor_m
-      dx = factor_m_fn(mx, dx, dx.qM)
-      _assert_attr_eq(d, dx, 'qLD', i, fname, atol=1e-3)
-      _assert_attr_eq(d, dx, 'qLDiagInv', i, fname, atol=1e-3)
-
-      # com_vel
-      dx = com_vel_jit_fn(mx, dx)
-      _assert_attr_eq(d, dx, 'cvel', i, fname)
-      _assert_attr_eq(d, dx, 'cdof_dot', i, fname)
-
-      # rne
-      dx = rne_jit_fn(mx, dx)
-      _assert_attr_eq(d, dx, 'qfrc_bias', i, fname)
-
-      # mul_m (auxilliary function, not part of smooth step)
-      vec = np.random.random(m.nv)
-      mjx_vec = mul_m_jit_fn(mx, dx, jp.array(vec))
-      mj_vec = np.zeros(m.nv)
-      mujoco.mj_mulM(m, d, mj_vec, vec)
-      _assert_eq(mj_vec, mjx_vec, 'mul_m', i, fname)
-
-      # transmission
-      dx = transmission_jit_fn(mx, dx)
-      _assert_attr_eq(d, dx, 'actuator_length', i, fname)
-      _assert_attr_eq(d, dx, 'actuator_moment', i, fname)
-
-
-class DisableGravityTest(absltest.TestCase):
-
-  def test_disabled(self):
+  def test_disable_gravity(self):
     m = mujoco.MjModel.from_xml_string("""
         <mujoco>
-          <option timestep="0.01"/>
+          <option>
+            <flag gravity="disable"/>
+          </option>
           <worldbody>
             <body>
               <joint type="free"/>
@@ -139,63 +124,13 @@ class DisableGravityTest(absltest.TestCase):
           </worldbody>
         </mujoco>
         """)
-    mx = mjx.device_put(m)
     d = mujoco.MjData(m)
-    dx = mjx.device_put(d)
-
-    # test with gravity
-    step_jit_fn = jax.jit(mjx.step)
-    dx = step_jit_fn(mx, dx)
-    np.testing.assert_array_almost_equal(
-        dx.qpos, np.array([0.0, 0.0, -9.81e-4, 1.0, 0.0, 0.0, 0.0]), decimal=7
-    )
-
-    # test with gravity disabled
-    mx = mx.tree_replace(
-        {'opt.disableflags': mx.opt.disableflags | DisableBit.GRAVITY}
-    )
-    dx = mjx.device_put(d)
-    step_jit_fn = jax.jit(mjx.step)
-    dx = step_jit_fn(mx, dx)
-    np.testing.assert_equal(
-        dx.qpos, np.array([0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0])
-    )
-
-
-class SiteTest(absltest.TestCase):
-
-  def test_site(self):
-    """Tests that site positions and orientations match MuJoCo."""
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <worldbody>
-          <site name="origin"/>
-          <body>
-            <joint type="free"/>
-            <geom pos="1 0 1" type="box" size="0.1 0.01 0.01"/>
-            <site name="s1" pos="1.3 0 0"/>     <!-- pos only -->
-            <site name="s2"/>                   <!-- no pos, no quat -->
-            <site name="s3" quat="1 0 1 0"/>    <!- quat only -->
-            <site name="s4" pos="0 1.5 0" quat="1 0 1 0"/>
-            <site name="s5" pos="1 0 1"/>       <!-- same as ipos -->
-            <site/>
-          </body>
-        </worldbody>
-      </mujoco>
-      """)
-    d = mujoco.MjData(m)
-
-    mx = mjx.device_put(m)
-    dx = mjx.device_put(d)
-
     mujoco.mj_forward(m, d)
-    dx = mjx.forward(mx, dx)
-
-    np.testing.assert_array_almost_equal(dx.site_xpos, d.site_xpos)
-    np.testing.assert_array_almost_equal(
-        dx.site_xmat, d.site_xmat.reshape((-1, 3, 3))
-    )
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
 
+    dx = jax.jit(mjx.rne)(mx, dx)
+    np.testing.assert_allclose(dx.qfrc_bias, 0)
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/solver_test.py b/mjx/mujoco/mjx/_src/solver_test.py
index 6a4f7792..d1677ff9 100644
--- a/mjx/mujoco/mjx/_src/solver_test.py
+++ b/mjx/mujoco/mjx/_src/solver_test.py
@@ -12,119 +12,64 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 # ==============================================================================
-"""Tests for forward functions."""
+"""Tests for constraint functions."""
 
 from absl.testing import absltest
-from absl.testing import parameterized
-from etils import epath
 import jax
 import mujoco
 from mujoco import mjx
+from mujoco.mjx._src import test_util
 import numpy as np
 
 
-def _assert_attr_eq(a, b, attr, step, fname, atol=1e-2, rtol=1e-2):
-  err_msg = f'mismatch: {attr} at step {step} in {fname}'
-  a, b = getattr(a, attr), getattr(b, attr)
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
+# tolerance for difference between MuJoCo and MJX constraint calculations,
+# mostly due to float precision
+_TOLERANCE = 5e-5
 
 
-class Solver64Test(parameterized.TestCase):
-  """Tests solvers at 64 bit precision."""
+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)
 
-  def setUp(self):
-    super().setUp()
-    jax.config.update('jax_enable_x64', True)
 
-  def tearDown(self):
-    super().tearDown()
-    jax.config.update('jax_enable_x64', False)
+def _assert_attr_eq(a, b, attr):
+  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
 
-  @parameterized.parameters(enumerate(('ant.xml', 'humanoid.xml')))
-  def test_cg(self, seed, fname):
-    """Test mjx cg solver matches mujoco cg solver at 64 bit precision."""
-    f = epath.resource_path('mujoco.mjx') / 'test_data' / fname
-    m = mujoco.MjModel.from_xml_string(f.read_text())
+
+class SolverTest(absltest.TestCase):
+
+  def test_solver(self):
+    """Test solver."""
+    m = test_util.load_test_file('constraints.xml')
     d = mujoco.MjData(m)
-    mx = mjx.device_put(m)
+    mujoco.mj_step(m, d, 100)  # at 100 steps mix of active/inactive constraints
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
 
-    jax.config.update('jax_enable_x64', True)
-    forward_jit_fn = jax.jit(mjx.forward)
+    dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qacc_warmstart')
+    _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')
 
-    # give the system a little kick to ensure we have non-identity rotations
-    np.random.seed(seed)
-    d.qvel = 0.01 * np.random.random(m.nv)
-
-    for i in range(100):
-      # in order to avoid re-jitting, reuse the same mj_data shape
-      save = d.qpos, d.qvel, d.time, d.qacc_warmstart, d.qacc_smooth
-      d = mujoco.MjData(m)
-      d.qpos, d.qvel, d.time, d.qacc_warmstart, d.qacc_smooth = save
-      dx = mjx.device_put(d)
-
-      mujoco.mj_step(m, d)
-      dx = forward_jit_fn(mx, dx)
-
-      # at 64 bits the solutions returned by the two solvers are quite close
-      self.assertLessEqual(dx.solver_niter[0], d.solver_niter[0])
-      _assert_attr_eq(d, dx, 'qfrc_constraint', i, fname)
-      _assert_attr_eq(d, dx, 'qacc', i, fname)
-
-
-class SolverTest(parameterized.TestCase):
-
-  @parameterized.parameters(enumerate(('ant.xml', 'humanoid.xml')))
-  def test_cg(self, seed, fname):
-    """Test mjx cg solver is close to mj at 32 bit precision.
-
-    Args:
-      seed: int
-      fname: file to test
-
-    At lower float resolution there's wiggle room in valid forces that satisfy
-    constraints.  So instead let's mainly validate that mjx is finding solutions
-    with as good cost as mujoco, even if the resulting forces/accelerations
-    are not quite the same.
-    """
-    f = epath.resource_path('mujoco.mjx') / 'test_data' / fname
-    m = mujoco.MjModel.from_xml_string(f.read_text())
-    d = mujoco.MjData(m)
-    mx = mjx.device_put(m)
-
-    forward_jit_fn = jax.jit(mjx.forward)
-
-    # give the system a little kick to ensure we have non-identity rotations
-    np.random.seed(seed)
-    d.qvel = 0.01 * np.random.random(m.nv)
-
-    for i in range(100):
-      # in order to avoid re-jitting, reuse the same mj_data shape
-      save = d.qpos, d.qvel, d.time, d.qacc_warmstart, d.qacc_smooth
-      d = mujoco.MjData(m)
-      d.qpos, d.qvel, d.time, d.qacc_warmstart, d.qacc_smooth = save
-      dx = mjx.device_put(d)
-
-      mujoco.mj_step(m, d)
-      dx = forward_jit_fn(mx, dx)
-
-      def cost(qacc):
-        jaref = np.zeros(d.nefc)
-        mujoco.mj_mulJacVec(m, d, jaref, qacc)
-        jaref -= d.efc_aref
-        cost = np.array([0.0])
-        mujoco.mj_constraintUpdate(m, d, jaref, cost, 0)
-        return cost[0]
-
-      cost_mj, cost_mjx = cost(d.qacc), cost(dx.qacc)
-
-      self.assertLessEqual(
-          cost_mjx,
-          cost_mj * 1.01,
-          msg=f'mismatch: {fname} at step {i}, cost too high',
-      )
-      _assert_attr_eq(d, dx, 'qfrc_constraint', i, fname, atol=1e-1, rtol=1e-1)
-      _assert_attr_eq(d, dx, 'qacc', i, fname, atol=1e-1, rtol=1e-1)
+    # also test normal CG
+    m.opt.solver = mujoco.mjtSolver.mjSOL_CG
+    mujoco.mj_forward(m, d)
+    dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
+    _assert_attr_eq(d, dx, 'qacc_warmstart')
+    _assert_attr_eq(d, dx, 'qacc')
+    _assert_attr_eq(d, dx, 'qfrc_constraint')
+    _assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force')
 
+    # without warmstart, the solution is not as close
+    m.opt.solver = mujoco.mjtSolver.mjSOL_NEWTON
+    m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_WARMSTART
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
+    _assert_eq(d.efc_force, dx.efc_force[nnz], 'efc_force', tol=2e-2)
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index fe88fc84..fb3a5389 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -34,8 +34,8 @@ class SupportTest(parameterized.TestCase):
     m = test_util.load_test_file(fname)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d)
-    mx = mjx.device_put(m)
-    dx = mjx.device_put(d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
     point = np.random.randn(3)
     body = np.random.choice(m.nbody)
     jacp, jacr = jax.jit(support.jac)(mx, dx, point, body)
@@ -49,11 +49,11 @@ class SupportTest(parameterized.TestCase):
     """Tests that xfrc_accumulate ouput matches mj_xfrcAccumulate."""
     np.random.seed(0)
 
-    m = test_util.load_test_file('ant.xml')
+    m = test_util.load_test_file('pendula.xml')
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d)
-    mx = mjx.device_put(m)
-    dx = mjx.device_put(d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
     self.assertFalse((dx.xipos == 0.0).all())
 
     xfrc = np.random.rand(*dx.xfrc_applied.shape)
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index 8d765644..870621f7 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -23,10 +23,8 @@ import mujoco
 import numpy as np
 
 TEST_FILES: List[str] = [
-    'ant.xml',
+    'constraints.xml',
     'convex.xml',
-    'equality.xml',
-    'humanoid.xml',
     'pendula.xml',
 ]
 
diff --git a/mjx/mujoco/mjx/integration_test/collision_driver_test.py b/mjx/mujoco/mjx/integration_test/collision_driver_test.py
index 1e28b053..a9891656 100644
--- a/mjx/mujoco/mjx/integration_test/collision_driver_test.py
+++ b/mjx/mujoco/mjx/integration_test/collision_driver_test.py
@@ -58,9 +58,9 @@ class CollisionDriverIntegrationTest(parameterized.TestCase):
     )
 
     m = mujoco.MjModel.from_xml_string(mjcf)
-    mx = mjx.device_put(m)
+    mx = mjx.put_model(m)
     d = mujoco.MjData(m)
-    dx = mjx.device_put(d)
+    dx = mjx.put_data(m, d)
 
     mujoco.mj_step(m, d)
     collision_jit_fn = jax.jit(mjx.collision)
diff --git a/mjx/mujoco/mjx/integration_test/forward_test.py b/mjx/mujoco/mjx/integration_test/forward_test.py
index 6fa913c4..67f20371 100644
--- a/mjx/mujoco/mjx/integration_test/forward_test.py
+++ b/mjx/mujoco/mjx/integration_test/forward_test.py
@@ -19,7 +19,6 @@ from absl.testing import parameterized
 import jax
 import mujoco
 from mujoco import mjx
-from mujoco.mjx._src import forward
 from mujoco.mjx._src import test_util
 import numpy as np
 
@@ -46,7 +45,7 @@ class ActuationIntegrationTest(parameterized.TestCase):
         enable_contact=False,
     )
     m = mujoco.MjModel.from_xml_string(mjcf)
-    actuation_jit_fn = jax.jit(forward._actuation)
+    actuation_jit_fn = jax.jit(mjx.fwd_actuation)
 
     # init
     d = mujoco.MjData(m)
@@ -57,8 +56,8 @@ class ActuationIntegrationTest(parameterized.TestCase):
     mujoco.mj_fwdVelocity(m, d)
 
     # put on device
-    mx = mjx.device_put(m)
-    dx = mjx.device_put(d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
 
     mujoco.mj_fwdActuation(m, d)
     dx = actuation_jit_fn(mx, dx)
diff --git a/mjx/mujoco/mjx/integration_test/smooth_test.py b/mjx/mujoco/mjx/integration_test/smooth_test.py
index c924e005..d032be79 100644
--- a/mjx/mujoco/mjx/integration_test/smooth_test.py
+++ b/mjx/mujoco/mjx/integration_test/smooth_test.py
@@ -60,8 +60,8 @@ class TransmissionIntegrationTest(parameterized.TestCase):
     d.qvel = np.random.random(m.nv)
 
     # put on device
-    mx = mjx.device_put(m)
-    dx = mjx.device_put(d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
 
     mujoco.mj_transmission(m, d)
     dx = transmission_jit_fn(mx, dx)
diff --git a/mjx/mujoco/mjx/test_data/ant.xml b/mjx/mujoco/mjx/test_data/ant.xml
deleted file mode 100644
index 7417c3ae..00000000
--- a/mjx/mujoco/mjx/test_data/ant.xml
+++ /dev/null
@@ -1,82 +0,0 @@
-<mujoco model="ant">
-  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
-  <option timestep="0.01" iterations="4" solver="CG" />
-  <default>
-    <joint armature="1" damping="1" limited="true"/>
-    <geom contype="0" conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5"/>
-  </default>
-  <asset>
-    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-    <material name="geom" texture="texgeom" texuniform="true"/>
-  </asset>
-  <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" size="40 40 40" type="plane"/>
-    <body name="torso" pos="0 0 0.75">
-      <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
-      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
-      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
-      <body name="front_left_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
-        <body name="aux_1" pos="0.2 0.2 0">
-          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
-          <body pos="0.2 0.2 0">
-            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
-            <geom name="left_foot_geom" contype="1" pos="0.4 0.4 0" size="0.08" type="sphere" mass="0"/>
-          </body>
-        </body>
-      </body>
-      <body name="front_right_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
-        <body name="aux_2" pos="-0.2 0.2 0">
-          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
-          <body pos="-0.2 0.2 0">
-            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
-            <geom name="right_foot_geom" contype="1" pos="-0.4 0.4 0" size="0.08" type="sphere" mass="0"/>
-          </body>
-        </body>
-      </body>
-      <body name="back_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
-        <body name="aux_3" pos="-0.2 -0.2 0">
-          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
-          <body pos="-0.2 -0.2 0">
-            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
-            <geom name="third_foot_geom" contype="1" pos="-0.4 -0.4 0" size="0.08" type="sphere" mass="0"/>
-          </body>
-        </body>
-      </body>
-      <body name="right_back_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
-        <body name="aux_4" pos="0.2 -0.2 0">
-          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
-          <body pos="0.2 -0.2 0">
-            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
-            <geom name="fourth_foot_geom" contype="1" pos="0.4 -0.4 0" size="0.08" type="sphere" mass="0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/constraints.xml b/mjx/mujoco/mjx/test_data/constraints.xml
new file mode 100644
index 00000000..52eb95d8
--- /dev/null
+++ b/mjx/mujoco/mjx/test_data/constraints.xml
@@ -0,0 +1,53 @@
+<!-- For validating constraint dynamics:
+
+* connect, weld, joint constraints
+* collision and joint limits for ball and 1d joints
+* solref, solimp
+-->
+<mujoco>
+  <option timestep="0.02"/>
+
+  <default>
+    <default class="box">
+      <geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"  contype="0"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <geom pos="0 0 -1" type="plane" size="10 10 .01"/>
+
+    <body name="anchor1" pos="-3 0 0"/>
+    <body name="beam1" pos="-3 0 0">
+      <joint name="joint1" type="ball" range="0 45" solreflimit="0.03 0.9" solimplimit="0.89 0.9 0.01 2.1"/>
+      <geom class="box"/>
+    </body>
+
+    <body name="anchor2" pos="-1 0 0"/>
+    <body name="beam2" pos="-1 0 0">
+      <freejoint/>
+      <geom class="box"/>
+    </body>
+
+    <body name="beam3" pos="1 0 0">
+      <joint name="joint3" axis="1 0 0" type="hinge" range="-20 20"/>
+      <geom class="box"/>
+    </body>
+
+    <body name="beam4" pos="3 0 0">
+      <joint name="joint4" axis="1 0 0" type="hinge" damping="1.0"/> <!-- tests no joint range -->
+      <geom class="box"/>
+    </body>
+  </worldbody>
+
+  <equality>
+    <connect name="connect"  body1="anchor1"    body2="beam1"   anchor="1 0 -1" />
+    <weld    name="weld"     body1="anchor2"    body2="beam2"   relpose="0 0 0 1 -.3 0 0" torquescale="0.002" anchor="0 -2 0"/>
+    <joint   name="joint"    joint1="joint3"    joint2="joint4" polycoef="0.5 -1 0.1 0.15 0.2" />
+  </equality>
+
+  <actuator>
+    <position ctrlrange="-20 20" gear="500" joint="joint1" name="act1"/>
+    <motor gear="50000" joint="joint3" name="act2"/>
+    <motor gear="75000" joint="joint4" name="act3"/>
+  </actuator>
+</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/equality.xml b/mjx/mujoco/mjx/test_data/equality.xml
deleted file mode 100644
index e5c9d184..00000000
--- a/mjx/mujoco/mjx/test_data/equality.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<mujoco>
-  <option solver="CG" iterations="8">
-    <flag contact="disable"/>
-  </option>
-
-  <default>
-    <default class="static">
-      <geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
-    </default>
-    <default class="free">
-      <geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom pos="0 0 -2" type="plane" size="10 10 .01"/>
-    <light pos="0 0 20"/>
-
-    <body name="box1" pos="-3 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam1" pos="-3 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box2" pos="-1 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam2" pos="-1 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box3" pos="1 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam3" pos="1 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box4" pos="3 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam4" pos="3 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box5" pos="4 0 0">
-      <geom class="free"/>
-      <joint name="joint1" axis="1 0 0" type="hinge" />
-    </body>
-
-    <body name="box6" pos="4 0 0">
-      <geom class="free"/>
-      <joint name="joint2" axis="1 0 0" type="hinge" />
-    </body>
-
-
-  </worldbody>
-
-  <equality>
-    <connect name="connect anchor"           body1="box1"    body2="beam1"   anchor="0 0 -1" />
-    <weld    name="weld anchor weak torques" body1="box2"    body2="beam2"   torquescale="0.002" anchor="0 -2 0"/>
-    <weld    name="weld relpose"             body1="box3"    body2="beam3"   relpose="0 0 0 1 -.3 0 0"/>
-    <weld    name="weld relpose+anchor"      body1="box4"    body2="beam4"   relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
-    <joint   name="joint"                    joint1="joint1" joint2="joint2" polycoef="0 -1 0.1 0.15 0.2" />
-  </equality>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid.xml b/mjx/mujoco/mjx/test_data/humanoid.xml
deleted file mode 100644
index 2d7158ee..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid.xml
+++ /dev/null
@@ -1,109 +0,0 @@
-<mujoco model="humanoid">
-    <compiler angle="degree" inertiafromgeom="true"/>
-    <default>
-        <joint armature="1" damping="1" limited="true"/>
-        <geom conaffinity="0" condim="3" contype="0" material="geom"/>
-        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-    </default>
-    <option iterations="8" timestep="0.003"/>
-    <size nkey="5" nuser_geom="1"/>
-    <visual>
-        <map fogend="5" fogstart="3"/>
-    </visual>
-    <asset>
-        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
-        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
-        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-        <material name="geom" texture="texgeom" texuniform="true"/>
-    </asset>
-    <worldbody>
-        <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-        <geom conaffinity="1" condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" size="20 20 0.125" type="plane"/>
-        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
-        <body name="torso" pos="0 0 1.4">
-            <camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1"/>
-            <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
-            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
-            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
-            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
-            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
-                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
-                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
-                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
-                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
-                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
-                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
-                    <body name="right_thigh" pos="0 -0.1 -0.04">
-                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
-                        <joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
-                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
-                        <body name="right_shin" pos="0 0.01 -0.403">
-                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
-                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
-                            <body name="right_foot" pos="0 0 -0.45">
-                                <geom contype="1" name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
-                            </body>
-                        </body>
-                    </body>
-                    <body name="left_thigh" pos="0 0.1 -0.04">
-                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
-                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
-                        <body name="left_shin" pos="0 -0.01 -0.403">
-                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
-                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
-                            <body name="left_foot" pos="0 0 -0.45">
-                                <geom contype="1" name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-            <body name="right_upper_arm" pos="0 -0.17 0.06">
-                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
-                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
-                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
-                <body name="right_lower_arm" pos=".18 -.18 -.18">
-                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
-                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
-                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
-                    <camera pos="0 0 0"/>
-                </body>
-            </body>
-            <body name="left_upper_arm" pos="0 0.17 0.06">
-                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
-                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
-                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
-                <body name="left_lower_arm" pos=".18 .18 -.18">
-                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
-                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
-                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
-                </body>
-            </body>
-        </body>
-    </worldbody>
-
-    <actuator>
-        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
-        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
-        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
-        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
-        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
-        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
-        <motor gear="200" joint="right_knee" name="right_knee"/>
-        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
-        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
-        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
-        <motor gear="200" joint="left_knee" name="left_knee"/>
-        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
-        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
-        <motor gear="25" joint="right_elbow" name="right_elbow"/>
-        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
-        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
-        <motor gear="25" joint="left_elbow" name="left_elbow"/>
-    </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/pendula.xml b/mjx/mujoco/mjx/test_data/pendula.xml
index 2363a3f8..0dc476ab 100644
--- a/mjx/mujoco/mjx/test_data/pendula.xml
+++ b/mjx/mujoco/mjx/test_data/pendula.xml
@@ -18,6 +18,8 @@
   </default>
 
   <worldbody>
+    <site name="origin"/>
+
     <!-- a single free body -->
     <body pos="0 0 0">
       <freejoint/>
@@ -26,45 +28,49 @@
 
     <!-- a single ball joint with a limit -->
     <body pos="0.5 0 0">
-      <joint type="ball" range="0 35"/>
+      <joint name="joint1" type="ball" range="0 35"/>
+      <site name="s1" pos="1.3 0 0"/>
       <geom/>
     </body>
 
     <!-- a single slide joint with a limit -->
     <body pos="1.0 0 0">
-      <joint type="slide" axis="0.1 0.2 0.3" range="-1 1"/>
+      <joint name="joint2" type="slide" axis="0.1 0.2 0.3" range="-1 1"/>
+      <site name="s2"/>
       <geom/>
     </body>
 
     <!-- a single hinge joint with a limit -->
     <body pos="1.5 0 0">
-      <joint type="hinge" axis="0.1 0.2 0.3" range="-35 50"/>
+      <joint name="joint3" type="hinge" axis="0.1 0.2 0.3" range="-35 50"/>
+      <site name="s3" quat="1 0 1 0"/>
       <geom/>
     </body>
 
     <!-- stacked joint: hinge + slide -->
     <body pos="2.0 0 0">
-      <joint type="hinge" axis="0.1 0.2 0.3"/>
-      <joint type="slide" axis="0.4 0.5 0.6" range="0 1"/>
+      <joint name="joint4" type="hinge" axis="0.1 0.2 0.3"/>
+      <joint name="joint5" type="slide" axis="0.4 0.5 0.6" range="0 1"/>
       <geom/>
     </body>
 
     <!-- stacked joint: slide + ball -->
     <body pos="2.5 0 0">
-      <joint type="slide" axis="0.4 0.5 0.6" range="0 1"/>
+      <joint name="joint6" type="slide" axis="0.4 0.5 0.6" range="0 1"/>
       <joint type="ball"/>
       <geom/>
     </body>
 
     <!-- triple pendulum of hinges -->
     <body pos="3.0 0 0">
-      <joint axis="0.1 0.2 0.3" type="hinge"/>
+      <joint name="joint7" axis="0.1 0.2 0.3" type="hinge"/>
       <geom/>
       <body pos="0 0 -0.8">
-        <joint axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
+        <joint name="joint8" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
         <geom/>
         <body pos="0 -0.7 0">
-          <joint axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
+          <joint name="joint9" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
+          <site name="s4" pos="0 1.5 0" quat="1 0 1 0"/>
           <geom/>
         </body>
       </body>
@@ -72,14 +78,14 @@
 
     <!-- cherry pendulum: two bodies attached to same parent body -->
     <body pos="3.5 0 0">
-      <joint type="ball" damping="0.5" />
+      <joint name="joint10" type="ball" damping="0.5" />
       <geom/>
       <body pos="0 0 -0.8">
-        <joint axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
+        <joint name="joint11" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
         <geom/>
       </body>
       <body pos="0 -0.7 0">
-        <joint axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
+        <joint name="joint12" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
         <geom/>
       </body>
     </body>
@@ -89,14 +95,21 @@
       <freejoint/>
       <geom/>
       <body pos="0 0 -0.8">
-        <joint axis="0.4 0.5 0.6" type="slide" armature="0.02" range="-0.4 0.6"/>
+        <joint name="joint13" axis="0.4 0.5 0.6" type="slide" armature="0.02" range="-0.4 0.6"/>
         <geom/>
         <body pos="0 -0.7 0">
-          <joint axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
+          <joint name="joint14" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
           <geom/>
         </body>
       </body>
     </body>
-
   </worldbody>
+
+  <actuator>
+    <motor gear="250 0 0" joint="joint1" name="act1"/>
+    <motor gear="0 275 0" joint="joint1" name="act2"/>
+    <motor gear="0 0 300" joint="joint1" name="act3"/>
+    <motor gear="275" joint="joint2" name="act4"/>
+    <motor gear="275" joint="joint3" name="act5"/>
+  </actuator>
 </mujoco>

From 762371c3e4c5ed7204d2533411956c34b498baf5 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 6 Dec 2023 04:27:34 -0800
Subject: [PATCH 044/121] Add `kv` damping attribute to `position` and
 `intvelocity` actuator shortcuts.

PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
---
 doc/XMLreference.rst                       |  39 ++-
 doc/XMLschema.rst                          |   8 +-
 doc/changelog.rst                          |   4 +
 src/user/user_objects.cc                   |   2 +-
 src/xml/xml_native_reader.cc               |  51 ++--
 test/engine/testdata/actuation/refsite.xml |  16 +-
 test/user/user_objects_test.cc             |   4 +-
 test/xml/xml_native_reader_test.cc         | 268 ++++++++++++++-------
 8 files changed, 250 insertions(+), 142 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index fa963647..2f423abf 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -5317,13 +5317,13 @@ This element does not have custom attributes. It only has common attributes, whi
 
 This element creates a position servo. The underlying :el:`general` attributes are set as follows:
 
-========= ======= ========= =======
+========= ======= ========= =========
 Attribute Setting Attribute Setting
-========= ======= ========= =======
+========= ======= ========= =========
 dyntype   none    dynprm    1 0 0
 gaintype  fixed   gainprm   kp 0 0
-biastype  affine  biasprm   0 -kp 0
-========= ======= ========= =======
+biastype  affine  biasprm   0 -kp -kv
+========= ======= ========= =========
 
 
 This element has one custom attribute in addition to the common attributes:
@@ -5377,6 +5377,11 @@ This element has one custom attribute in addition to the common attributes:
 :at:`kp`: :at-val:`real, "1"`
    Position feedback gain.
 
+.. _actuator-position-kv:
+
+:at:`kv`: :at-val:`real, "0"`
+   Damping applied by the actuator.
+   When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
 
 .. _actuator-velocity:
 
@@ -5385,7 +5390,9 @@ This element has one custom attribute in addition to the common attributes:
 
 This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
 position servo and a velocity servo. This is because MuJoCo actuators are SISO while a PD controller takes two control
-inputs (reference position and reference velocity). The underlying :el:`general` attributes are set as follows:
+inputs (reference position and reference velocity).
+When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
+The underlying :el:`general` attributes are set as follows:
 
 ========= ======= ========= =======
 Attribute Setting Attribute Setting
@@ -5456,14 +5463,14 @@ This element creates an integrated-velocity servo. For more information, see the
 :ref:`Activation clamping <CActRange>` section of the Modeling chapter. The underlying
 :el:`general` attributes are set as follows:
 
-==========   =========== ========= =======
+==========   =========== ========= =========
 Attribute    Setting     Attribute Setting
-==========   =========== ========= =======
+==========   =========== ========= =========
 dyntype      integrator  dynprm    1 0 0
 gaintype     fixed       gainprm   kp 0 0
-biastype     affine      biasprm   0 -kp 0
+biastype     affine      biasprm   0 -kp -kv
 actlimited   true
-==========   =========== ========= =======
+==========   =========== ========= =========
 
 This element has one custom attribute in addition to the common attributes:
 
@@ -5518,6 +5525,11 @@ This element has one custom attribute in addition to the common attributes:
 :at:`kp`: :at-val:`real, "1"`
    Position feedback gain.
 
+.. _actuator-intvelocity-kv:
+
+:at:`kv`: :at-val:`real, "0"`
+   Damping applied by the actuator.
+   When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
 
 .. _actuator-damper:
 
@@ -5525,8 +5537,9 @@ This element has one custom attribute in addition to the common attributes:
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
-* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative. The underlying
-:el:`general` attributes are set as follows:
+* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
+When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
+The underlying :el:`general` attributes are set as follows:
 
 =========== ======= ========= =======
 Attribute   Setting Attribute Setting
@@ -7680,6 +7693,8 @@ slidersite, cranksite.
 
 .. _default-position-kp:
 
+.. _default-position-kv:
+
 :el-prefix:`default/` |-| **position** (?)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -7736,6 +7751,8 @@ tendon, slidersite, cranksite.
 
 .. _default-intvelocity-kp:
 
+.. _default-intvelocity-kv:
+
 :el-prefix:`default/` |-| **intvelocity** (?)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index a8d0d0b3..702adeb2 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -778,7 +778,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`jointinparent<actuator-position-jointinparent>`           | :ref:`tendon<actuator-position-tendon>`                         | :ref:`slidersite<actuator-position-slidersite>`                 | :ref:`cranksite<actuator-position-cranksite>`                   | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`site<actuator-position-site>`                             | :ref:`refsite<actuator-position-refsite>`                       | :ref:`kp<actuator-position-kp>`                                 |                                                                 | |
+|                                    |    |    | :ref:`site<actuator-position-site>`                             | :ref:`refsite<actuator-position-refsite>`                       | :ref:`kp<actuator-position-kp>`                                 | :ref:`kv<actuator-position-kv>`                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -810,6 +810,8 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`cranksite<actuator-intvelocity-cranksite>`                | :ref:`site<actuator-intvelocity-site>`                          | :ref:`refsite<actuator-intvelocity-refsite>`                    | :ref:`kp<actuator-intvelocity-kp>`                              | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`kv<actuator-intvelocity-kv>`                              |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| actuator |br| |_| |L|          |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`damper                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
@@ -1440,7 +1442,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`gear<default-position-gear>`                              | :ref:`cranklength<default-position-cranklength>`                | :ref:`user<default-position-user>`                              | :ref:`group<default-position-group>`                            | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`kp<default-position-kp>`                                  |                                                                 |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`kp<default-position-kp>`                                  | :ref:`kv<default-position-kv>`                                  |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -1462,7 +1464,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`actrange<default-intvelocity-actrange>`                   | :ref:`gear<default-intvelocity-gear>`                           | :ref:`cranklength<default-intvelocity-cranklength>`             | :ref:`user<default-intvelocity-user>`                           | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`group<default-intvelocity-group>`                         | :ref:`kp<default-intvelocity-kp>`                               |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`group<default-intvelocity-group>`                         | :ref:`kp<default-intvelocity-kp>`                               | :ref:`kv<default-intvelocity-kv>`                               |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 826c1a1d..56904ed8 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -12,6 +12,10 @@ General
   robust for very small or large geom sizes.
 - Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
   on its direct children, without requiring a :ref:`body<body>`.
+- Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
+  actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference
+  velocity. When using this attribute, it is recommended to use the implicitfast or implicit
+  :ref:`integrators<geIntegration>`.
 
 Plugins
 ^^^^^^^
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 3d7ef0b8..009ecebc 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -3876,7 +3876,7 @@ void mjCActuator::Compile(void) {
     throw mjCError(this, "invalid control range for actuator '%s' (id = %d)", name.c_str(), id);
   }
   if (actrange[0]>=actrange[1] && actlimited) {
-    throw mjCError(this, "invalid activation range for actuator '%s' (id = %d)", name.c_str(), id);
+    throw mjCError(this, "invalid actrange for actuator '%s' (id = %d)", name.c_str(), id);
   }
   if (actlimited && dyntype == mjDYN_NONE) {
     throw mjCError(this, "actrange specified but dyntype is 'none' in actuator '%s' (id = %d)",
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 4121b2b9..57671db9 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -166,16 +166,16 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
             "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
         {"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
             "gear", "cranklength", "user", "group"},
-        {"position", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
+        {"position", "?", "10", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
             "gear", "cranklength", "user", "group",
-            "kp"},
+            "kp", "kv"},
         {"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
             "gear", "cranklength", "user", "group",
             "kv"},
-        {"intvelocity", "?", "10", "ctrllimited", "forcelimited",
+        {"intvelocity", "?", "11", "ctrllimited", "forcelimited",
             "ctrlrange", "forcerange", "actrange",
             "gear", "cranklength", "user", "group",
-            "kp"},
+            "kp", "kv"},
         {"damper", "?", "8", "forcelimited", "ctrlrange", "forcerange",
             "gear", "cranklength", "user", "group",
             "kv"},
@@ -379,22 +379,22 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
             "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
             "lengthrange", "gear", "cranklength", "user",
             "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
-        {"position", "*", "19", "name", "class", "group",
+        {"position", "*", "20", "name", "class", "group",
             "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
             "lengthrange", "gear", "cranklength", "user",
             "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
-            "kp"},
+            "kp", "kv"},
         {"velocity", "*", "19", "name", "class", "group",
             "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
             "lengthrange", "gear", "cranklength", "user",
             "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
             "kv"},
-        {"intvelocity", "*", "20", "name", "class", "group",
+        {"intvelocity", "*", "21", "name", "class", "group",
             "ctrllimited", "forcelimited",
             "ctrlrange", "forcerange", "actrange", "lengthrange",
             "gear", "cranklength", "user",
             "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
-            "kp"},
+            "kp", "kv"},
         {"damper", "*", "18", "name", "class", "group",
             "forcelimited", "ctrlrange", "forcerange",
             "lengthrange", "gear", "cranklength", "user",
@@ -1895,19 +1895,26 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
     pact->biastype = mjBIAS_NONE;
   }
 
-  // position servo
-  else if (type=="position") {
-    // clear bias
-    mjuu_zerovec(pact->biasprm, mjNBIAS);
-
+  // position or integrated velocity servo
+  else if (type=="position" || type=="intvelocity") {
     // explicit attributes
     ReadAttr(elem, "kp", 1, pact->gainprm, text);
     pact->biasprm[1] = -pact->gainprm[0];
 
+    if (ReadAttr(elem, "kv", 1, pact->biasprm + 2, text)) {
+      if (pact->biasprm[2] < 0)
+        throw mjXError(elem, "kv cannot be negative");
+      pact->biasprm[2] *= -1;
+    }
+
     // implied parameters
-    pact->dyntype = mjDYN_NONE;
     pact->gaintype = mjGAIN_FIXED;
     pact->biastype = mjBIAS_AFFINE;
+
+    if (type=="intvelocity") {
+      pact->dyntype = mjDYN_INTEGRATOR;
+      pact->actlimited = 1;
+    }
   }
 
   // velocity servo
@@ -1925,22 +1932,6 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
     pact->biastype = mjBIAS_AFFINE;
   }
 
-  // integrated velocity
-  else if (type=="intvelocity") {
-    // clear bias
-    mjuu_zerovec(pact->biasprm, mjNBIAS);
-
-    // explicit attributes
-    ReadAttr(elem, "kp", 1, pact->gainprm, text);
-
-    // implied parameters
-    pact->dyntype = mjDYN_INTEGRATOR;
-    pact->gaintype = mjGAIN_FIXED;
-    pact->biastype = mjBIAS_AFFINE;
-    pact->actlimited = 1;
-    pact->biasprm[1] = -pact->gainprm[0];
-  }
-
   // damper
   else if (type=="damper") {
     // clear gain
diff --git a/test/engine/testdata/actuation/refsite.xml b/test/engine/testdata/actuation/refsite.xml
index e4b0a2fa..eda8e284 100644
--- a/test/engine/testdata/actuation/refsite.xml
+++ b/test/engine/testdata/actuation/refsite.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="translation">
-      <general gainprm="100" biasprm="0 -100 -10" biastype="affine" ctrlrange="-.25 .25"/>
+      <position kp="100" kv="10" ctrlrange="-.25 .25"/>
     </default>
     <default class="rotation">
       <!--
@@ -22,7 +22,7 @@
       Increase this range to pi or bigger in order to see the instabillity.
       See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
       -->
-      <general gainprm=".5" biasprm="0 -.5 -.05" biastype="affine" ctrlrange="-1.571 1.571"/>
+      <position kp=".5" kv=".05" ctrlrange="-1.571 1.571"/>
     </default>
     <!--
     Clamping the total actuator torque at the joints means that the motion produced by the Cartesian
@@ -62,11 +62,11 @@
   </worldbody>
 
   <actuator>
-    <general name="x"  site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
-    <general name="y"  site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
-    <general name="z"  site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
-    <general name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
-    <general name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
-    <general name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
+    <position name="x"  site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
+    <position name="y"  site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
+    <position name="z"  site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
+    <position name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
+    <position name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
+    <position name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
   </actuator>
 </mujoco>
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index 63c795be..37154b13 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -940,7 +940,7 @@ TEST_F(ActRangeTest, ActRangeBad) {
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid activation range"));
+  EXPECT_THAT(error.data(), HasSubstr("invalid actrange"));
 }
 
 TEST_F(ActRangeTest, ActRangeUndefined) {
@@ -960,7 +960,7 @@ TEST_F(ActRangeTest, ActRangeUndefined) {
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid activation range"));
+  EXPECT_THAT(error.data(), HasSubstr("invalid actrange"));
 }
 
 TEST_F(ActRangeTest, ActRangeNoDyntype) {
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index a74fabf0..21c11a92 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -531,92 +531,6 @@ TEST_F(XMLReaderTest, ReadShellParameter) {
   mj_deleteModel(model);
 }
 
-TEST_F(XMLReaderTest, ReadsDamper) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" ctrlrange="0 1"/>
-      <general joint="jnt" ctrllimited="true" ctrlrange="0 1" gaintype="affine" biastype="none"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model, NotNull());
-  EXPECT_THAT(model->actuator_gaintype[0], Eq(mjGAIN_AFFINE));
-  EXPECT_THAT(model->actuator_gaintype[1], Eq(mjGAIN_AFFINE));
-  EXPECT_THAT(model->actuator_biastype[0], Eq(mjBIAS_NONE));
-  EXPECT_THAT(model->actuator_biastype[1], Eq(mjBIAS_NONE));
-  mj_deleteModel(model);
-}
-
-TEST_F(XMLReaderTest, RequiresPoisitiveDamping) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" kv="-1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("damping coefficient cannot be negative"));
-}
-
-TEST_F(XMLReaderTest, RequiresControlRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10" limited="true"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" kv="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid control range"));
-}
-
-TEST_F(XMLReaderTest, PositiveControlRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" kv="1" ctrlrange="-1 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
-}
 
 TEST_F(XMLReaderTest, ReadsSkinGroups) {
   static constexpr char xml[] = R"(
@@ -779,6 +693,186 @@ TEST_F(ActuatorTest, ReadsByte) {
 
 using ActuatorParseTest = MujocoTest;
 
+TEST_F(ActuatorParseTest, ReadsDamper) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <damper joint="jnt" ctrlrange="0 1"/>
+      <general joint="jnt" ctrllimited="true" ctrlrange="0 1" gaintype="affine" biastype="none"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull());
+  EXPECT_THAT(model->actuator_gaintype[0], Eq(mjGAIN_AFFINE));
+  EXPECT_THAT(model->actuator_gaintype[1], Eq(mjGAIN_AFFINE));
+  EXPECT_THAT(model->actuator_biastype[0], Eq(mjBIAS_NONE));
+  EXPECT_THAT(model->actuator_biastype[1], Eq(mjBIAS_NONE));
+  mj_deleteModel(model);
+}
+
+TEST_F(ActuatorParseTest, DamperRequiresPositiveDamping) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <damper joint="jnt" kv="-1"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(),
+              HasSubstr("damping coefficient cannot be negative"));
+}
+
+TEST_F(ActuatorParseTest, DamperRequiresControlRange) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10" limited="true"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <damper joint="jnt" kv="1"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("invalid control range"));
+}
+
+TEST_F(ActuatorParseTest, DamperPositiveControlRange) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <damper joint="jnt" kv="1" ctrlrange="-1 0"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
+}
+
+TEST_F(ActuatorParseTest, ReadsPositionIntvelKv) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <position joint="jnt" kv="2"/>
+      <intvelocity joint="jnt" actrange="-1 1" kv="3"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull());
+  EXPECT_THAT(model->actuator_biasprm[0*mjNBIAS + 2], Eq(-2.0));
+  EXPECT_THAT(model->actuator_biasprm[1*mjNBIAS + 2], Eq(-3.0));
+  mj_deleteModel(model);
+}
+
+TEST_F(ActuatorParseTest, RequirePositiveKv) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <position joint="jnt" kv="-2"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("kv cannot be negative"));
+}
+
+TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <default>
+      <default class="position">
+        <position kp="3" kv="4"/>
+      </default>
+      <default class="intvelocity">
+        <intvelocity kp="5" kv="6" actrange="-1 1"/>
+      </default>
+      <default class="velocity">
+        <velocity kv="7"/>
+      </default>
+    </default>
+    <worldbody>
+      <body>
+        <geom size="1"/>
+        <joint name="jnt" type="slide" axis="1 0 0"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <position joint="jnt" class="position"/>
+      <intvelocity joint="jnt" class="intvelocity"/>
+      <velocity joint="jnt" class="velocity"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << error.data();
+  EXPECT_EQ(model->actuator_gainprm[0*mjNGAIN + 0], 3.0);
+  EXPECT_EQ(model->actuator_biasprm[0*mjNBIAS + 1], -3.0);
+  EXPECT_EQ(model->actuator_biasprm[0*mjNBIAS + 2], -4.0);
+  EXPECT_EQ(model->actuator_gainprm[1*mjNGAIN + 0], 5.0);
+  EXPECT_EQ(model->actuator_biasprm[1*mjNBIAS + 1], -5.0);
+  EXPECT_EQ(model->actuator_biasprm[1*mjNBIAS + 2], -6.0);
+  EXPECT_EQ(model->actuator_gainprm[2*mjNGAIN + 0], 7.0);
+  EXPECT_EQ(model->actuator_biasprm[2*mjNBIAS + 1], 0.0);
+  EXPECT_EQ(model->actuator_biasprm[2*mjNBIAS + 2], -7.0);
+  for (int i = 0; i < model->nu; i++) {
+    for (int j = 3; j < mjNBIAS; j++) {
+      EXPECT_EQ(model->actuator_biasprm[i*mjNBIAS + j], 0.0);
+    }
+    for (int j = 3; j < mjNGAIN; j++) {
+      EXPECT_EQ(model->actuator_gainprm[i*mjNGAIN + j], 0.0);
+    }
+  }
+  mj_deleteModel(model);
+}
+
+
 TEST_F(ActuatorParseTest, IntvelocityCheckEquivalence) {
   static constexpr char xml[] = R"(
   <mujoco>
@@ -871,7 +965,7 @@ TEST_F(ActuatorParseTest, IntvelocityNoActrangeThrowsError) {
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid activation range for actuator"));
+  EXPECT_THAT(error.data(), HasSubstr("invalid actrange for actuator"));
 }
 
 TEST_F(ActuatorParseTest, IntvelocityDefaultsPropagate) {

From 08c62339122b428ead44c7ad0a975f7010dc2b2b Mon Sep 17 00:00:00 2001
From: limymy <72388584+limymy@users.noreply.github.com>
Date: Thu, 7 Dec 2023 14:36:29 +0800
Subject: [PATCH 045/121] fix gcc warning "stringop-truncation"

---
 src/engine/engine_vis_visualize.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 9154fa4d..393bd509 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -62,7 +62,7 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
   }
 
   // copy result into label
-  strncpy(label, txt, 99);
+  strncpy(label, txt, 100);
   label[99] = '\0';
 }
 

From 14e9607d3a1dc666637435193d5017a6eb2e0b84 Mon Sep 17 00:00:00 2001
From: Jamie Mair <JamieMair@users.noreply.github.com>
Date: Thu, 7 Dec 2023 11:16:10 +0000
Subject: [PATCH 046/121] Edited README to update the entry for the Julia 3rd
 party bindings

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 21a3cb81..cb19a639 100644
--- a/README.md
+++ b/README.md
@@ -164,7 +164,7 @@ These packages give users of various languages access to MuJoCo functionality:
   by [Manoj Velmurugan](https://github.com/vmanoj1996).
 - **Swift**: [swift-mujoco](https://github.com/liuliu/swift-mujoco)
 - **Java**: [mujoco-java](https://github.com/CommonWealthRobotics/mujoco-java)
-- **Julia**: [Lyceum](https://github.com/Lyceum/MuJoCo.jl) (unmaintained)
+- **Julia**: [MuJoCo.jl](https://github.com/JamieMair/MuJoCo.jl)
 
 
 ### Converters

From d12fe594d98ee0500fa6bb7513f3faf3d9f7488a Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 7 Dec 2023 06:45:55 -0800
Subject: [PATCH 047/121] Add suffix to duplicated assets.

PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
---
 src/user/user_model.cc            | 74 +++++++++++++++++--------------
 src/user/user_model.h             |  5 ++-
 test/user/testdata/load_twice.xml | 10 +++++
 test/user/user_model_test.cc      | 22 +++++++++
 4 files changed, 76 insertions(+), 35 deletions(-)
 create mode 100644 test/user/testdata/load_twice.xml

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 693287fa..fcc0c354 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -19,6 +19,7 @@
 #include <cstddef>
 #include <cstdlib>
 #include <cstring>
+#include <map>
 #include <string>
 #include <vector>
 
@@ -842,57 +843,56 @@ void mjCModel::IndexAssets(void) {
 
 
 // if asset name is missing, set to filename
-void mjCModel::SetDefaultNames(void) {
+template <typename T>
+void mjCModel::SetDefaultNames(std::vector<T*>& assets) {
   string stripped;
+  std::map<string, std::vector<int>> names;
 
-  // meshes
-  for (int i=0; i<meshes.size(); i++) {
-    if (meshes[i]->name.empty()) {
-      stripped = mjuu_strippath(meshes[i]->file());
-      meshes[i]->name = mjuu_stripext(stripped);
-
-      // name cannot be empty
-      if (meshes[i]->name.empty()) {
-        throw mjCError(meshes[i], "empty name in mesh");
-      }
+  // use filename if name is missing
+  for (int i=0; i<assets.size(); i++) {
+    if (assets[i]->name.empty()) {
+      stripped = mjuu_strippath(assets[i]->get_file());
+      assets[i]->name = mjuu_stripext(stripped);
+      names[assets[i]->name].push_back(i);
     }
   }
 
-  // skins
-  for (int i=0; i<skins.size(); i++) {
-    if (skins[i]->name.empty()) {
-      stripped = mjuu_strippath(skins[i]->file);
-      skins[i]->name = mjuu_stripext(stripped);
+  // add suffix if duplicates
+  for (auto const& [name, indices] : names) {
+    if (indices.size() > 1) {
+      for (int i=0; i<indices.size(); i++) {
+        assets[indices[i]]->name += "_" + std::to_string(i);
+      }
+    }
+  }
+}
+
+
+
+// throw error if a name is missing
+void mjCModel::CheckEmptyNames(void) {
+  // meshes
+  for (int i=0; i<meshes.size(); i++) {
+    if (meshes[i]->name.empty()) {
+      throw mjCError(meshes[i], "empty name in mesh");
     }
   }
 
   // hfields
   for (int i=0; i<hfields.size(); i++) {
     if (hfields[i]->name.empty()) {
-      stripped = mjuu_strippath(hfields[i]->file);
-      hfields[i]->name = mjuu_stripext(stripped);
-
-      // name cannot be empty
-      if (hfields[i]->name.empty()) {
-        throw mjCError(hfields[i], "empty name in height field");
-      }
+      throw mjCError(hfields[i], "empty name in height field");
     }
   }
 
   // textures
   for (int i=0; i<textures.size(); i++) {
-    if (textures[i]->name.empty()) {
-      stripped = mjuu_strippath(textures[i]->file);
-      textures[i]->name = mjuu_stripext(stripped);
-
-      // name cannot be empty, except for skybox
-      if (textures[i]->name.empty() && textures[i]->type!=mjTEXTURE_SKYBOX) {
-        throw mjCError(textures[i], "empty name in texture");
-      }
+    if (textures[i]->name.empty() && textures[i]->type!=mjTEXTURE_SKYBOX) {
+      throw mjCError(textures[i], "empty name in texture");
     }
   }
 
-  // materials: name check only
+  // materials
   for (int i=0; i<materials.size(); i++) {
     if (materials[i]->name.empty()) {
       throw mjCError(materials[i], "empty name in material");
@@ -2785,6 +2785,13 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // make lists of objects created in kinematic tree
   MakeLists(bodies[0]);
 
+  // fill missing names and check that they are all filled
+  SetDefaultNames(meshes);
+  SetDefaultNames(skins);
+  SetDefaultNames(hfields);
+  SetDefaultNames(textures);
+  CheckEmptyNames();
+
   // set object ids and default names, check for repeated names
   processlist(bodies, "body");
   processlist(joints, "joint");
@@ -2810,8 +2817,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   processlist(keys, "key");
   processlist(plugins, "plugin");
 
-  // set default names, convert names into indices
-  SetDefaultNames();
+  // convert names into indices
   IndexAssets();
 
   // mark meshes that need convex hull
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 77d9d718..f013d832 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -176,10 +176,13 @@ class mjCModel {
   template <class T>              // add object of any type, with def parameter
   T* AddObjectDef(std::vector<T*>& list, std::string type, mjCDef* def);
 
+  template<class T>              // if asset name is missing, set to filename
+  void SetDefaultNames(std::vector<T*>& assets);
+
   //------------------------ compile phases
   void MakeLists(mjCBody* body);  // make lists of bodies, geoms, joints, sites
   void IndexAssets(void);         // convert asset names into indices
-  void SetDefaultNames(void);     // if mesh or hfield name is missing, set to filename
+  void CheckEmptyNames(void);     // check empty names
   void SetSizes(void);            // compute sizes
   void AutoSpringDamper(mjModel*);// automatic stiffness and damping computation
   void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
diff --git a/test/user/testdata/load_twice.xml b/test/user/testdata/load_twice.xml
new file mode 100644
index 00000000..4e9304a7
--- /dev/null
+++ b/test/user/testdata/load_twice.xml
@@ -0,0 +1,10 @@
+<mujoco>
+  <asset>
+    <mesh file="cube.obj"/>
+    <mesh file="cube.obj"/>
+  </asset>
+  <worldbody>
+    <geom type="mesh" mesh="cube_0"/>
+    <geom type="mesh" mesh="cube_1"/>
+  </worldbody>
+</mujoco>
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index 3abae496..db1059ef 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -14,6 +14,7 @@
 
 // Tests for user/user_model.cc.
 
+#include <array>
 #include <string>
 
 #include <gmock/gmock.h>
@@ -21,6 +22,7 @@
 #include <absl/strings/str_format.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
+#include "src/cc/array_safety.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -190,6 +192,26 @@ TEST_F(UserDataTest, AutoNUserSensor) {
   mj_deleteModel(m);
 }
 
+// ------------- test duplicate names ------------------------------------------
+TEST_F(UserDataTest, DuplicateNames) {
+  static const char* const kFilePath = "user/testdata/load_twice.xml";
+  const std::string xml_path = GetTestDataFilePath(kFilePath);
+
+  std::array<char, 1024> error;
+  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+
+  EXPECT_THAT(m, NotNull()) << error.data();
+  EXPECT_THAT(m->nmesh, 2);
+
+  for (int i = 0; i < m->nmesh; i++) {
+    char mesh_name[mjMAXUINAME] = "";
+    util::strcat_arr(mesh_name, m->names + m->name_meshadr[i]);
+    EXPECT_THAT(std::string(mesh_name), "cube_" + std::to_string(i));
+  }
+
+  mj_deleteModel(m);
+}
+
 // ------------- test fusestatic -----------------------------------------------
 
 using FuseStaticTest = MujocoTest;

From 1db0a9946fca461ed17493a34e03dcbcf8694ab9 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 7 Dec 2023 08:35:46 -0800
Subject: [PATCH 048/121] Fix frame accumulation order for `<frame>`
 meta-element.

PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
---
 src/user/user_objects.cc       | 14 ++++----
 src/user/user_util.cc          | 31 ++++++++++------
 src/user/user_util.h           | 18 ++++++----
 test/user/user_objects_test.cc | 64 +++++++++++++++++++++++-----------
 4 files changed, 82 insertions(+), 45 deletions(-)

diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 009ecebc..84a9c8c8 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -993,7 +993,7 @@ void mjCBody::Compile(void) {
 
   // frame
   if (frame) {
-    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
   }
 
   // accumulate rbound, contype, conaffinity over geoms
@@ -1101,7 +1101,7 @@ void mjCFrame::Compile() {
   // compile parents and accumulate result
   if (frame) {
     frame->Compile();
-    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
   }
 
   mjuu_normvec(quat, 4);
@@ -1263,7 +1263,7 @@ int mjCJoint::Compile(void) {
     mjuu_zerovec(pos, 3);
   } else if (frame) {
     double qunit[4] = {1, 0, 0, 0};
-    mjuu_frameaccum(pos, qunit, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, qunit);
   }
 
   // convert reference angles to radians for hinge joints
@@ -1878,7 +1878,7 @@ void mjCGeom::Compile(void) {
 
   // frame
   if (frame) {
-    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
   }
 }
 
@@ -1990,7 +1990,7 @@ void mjCSite::Compile(void) {
 
   // frame
   if (frame) {
-    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
   }
 
   // normalize quaternion
@@ -2055,7 +2055,7 @@ void mjCCamera::Compile(void) {
 
   // frame
   if (frame) {
-    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
   }
 
   // normalize quaternion
@@ -2159,7 +2159,7 @@ void mjCLight::Compile(void) {
 
   // frame
   if (frame) {
-    mjuu_frameaccum(pos, quat, frame->pos, frame->quat);
+    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
   }
 
   // normalize direction, make sure it is not zero
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
index 4c75ccce..35e5568d 100644
--- a/src/user/user_util.cc
+++ b/src/user/user_util.cc
@@ -367,8 +367,8 @@ void mjuu_frame2quat(double* quat, const double* x, const double* y, const doubl
 
 
 // invert frame transformation
-void mjuu_frameinvert(double* newpos, double* newquat,
-                      const double* oldpos, const double* oldquat) {
+void mjuu_frameinvert(double newpos[3], double newquat[4],
+                      const double oldpos[3], const double oldquat[4]) {
   // position
   mjuu_localaxis(newpos, oldpos, oldquat);
   newpos[0] = -newpos[0];
@@ -384,28 +384,39 @@ void mjuu_frameinvert(double* newpos, double* newquat,
 
 
 // accumulate frame transformations (forward kinematics)
-void mjuu_frameaccum(double* pos, double* quat,
-                     const double* addpos, const double* addquat) {
+void mjuu_frameaccum(double pos[3], double quat[4],
+                     const double childpos[3], const double childquat[4]) {
   double mat[9], vec[3], qtmp[4];
   mjuu_quat2mat(mat, quat);
-  mjuu_mulvecmat(vec, addpos, mat);
+  mjuu_mulvecmat(vec, childpos, mat);
   pos[0] += vec[0];
   pos[1] += vec[1];
   pos[2] += vec[2];
-  mjuu_mulquat(qtmp, quat, addquat);
+  mjuu_mulquat(qtmp, quat, childquat);
   mjuu_copyvec(quat, qtmp, 4);
 }
 
 
+// accumulate frame transformation in second frame
+void mjuu_frameaccumChild(const double pos[3], const double quat[4],
+                          double childpos[3], double childquat[4]) {
+  double p[] = {pos[0], pos[1], pos[2]};
+  double q[] = {quat[0], quat[1], quat[2], quat[3]};
+  mjuu_frameaccum(p, q, childpos, childquat);
+  mjuu_copyvec(childpos, p, 3);
+  mjuu_copyvec(childquat, q, 4);
+}
+
+
 // invert frame accumulation
-void mjuu_frameaccuminv(double* pos, double* quat,
-                        const double* addpos, const double* addquat) {
+void mjuu_frameaccuminv(double pos[3], double quat[4],
+                        const double childpos[3], const double childquat[4]) {
   double mat[9], vec[3], qtmp[4];
-  double qneg[4] = {addquat[0], -addquat[1], -addquat[2], -addquat[3]};
+  double qneg[4] = {childquat[0], -childquat[1], -childquat[2], -childquat[3]};
   mjuu_mulquat(qtmp, quat, qneg);
   mjuu_copyvec(quat, qtmp, 4);
   mjuu_quat2mat(mat, quat);
-  mjuu_mulvecmat(vec, addpos, mat);
+  mjuu_mulvecmat(vec, childpos, mat);
   pos[0] -= vec[0];
   pos[1] -= vec[1];
   pos[2] -= vec[2];
diff --git a/src/user/user_util.h b/src/user/user_util.h
index fa230137..2cede571 100644
--- a/src/user/user_util.h
+++ b/src/user/user_util.h
@@ -104,16 +104,20 @@ void mjuu_z2quat(double* quat, const double* vec);
 void mjuu_frame2quat(double* quat, const double* x, const double* y, const double* z);
 
 // invert frame transformation
-void mjuu_frameinvert(double* newpos, double* newquat,
-                      const double* oldpos, const double* oldquat);
+void mjuu_frameinvert(double newpos[3], double newquat[4],
+                      const double oldpos[3], const double oldquat[4]);
 
-// accumulate frame transformations
-void mjuu_frameaccum(double* pos, double* quat,
-                     const double* addpos, const double* addquat);
+// accumulate frame transformation into parent frame
+void mjuu_frameaccum(double pos[3], double quat[4],
+                     const double childpos[3], const double childquat[4]);
+
+// accumulate frame transformation into child frame
+void mjuu_frameaccumChild(const double pos[3], const double quat[4],
+                          double childpos[3], double childquat[4]);
 
 // invert frame accumulation
-void mjuu_frameaccuminv(double* pos, double* quat,
-                        const double* addpos, const double* addquat);
+void mjuu_frameaccuminv(double pos[3], double quat[4],
+                        const double childpos[3], const double childquat[4]);
 
 // convert local_inertia[3] to global_inertia[6]
 void mjuu_globalinertia(double* global, const double* local, const double* quat);
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index 37154b13..28750da0 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -1404,38 +1404,47 @@ TEST_F(MujocoTest, Frame) {
   <mujoco>
     <worldbody>
       <frame euler="0 0 30">
-        <geom size=".1" euler="0 0 20"/>
+        <geom name="0" size=".1" euler="0 0 20"/>
       </frame>
 
-      <frame axisangle="0 0 1 90">
-        <frame axisangle="0 1 0 90">
-          <geom size=".1"/>
+      <frame axisangle="0 1 0 90">
+        <frame axisangle="0 0 1 90">
+          <geom name="1" size=".1"/>
         </frame>
       </frame>
 
       <body>
         <frame pos="0 1 0">
-          <geom size=".1" pos="0 1 0"/>
+          <geom name="3" size=".1" pos="0 1 0"/>
           <body pos="1 0 0">
-            <geom size=".1" pos="0 0 1"/>
+            <geom name="4" size=".1" pos="0 0 1"/>
           </body>
         </frame>
       </body>
 
       <body>
-        <geom size=".1"/>
+        <geom name="5" size=".1"/>
         <frame euler="90 0 0">
           <joint type="hinge" axis="0 0 1"/>
         </frame>
       </body>
+
+      <body pos="0 1 0" euler="0 20 0">
+        <geom name="6" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
+      </body>
+
+      <frame pos="0 1 0" euler="0 20 0">
+        <geom name="2" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
+      </frame>
     </worldbody>
   </mujoco>
 
   )";
+  constexpr mjtNum eps = 1e-14;
   std::array<char, 1024> error;
   mjModel* m = LoadModelFromString(xml, error.data(), error.size());
   EXPECT_THAT(m, testing::NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 4);
+  EXPECT_EQ(m->nbody, 5);
 
   // geom quat transformed to euler = 0 0 50
   EXPECT_NEAR(m->geom_quat[0], mju_cos(25. * mjPI / 180.), 1e-3);
@@ -1444,15 +1453,15 @@ TEST_F(MujocoTest, Frame) {
   EXPECT_NEAR(m->geom_quat[3], mju_sin(25. * mjPI / 180.), 1e-3);
 
   // geom transformed to frame 0 1 0, 0 0 1, 1 0 0
-  EXPECT_NEAR(m->geom_quat[4], .5, 1e-6);
-  EXPECT_NEAR(m->geom_quat[5], .5, 1e-6);
-  EXPECT_NEAR(m->geom_quat[6], .5, 1e-6);
-  EXPECT_NEAR(m->geom_quat[7], .5, 1e-6);
+  EXPECT_NEAR(m->geom_quat[4], .5, eps);
+  EXPECT_NEAR(m->geom_quat[5], .5, eps);
+  EXPECT_NEAR(m->geom_quat[6], .5, eps);
+  EXPECT_NEAR(m->geom_quat[7], .5, eps);
 
   // geom pos transformed from 0 1 0 to 0 2 0
-  EXPECT_EQ(m->geom_pos[6], 0);
-  EXPECT_EQ(m->geom_pos[7], 2);
-  EXPECT_EQ(m->geom_pos[8], 0);
+  EXPECT_EQ(m->geom_pos[ 9], 0);
+  EXPECT_EQ(m->geom_pos[10], 2);
+  EXPECT_EQ(m->geom_pos[11], 0);
 
   // body pos transformed from 1 0 0 to 1 1 0
   EXPECT_EQ(m->body_pos[6], 1);
@@ -1460,16 +1469,29 @@ TEST_F(MujocoTest, Frame) {
   EXPECT_EQ(m->body_pos[8], 0);
 
   // nested geom pos not transformed
-  EXPECT_EQ(m->geom_pos[ 9], 0);
-  EXPECT_EQ(m->geom_pos[10], 0);
-  EXPECT_EQ(m->geom_pos[11], 1);
+  EXPECT_EQ(m->geom_pos[12], 0);
+  EXPECT_EQ(m->geom_pos[13], 0);
+  EXPECT_EQ(m->geom_pos[14], 1);
 
   // joint axis transformed to 0 -1 0
-  EXPECT_NEAR(m->jnt_axis[0],  0, 1e-6);
-  EXPECT_NEAR(m->jnt_axis[1], -1, 1e-6);
-  EXPECT_NEAR(m->jnt_axis[2],  0, 1e-6);
+  EXPECT_NEAR(m->jnt_axis[0],  0, eps);
+  EXPECT_NEAR(m->jnt_axis[1], -1, eps);
+  EXPECT_NEAR(m->jnt_axis[2],  0, eps);
+
+  mjData* d = mj_makeData(m);
+  mj_kinematics(m, d);
+
+  // body and frame equivalence geom 2 vs 6
+  EXPECT_NEAR(d->geom_xpos[6], d->geom_xpos[18], eps);
+  EXPECT_NEAR(d->geom_xpos[7], d->geom_xpos[19], eps);
+  EXPECT_NEAR(d->geom_xpos[8], d->geom_xpos[20], eps);
+  EXPECT_NEAR(d->geom_xmat[18], d->geom_xmat[54], eps);
+  EXPECT_NEAR(d->geom_xmat[19], d->geom_xmat[55], eps);
+  EXPECT_NEAR(d->geom_xmat[20], d->geom_xmat[56], eps);
+  EXPECT_NEAR(d->geom_xmat[21], d->geom_xmat[57], eps);
 
   mj_deleteModel(m);
+  mj_deleteData(d);
 }
 
 }  // namespace

From b1a912e9e22ae8cca170a029af13256052197ab4 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 8 Dec 2023 01:18:16 -0800
Subject: [PATCH 049/121] Improve readability of test.

PiperOrigin-RevId: 589048504
Change-Id: I5087cfd67481df90103da2d7f5f06e421fc28e11
---
 test/user/user_objects_test.cc | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index 28750da0..75fc9422 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -1413,6 +1413,10 @@ TEST_F(MujocoTest, Frame) {
         </frame>
       </frame>
 
+      <frame pos="0 1 0" euler="0 20 0">
+        <geom name="2" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
+      </frame>
+
       <body>
         <frame pos="0 1 0">
           <geom name="3" size=".1" pos="0 1 0"/>
@@ -1432,10 +1436,6 @@ TEST_F(MujocoTest, Frame) {
       <body pos="0 1 0" euler="0 20 0">
         <geom name="6" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
       </body>
-
-      <frame pos="0 1 0" euler="0 20 0">
-        <geom name="2" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
-      </frame>
     </worldbody>
   </mujoco>
 

From 623201ec76cdfd52d8ceced9d5f81a309ee88af1 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 8 Dec 2023 05:40:26 -0800
Subject: [PATCH 050/121] Throw error if scale attribute is used with an SDF.

Fixes #1210.

PiperOrigin-RevId: 589101807
Change-Id: I3f2796de3438fbcdaf9221bddc5c9bd82aedb7cb
---
 src/user/user_mesh.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index cc2536bf..edd36263 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -296,6 +296,11 @@ void mjCMesh::LoadSDF() {
         name.c_str(), id);
   }
 
+  if (scale_[0] != 1 || scale_[1] != 1 || scale_[2] != 1) {
+    throw mjCError(this, "attribute scale is not compatible with SDFs in mesh '%s', (id = %d)",
+                   name.c_str(), id);
+  }
+
   model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
   const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
   if (!(plugin->capabilityflags & mjPLUGIN_SDF)) {

From a006b15958ece085b609b01fcc3da391bf5a31ff Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 8 Dec 2023 08:13:17 -0800
Subject: [PATCH 051/121] Add map from objects names to their index.

Also some minor cleanup of repeated code in user_model.

PiperOrigin-RevId: 589135294
Change-Id: I16f22c4dbdde961cedc042af3bdc9d3577d33459
---
 src/user/user_model.cc | 148 ++++++++++++++++++++++-------------------
 src/user/user_model.h  |   9 +++
 2 files changed, 88 insertions(+), 69 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index fcc0c354..4645644e 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -21,6 +21,7 @@
 #include <cstring>
 #include <map>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include <mujoco/mjdata.h>
@@ -136,6 +137,7 @@ mjCModel::mjCModel() {
   nuser_sensor = -1;
 
   //------------------------ private variables
+  ids.clear();
   cameras.clear();
   lights.clear();
   flexes.clear();
@@ -201,6 +203,7 @@ mjCModel::~mjCModel() {
   for (int i=0; i<defaults.size(); i++) delete defaults[i];
 
   // clear pointer lists created in model construction
+  ids.clear();
   flexes.clear();
   meshes.clear();
   skins.clear();
@@ -632,14 +635,23 @@ mjCDef* mjCModel::AddDef(string name, int parentid) {
 
 // find object by name in given list
 template <class T>
-static T* findobject(string name, vector<T*>& list) {
-  for (unsigned int i=0; i<list.size(); i++) {
-    if (list[i]->name == name) {
-      return list[i];
+static T* findobject(std::string_view name, const vector<T*>& list, const mjKeyMap& ids) {
+  // this can occur in the URDF parser
+  if (ids.empty()) {
+    for (unsigned int i=0; i<list.size(); i++) {
+      if (list[i]->name == name) {
+        return list[i];
+      }
     }
+    return nullptr;
   }
 
-  return 0;
+  // during model compilation
+  auto id = ids.find(name);
+  if (id == ids.end()) {
+    return nullptr;
+  }
+  return list[id->second];
 }
 
 // find object in global lists given string type and name
@@ -647,49 +659,49 @@ mjCBase* mjCModel::FindObject(mjtObj type, string name) {
   switch (type) {
   case mjOBJ_BODY:
   case mjOBJ_XBODY:
-    return findobject(name, bodies);
+    return findobject(name, bodies, ids["body"]);
   case mjOBJ_JOINT:
-    return findobject(name, joints);
+    return findobject(name, joints, ids["joint"]);
   case mjOBJ_GEOM:
-    return findobject(name, geoms);
+    return findobject(name, geoms, ids["geom"]);
   case mjOBJ_SITE:
-    return findobject(name, sites);
+    return findobject(name, sites, ids["site"]);
   case mjOBJ_CAMERA:
-    return findobject(name, cameras);
+    return findobject(name, cameras, ids["camera"]);
   case mjOBJ_LIGHT:
-    return findobject(name, lights);
+    return findobject(name, lights, ids["light"]);
   case mjOBJ_FLEX:
-    return findobject(name, flexes);
+    return findobject(name, flexes, ids["flex"]);
   case mjOBJ_MESH:
-    return findobject(name, meshes);
+    return findobject(name, meshes, ids["mesh"]);
   case mjOBJ_SKIN:
-    return findobject(name, skins);
+    return findobject(name, skins, ids["skin"]);
   case mjOBJ_HFIELD:
-    return findobject(name, hfields);
+    return findobject(name, hfields, ids["hfield"]);
   case mjOBJ_TEXTURE:
-    return findobject(name, textures);
+    return findobject(name, textures, ids["texture"]);
   case mjOBJ_MATERIAL:
-    return findobject(name, materials);
+    return findobject(name, materials, ids["material"]);
   case mjOBJ_PAIR:
-    return findobject(name, pairs);
+    return findobject(name, pairs, ids["pair"]);
   case mjOBJ_EXCLUDE:
-    return findobject(name, excludes);
+    return findobject(name, excludes, ids["exclude"]);
   case mjOBJ_EQUALITY:
-    return findobject(name, equalities);
+    return findobject(name, equalities, ids["equality"]);
   case mjOBJ_TENDON:
-    return findobject(name, tendons);
+    return findobject(name, tendons, ids["tendon"]);
   case mjOBJ_ACTUATOR:
-    return findobject(name, actuators);
+    return findobject(name, actuators, ids["actuator"]);
   case mjOBJ_SENSOR:
-    return findobject(name, sensors);
+    return findobject(name, sensors, ids["sensor"]);
   case mjOBJ_NUMERIC:
-    return findobject(name, numerics);
+    return findobject(name, numerics, ids["numeric"]);
   case mjOBJ_TEXT:
-    return findobject(name, texts);
+    return findobject(name, texts, ids["text"]);
   case mjOBJ_TUPLE:
-    return findobject(name, tuples);
+    return findobject(name, tuples, ids["tuple"]);
   case mjOBJ_PLUGIN:
-    return findobject(name, plugins);
+    return findobject(name, plugins, ids["plugin"]);
   default:
     return 0;
   }
@@ -2357,6 +2369,14 @@ void mjCModel::CopyObjects(mjModel* m) {
 
 //------------------------------- FUSE STATIC ------------------------------------------------------
 
+template <class T>
+static void makelistid(std::vector<T*>& dest, std::vector<T*>& source) {
+  for (int i=0; i<source.size(); i++) {
+    source[i]->id = (int)dest.size();
+    dest.push_back(source[i]);
+  }
+}
+
 // change frame to parent body
 static void changeframe(double childpos[3], double childquat[4],
                         const double bodypos[3], const double bodyquat[4]) {
@@ -2379,23 +2399,9 @@ void mjCModel::FuseReindex(mjCBody* body) {
                                body->bodies[i]->id : body->weldid);
   }
 
-  // joints
-  for (int i=0; i<body->joints.size(); i++) {
-    body->joints[i]->id = (int)joints.size();
-    joints.push_back(body->joints[i]);
-  }
-
-  // geoms
-  for (int i=0; i<body->geoms.size(); i++) {
-    body->geoms[i]->id = (int)geoms.size();
-    geoms.push_back(body->geoms[i]);
-  }
-
-  // sites
-  for (int i=0; i<body->sites.size(); i++) {
-    body->sites[i]->id = (int)sites.size();
-    sites.push_back(body->sites[i]);
-  }
+  makelistid(joints, body->joints);
+  makelistid(geoms, body->geoms);
+  makelistid(sites, body->sites);
 
   // process children recursively
   for (int i=0; i<body->bodies.size(); i++) {
@@ -2632,7 +2638,8 @@ static void reassignid(vector<T*>& list) {
 
 // set ids, check for repeated names
 template <class T>
-static void processlist(vector<T*>& list, string defname, bool checkrepeat=true) {
+static void processlist(mjListKeyMap& ids, vector<T*>& list,
+                        string defname, bool checkrepeat = true) {
   // loop over list elements
   for (int i=0; i<(int)list.size(); i++) {
     // check for incompatible id setting; SHOULD NOT OCCUR
@@ -2642,6 +2649,9 @@ static void processlist(vector<T*>& list, string defname, bool checkrepeat=true)
 
     // id equals position in array
     list[i]->id = i;
+
+    // add to ids map
+    ids[defname][list[i]->name] = i;
   }
 
   // check for repeated names
@@ -2792,30 +2802,30 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   SetDefaultNames(textures);
   CheckEmptyNames();
 
-  // set object ids and default names, check for repeated names
-  processlist(bodies, "body");
-  processlist(joints, "joint");
-  processlist(geoms, "geom");
-  processlist(sites, "site");
-  processlist(cameras, "camera");
-  processlist(lights, "light");
-  processlist(flexes, "flex");
-  processlist(meshes, "mesh");
-  processlist(skins, "skin");
-  processlist(hfields, "hfield");
-  processlist(textures, "texture");
-  processlist(materials, "material");
-  processlist(pairs, "pair");
-  processlist(excludes, "exclude");
-  processlist(equalities, "equality");
-  processlist(tendons, "tendon");
-  processlist(actuators, "actuator");
-  processlist(sensors, "sensor");
-  processlist(numerics, "numeric");
-  processlist(texts, "text");
-  processlist(tuples, "tuple");
-  processlist(keys, "key");
-  processlist(plugins, "plugin");
+  // set object ids, check for repeated names
+  processlist(ids, bodies, "body");
+  processlist(ids, joints, "joint");
+  processlist(ids, geoms, "geom");
+  processlist(ids, sites, "site");
+  processlist(ids, cameras, "camera");
+  processlist(ids, lights, "light");
+  processlist(ids, flexes, "flex");
+  processlist(ids, meshes, "mesh");
+  processlist(ids, skins, "skin");
+  processlist(ids, hfields, "hfield");
+  processlist(ids, textures, "texture");
+  processlist(ids, materials, "material");
+  processlist(ids, pairs, "pair");
+  processlist(ids, excludes, "exclude");
+  processlist(ids, equalities, "equality");
+  processlist(ids, tendons, "tendon");
+  processlist(ids, actuators, "actuator");
+  processlist(ids, sensors, "sensor");
+  processlist(ids, numerics, "numeric");
+  processlist(ids, texts, "text");
+  processlist(ids, tuples, "tuple");
+  processlist(ids, keys, "key");
+  processlist(ids, plugins, "plugin");
 
   // convert names into indices
   IndexAssets();
diff --git a/src/user/user_model.h b/src/user/user_model.h
index f013d832..d771dd42 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -15,6 +15,8 @@
 #ifndef MUJOCO_SRC_USER_USER_MODEL_H_
 #define MUJOCO_SRC_USER_USER_MODEL_H_
 
+#include <functional>
+#include <map>
 #include <string>
 #include <utility>
 #include <vector>
@@ -30,6 +32,10 @@ typedef enum _mjtInertiaFromGeom {
   mjINERTIAFROMGEOM_AUTO          // use only if inertial element is missing
 } mjtInertiaFromGeom;
 
+// TODO: convert mjListKeyMap to mjKeyMap[mjNOBJECT] by adding mjNOBJECT to mjtObj
+typedef std::map<std::string, int, std::less<> > mjKeyMap;
+typedef std::map<std::string, mjKeyMap, std::less<> > mjListKeyMap;
+
 
 
 //---------------------------------- class mjCModel ------------------------------------------------
@@ -286,6 +292,9 @@ class mjCModel {
   std::vector<mjCCamera*> cameras;  // list of cameras
   std::vector<mjCLight*>  lights;   // list of lights
 
+  // map from object names to ids
+  mjListKeyMap ids;
+
   //------------------------ internal variables
   bool hasImplicitPluginElem;     // already encountered an implicit plugin sensor/actuator
   bool compiled;                  // already compiled flag (cannot be compiled again)

From 7942fe957ea046750f936ac002d49425e31d9dab Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 8 Dec 2023 10:38:39 -0800
Subject: [PATCH 052/121] Circumvent bug in mjc_BoxBox.

The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare.

Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts.

PiperOrigin-RevId: 589178197
Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
---
 src/engine/engine_collision_driver.c          |  36 ++-
 src/engine/engine_collision_primitive.h       |  45 ++--
 src/engine/engine_util_misc.c                 |  20 ++
 src/engine/engine_util_misc.h                 |   4 +
 test/engine/CMakeLists.txt                    |   3 +
 test/engine/engine_collision_box_test.cc      | 226 ++++++++++++++++++
 .../testdata/collision_box/boxbox_bad0.xml    |  36 +++
 .../testdata/collision_box/boxbox_bad1.xml    |  24 ++
 .../collision_box/boxbox_duplicate.xml        |  11 +
 9 files changed, 381 insertions(+), 24 deletions(-)
 create mode 100644 test/engine/engine_collision_box_test.cc
 create mode 100644 test/engine/testdata/collision_box/boxbox_bad0.xml
 create mode 100644 test/engine/testdata/collision_box/boxbox_bad1.xml
 create mode 100644 test/engine/testdata/collision_box/boxbox_duplicate.xml

diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index 10920162..d42a4f2e 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -1444,6 +1444,9 @@ static void mj_makeCapsule(const mjModel* m, mjData* d, int f, const int vid[2],
 
 // test two geoms for collision, apply filters, add to contact list
 void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
+  // relative distance (1%) outside of which box-box contacts are removed
+  static mjtNum kBoxRemoveMargin = 1.01;
+
   TM_START;
 
   int num, type1, type2, condim;
@@ -1524,16 +1527,44 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
     mjERROR("too many contacts returned by collision function");
   }
 
-  // remove repeated contacts in box-box
+  // remove bad and repeated contacts in box-box
   if (type1 == mjGEOM_BOX && type2 == mjGEOM_BOX) {
     // use dim field to mark: -1: bad, 0: good
     for (int i=0; i < num; i++) {
       con[i].dim = 0;
     }
 
-    // find bad
+    // get box info
+    const mjtNum* pos1 =  d->geom_xpos + 3 * g1;
+    const mjtNum* mat1 =  d->geom_xmat + 9 * g1;
+    const mjtNum* size1 = m->geom_size + 3 * g1;
+    const mjtNum* pos2 =  d->geom_xpos + 3 * g2;
+    const mjtNum* mat2 =  d->geom_xmat + 9 * g2;
+    const mjtNum* size2 = m->geom_size + 3 * g2;
+
+    // find bad: contacts outside one of the boxes
+    for (int i=0; i < num; i++) {
+      // box sizes with margin
+      mjtNum sz1[3] = {size1[0] + margin, size1[1] + margin, size1[2] + margin};
+      mjtNum sz2[3] = {size2[0] + margin, size2[1] + margin, size2[2] + margin};
+      mju_scl3(sz1, sz1, kBoxRemoveMargin);
+      mju_scl3(sz2, sz2, kBoxRemoveMargin);
+      // mark as bad if outside box
+      if (mju_outsideBox(con[i].pos, pos1, mat1, sz1) ||
+          mju_outsideBox(con[i].pos, pos2, mat2, sz2)) {
+        con[i].dim = -1;
+      }
+    }
+
+    // find duplicates
     for (int i=0; i < num-1; i++) {
+      if (con[i].dim == -1) {
+        continue;  // already marked bad: skip
+      }
       for (int j=i+1; j < num; j++) {
+        if (con[j].dim == -1) {
+          continue;  // already marked bad: skip
+        }
         if (con[i].pos[0] == con[j].pos[0] &&
             con[i].pos[1] == con[j].pos[1] &&
             con[i].pos[2] == con[j].pos[2]) {
@@ -1546,6 +1577,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
     // consolidate good
     int i = 0;
     for (int j=0; j < num; j++) {
+      // good: maybe copy
       if (con[j].dim == 0) {
         // different: copy
         if (i < j) {
diff --git a/src/engine/engine_collision_primitive.h b/src/engine/engine_collision_primitive.h
index 49946707..8156905e 100644
--- a/src/engine/engine_collision_primitive.h
+++ b/src/engine/engine_collision_primitive.h
@@ -16,6 +16,7 @@
 #define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
 
 #include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
 
 // define and extract geom info
@@ -47,32 +48,32 @@ int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
                          const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
 
 // plane collisions
-int mjc_PlaneSphere     (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_PlaneCapsule    (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_PlaneCylinder   (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_PlaneBox        (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_PlaneSphere     (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_PlaneCapsule    (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_PlaneCylinder   (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_PlaneBox        (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
 
 // sphere and capsule collisions
-int mjc_SphereSphere    (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_SphereCapsule   (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_SphereCylinder  (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_CapsuleCapsule  (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_SphereSphere    (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_SphereCapsule   (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_SphereCylinder  (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_CapsuleCapsule  (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
 
 // box collisions: from engine_collision_box.c
-int mjc_CapsuleBox      (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_SphereBox       (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
-int mjc_BoxBox          (const mjModel* m, const mjData* d,
-                         mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_CapsuleBox      (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_SphereBox       (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
+MJAPI int mjc_BoxBox          (const mjModel* m, const mjData* d,
+                               mjContact* con, int g1, int g2, mjtNum margin);
 
 #ifdef __cplusplus
 }
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index 30eb0d2a..29e2e0f8 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -837,6 +837,26 @@ mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum k, mjtNum b, mjtNum t)
 
 
 
+// return 1 if point is outside box given by pos, mat, size
+int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
+                   const mjtNum size[3]) {
+  // vector from pos to point, projected to box frame
+  mjtNum vec[3] = {point[0]-pos[0], point[1]-pos[1], point[2]-pos[2]};
+  mju_rotVecMatT(vec, vec, mat);
+
+  // outside
+  if (vec[0] > size[0] || vec[0] < -size[0] ||
+      vec[1] > size[1] || vec[1] < -size[1] ||
+      vec[2] > size[2] || vec[2] < -size[2]) {
+    return 1;
+  }
+
+  // inside
+  return 0;
+}
+
+
+
 // print matrix to screen
 void mju_printMat(const mjtNum* mat, int nr, int nc) {
   for (int r=0; r < nr; r++) {
diff --git a/src/engine/engine_util_misc.h b/src/engine/engine_util_misc.h
index 32417f2c..c103aba1 100644
--- a/src/engine/engine_util_misc.h
+++ b/src/engine/engine_util_misc.h
@@ -78,6 +78,10 @@ MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid,
 // integrate spring-damper analytically, return pos(dt)
 MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
 
+// return 1 if point is outside box given by pos, mat, size
+MJAPI int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
+                         const mjtNum size[3]);
+
 // print matrix
 MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
 
diff --git a/test/engine/CMakeLists.txt b/test/engine/CMakeLists.txt
index 1e083b36..fb77205d 100644
--- a/test/engine/CMakeLists.txt
+++ b/test/engine/CMakeLists.txt
@@ -12,6 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+mujoco_test(engine_collision_box_test)
+target_link_libraries(engine_collision_box_test fixture gmock)
+
 mujoco_test(engine_collision_convex_test)
 target_link_libraries(engine_collision_convex_test fixture gmock)
 
diff --git a/test/engine/engine_collision_box_test.cc b/test/engine/engine_collision_box_test.cc
new file mode 100644
index 00000000..0247335d
--- /dev/null
+++ b/test/engine/engine_collision_box_test.cc
@@ -0,0 +1,226 @@
+// 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 engine/engine_collision_box.c.
+
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+#include "src/engine/engine_collision_primitive.h"
+#include "src/engine/engine_util_misc.h"
+
+
+namespace mujoco {
+namespace {
+
+using MjCollisionBoxTest = MujocoTest;
+using ::testing::NotNull;
+
+static const char* const kBad0FilePath =
+    "engine/testdata/collision_box/boxbox_bad0.xml";
+static const char* const kBad1FilePath =
+    "engine/testdata/collision_box/boxbox_bad1.xml";
+
+TEST_F(MjCollisionBoxTest, BadContacts) {
+  for (const char* local_path : {kBad0FilePath, kBad1FilePath}) {
+    const std::string xml_path = GetTestDataFilePath(local_path);
+    mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
+    ASSERT_THAT(model, NotNull());
+    mjData* data = mj_makeData(model);
+    mj_forward(model, data);
+
+    // allocate contact array and matching arrays
+    mj_markStack(data);
+    mjContact* con_raw = (mjContact*) mj_stackAllocByte(
+        data, mjMAXCONPAIR * sizeof(mjContact), alignof(mjContact));
+    int* match_raw = mj_stackAllocInt(data, mjMAXCONPAIR);
+    int* match = mj_stackAllocInt(data, data->ncon);
+
+    int g1 = -1;
+    int g2 = -1;
+    for (int c = 0; c < data->ncon; c++) {
+      mjContact* con = data->contact + c;
+      int g1new = con->geom[0];
+      int g2new = con->geom[1];
+
+      // not box-box: skip
+      if (model->geom_type[g1new] != mjGEOM_BOX ||
+          model->geom_type[g2new] != mjGEOM_BOX) {
+        continue;
+      }
+
+      // same geom pair: skip
+      if (g1 == g1new && g2 == g2new) {
+        continue;
+      }
+
+      g1 = g1new;
+      g2 = g2new;
+
+      // call low-level box-box collider
+      int num = mjc_BoxBox(model, data, con_raw, g1, g2, con->includemargin);
+
+      // allocate and clear arrays marking already matched contacts
+      mju_zeroInt(match_raw, num);
+      mju_zeroInt(match, data->ncon);
+
+      // loop over raw contacts, match with contact array using pos
+      int nmatched = 0;
+      for (int i = 0; i < num; i++) {
+        for (int j = 0; j < data->ncon; j++) {
+          if (!match[j] &&
+              con_raw[i].pos[0] == data->contact[j].pos[0] &&
+              con_raw[i].pos[1] == data->contact[j].pos[1] &&
+              con_raw[i].pos[2] == data->contact[j].pos[2]) {
+            match_raw[i] = match[j] = 1;
+            nmatched++;
+          }
+        }
+      }
+
+      // expect some contacts to have been removed
+      EXPECT_LT(nmatched, num);
+
+      // get box info
+      const mjtNum* pos1 =  data->geom_xpos  + 3 * g1;
+      const mjtNum* mat1 =  data->geom_xmat  + 9 * g1;
+      const mjtNum* size1 = model->geom_size + 3 * g1;
+      const mjtNum* pos2 =  data->geom_xpos  + 3 * g2;
+      const mjtNum* mat2 =  data->geom_xmat  + 9 * g2;
+      const mjtNum* size2 = model->geom_size + 3 * g2;
+
+      // loop over raw contacts, find removed
+      for (int i = 0; i < num; i++) {
+        if (!match_raw[i]) {
+          // === check if outside
+
+          // get margin and adjusted sizes
+          const mjtNum kBoxRemoveMargin = 1.01;
+          mjtNum sz1[3], sz2[3];
+          mju_scl3(sz1, size1, kBoxRemoveMargin);
+          mju_scl3(sz2, size2, kBoxRemoveMargin);
+
+          // is contact outside one of the boxes
+          bool outside = mju_outsideBox(con_raw[i].pos, pos1, mat1, sz1) ||
+                         mju_outsideBox(con_raw[i].pos, pos2, mat2, sz2);
+
+          // expect that removed contact was either outside
+          EXPECT_TRUE(outside);
+        }
+      }
+    }
+
+    mj_freeStack(data);
+    mj_deleteData(data);
+    mj_deleteModel(model);
+  }
+}
+
+static const char* const kDuplicateFilePath =
+    "engine/testdata/collision_box/boxbox_duplicate.xml";
+
+TEST_F(MjCollisionBoxTest, DuplicateContacts) {
+  const std::string xml_path = GetTestDataFilePath(kDuplicateFilePath);
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
+  ASSERT_THAT(model, NotNull());
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  // allocate contact array and matching arrays
+  mj_markStack(data);
+  mjContact* con_raw = (mjContact*) mj_stackAllocByte(
+      data, mjMAXCONPAIR * sizeof(mjContact), alignof(mjContact));
+  int* match_raw = mj_stackAllocInt(data, mjMAXCONPAIR);
+  int* match = mj_stackAllocInt(data, data->ncon);
+
+
+  int g1 = -1;
+  int g2 = -1;
+  for (int c = 0; c < data->ncon; c++) {
+    mjContact* con = data->contact + c;
+    int g1new = con->geom[0];
+    int g2new = con->geom[1];
+
+    // not box-box: skip
+    if (model->geom_type[g1new] != mjGEOM_BOX ||
+        model->geom_type[g2new] != mjGEOM_BOX) {
+      continue;
+    }
+
+    // same geom pair: skip
+    if (g1 == g1new && g2 == g2new) {
+      continue;
+    }
+
+    g1 = g1new;
+    g2 = g2new;
+
+    // call low-level box-box collider
+    int num = mjc_BoxBox(model, data, con_raw, g1, g2, con->includemargin);
+
+    // allocate and clear arrays marking already matched contacts
+    mju_zeroInt(match_raw, num);
+    mju_zeroInt(match, data->ncon);
+
+    // loop over raw contacts, match with contact array using pos
+    int nmatched = 0;
+    for (int i = 0; i < num; i++) {
+      for (int j = 0; j < data->ncon; j++) {
+        if (!match[j] &&
+            con_raw[i].pos[0] == data->contact[j].pos[0] &&
+            con_raw[i].pos[1] == data->contact[j].pos[1] &&
+            con_raw[i].pos[2] == data->contact[j].pos[2]) {
+          match_raw[i] = match[j] = 1;
+          nmatched++;
+        }
+      }
+    }
+
+    // expect some contacts to have been removed
+    EXPECT_LT(nmatched, num);
+
+    // loop over raw contacts, find removed
+    for (int i = 0; i < num; i++) {
+      if (!match_raw[i]) {
+        // === check if duplicate
+        bool duplicate = false;
+        for (int j = 0; j < num; j++) {
+          if (duplicate || i == j) {
+            continue;
+          }
+          if (con_raw[i].pos[0] == con_raw[j].pos[0] &&
+              con_raw[i].pos[1] == con_raw[j].pos[1] &&
+              con_raw[i].pos[2] == con_raw[j].pos[2]) {
+            duplicate = true;
+          }
+        }
+
+        // expect that removed contact was duplicated
+        EXPECT_TRUE(duplicate);
+      }
+    }
+  }
+
+  mj_freeStack(data);
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
+
+}  // namespace
+}  // namespace mujoco
diff --git a/test/engine/testdata/collision_box/boxbox_bad0.xml b/test/engine/testdata/collision_box/boxbox_bad0.xml
new file mode 100644
index 00000000..a3e08973
--- /dev/null
+++ b/test/engine/testdata/collision_box/boxbox_bad0.xml
@@ -0,0 +1,36 @@
+<mujoco>
+  <!-- This model leads to bad contacts from mjc_BoxBox -->
+
+  <default>
+    <geom rgba="1 1 1 1" margin="1e-3" gap="1e-3"/>
+    <site type="sphere" rgba="0 0 0 0" size="0.001"/>
+  </default>
+
+  <worldbody>
+    <light diffuse="1 1 1" pos="-5 -17.5 15" dir="0.24 0.84 -0.48"/>
+    <camera name="fixed" pos="0 -25 8" euler="90 0 0"/>
+    <geom name="ground" pos="0 0 0" quat="1 0 0 0" rgba="0.770 0.670 0.490 1" size="50 50 1" type="plane"/>
+    <body name="block01" pos="-0.9 0 1.5" quat="1 0 0 0">
+      <freejoint/>
+      <geom mass="1" name="geom01" rgba="0.5 0 0 1" size="0.5 0.5 1.5" type="box"/>
+    </body>
+    <body name="block02" pos="-0.7 0 3.5" quat="1 0 0 0">
+      <freejoint/>
+      <geom mass="1" name="geom02" rgba="0.5 0 0.350 1" size="1.5 0.5 0.5" type="box"/>
+    </body>
+    <body name="block03" pos="0.3 0 5.5" quat="1 0 0 0">
+      <freejoint/>
+      <geom mass="1" name="geom03" rgba="0 0.5 0.450 1" size="0.5 0.5 1.5" type="box"/>
+    </body>
+    <body name="block04" pos="0.200 1e-9 7.5" quat="1 0 0 0">
+      <freejoint/>
+      <geom mass="1" name="geom04" rgba="0 0.5 0.099 1" size="1.5 0.5 0.5" type="box"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="world" body2="block01"/>
+    <exclude body1="block03" body2="block02"/>
+  </contact>
+
+</mujoco>
diff --git a/test/engine/testdata/collision_box/boxbox_bad1.xml b/test/engine/testdata/collision_box/boxbox_bad1.xml
new file mode 100644
index 00000000..04f16290
--- /dev/null
+++ b/test/engine/testdata/collision_box/boxbox_bad1.xml
@@ -0,0 +1,24 @@
+<mujoco>
+  <!-- This model leads to bad contacts from mjc_BoxBox -->
+  <statistic meansize=".01" center="-.3 -.14 .055" extent=".2"/>
+
+  <worldbody>
+    <light pos="-.3 -.14 1"/>
+
+    <geom type="plane" size="3 3 .01" pos="-0.025 -0.295  0"/>
+
+    <body pos="-.23 -.1 0" euler="0 0 30">
+      <geom type="cylinder" size=".01 .0175" pos="-.09 0 .0175"/>
+      <body pos="0 0 .03">
+        <joint axis="0 1 0"/>
+        <geom type="cylinder" size=".005 .039" zaxis="0 1 0" rgba=".84 .15 .33 1"/>
+        <geom type="box" size=".1 .02 .005" pos="0 0 .01" rgba=".84 .15 .33 1"/>
+      </body>
+    </body>
+
+    <body pos="-.3 -.14 .055" euler="0 0 -30">
+      <freejoint/>
+      <geom type="box" size=".01 .01 .01" rgba=".0 .7 .79 1"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/engine/testdata/collision_box/boxbox_duplicate.xml b/test/engine/testdata/collision_box/boxbox_duplicate.xml
new file mode 100644
index 00000000..6582f5cf
--- /dev/null
+++ b/test/engine/testdata/collision_box/boxbox_duplicate.xml
@@ -0,0 +1,11 @@
+<mujoco>
+  <!-- This model leads to duplicate contacts from mjc_BoxBox -->
+
+  <worldbody>
+    <geom type="box" size="1 1 1"/>
+    <body pos="0 0 2">
+      <freejoint/>
+      <geom type="box" size="1 1 1"/>
+    </body>
+  </worldbody>
+</mujoco>

From e7d637f375d809f6a83b7e3e3d5d698151edfd56 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Fri, 8 Dec 2023 16:43:31 -0800
Subject: [PATCH 053/121] Fix issue with foot vel in MJX notebook

PiperOrigin-RevId: 589276253
Change-Id: I2c8c24e42d037d8c59667364a298f8b669d779b6
---
 mjx/tutorial.ipynb | 46 +++++++++++++++++++++++++---------------------
 1 file changed, 25 insertions(+), 21 deletions(-)

diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index 16aa9c32..522b0208 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -923,7 +923,9 @@
         "        'physics_steps_per_control_step', physics_steps_per_control_step)\n",
         "    super().__init__(mj_model=mj_model, **kwargs)\n",
         "\n",
-        "    self.torso_idx = 1\n",
+        "    self.torso_idx = mujoco.mj_name2id(\n",
+        "        mj_model, mujoco.mjtObj.mjOBJ_BODY.value, 'torso'\n",
+        "    )\n",
         "    self._action_scale = action_scale\n",
         "    self._obs_noise = obs_noise\n",
         "    self._reset_horizon = 500\n",
@@ -940,6 +942,7 @@
         "    self.reward_config = get_config()\n",
         "    self.lowers = self._default_ap_pose - jp.array([0.2, 0.8, 0.8] * 4)\n",
         "    self.uppers = self._default_ap_pose + jp.array([0.2, 0.8, 0.8] * 4)\n",
+        "    self._foot_radius = 0.014\n",
         "\n",
         "  def sample_command(self, rng: jax.Array) -\u003e jax.Array:\n",
         "    lin_vel_x = [-0.6, 1.0]  # min max [m/s]\n",
@@ -1023,12 +1026,15 @@
         "    joint_vel = qvel[6:]\n",
         "\n",
         "    # foot contact data based on z-position\n",
-        "    foot_contact = 0.017 - self._get_feet_pos_vel(x, xd)[0][:, 2]\n",
-        "    contact = foot_contact \u003e -1e-3  # a mm or less off the floor\n",
+        "    foot_contact_pos = (\n",
+        "        self._get_feet_pos_vel(x, xd)[0][:, 2]\n",
+        "        - self._foot_radius\n",
+        "    )\n",
+        "    contact = foot_contact_pos \u003c 1e-3  # a mm or less off the floor\n",
         "    contact_filt_mm = jp.logical_or(contact, state.info['last_contact'])\n",
         "    contact_filt_cm = jp.logical_or(\n",
-        "        foot_contact \u003e -1e-2, state.info['last_contact']\n",
-        "    )\n",
+        "        foot_contact_pos \u003c 3e-2, state.info['last_contact']\n",
+        "    )  # 3cm or less off the floor\n",
         "    first_contact = (state.info['feet_air_time'] \u003e 0) * (contact_filt_mm)\n",
         "    state.info['feet_air_time'] += self.dt\n",
         "\n",
@@ -1100,29 +1106,26 @@
         "    state.info.update(rng=rng)\n",
         "\n",
         "    # resetting logic if joint limits are reached or robot is falling\n",
-        "    done = 0.0\n",
         "    up = jp.array([0.0, 0.0, 1.0])\n",
-        "    done = jp.where(jp.dot(math.rotate(up, x.rot[0]), up) \u003c 0, 1.0, done)\n",
-        "    done = jp.where(jp.logical_or(\n",
-        "        jp.any(joint_angles \u003c .98 * self.lowers),\n",
-        "        jp.any(joint_angles \u003e .98 * self.uppers)), 1.0, done)\n",
-        "    done = jp.where(x.pos[self.torso_idx, 2] \u003c 0.18, 1.0, done)\n",
+        "    done = jp.dot(math.rotate(up, x.rot[0]), up) \u003c 0\n",
+        "    done |= jp.any(joint_angles \u003c 0.98 * self.lowers)\n",
+        "    done |= jp.any(joint_angles \u003e 0.98 * self.uppers)\n",
+        "    done |= x.pos[0, 2] \u003c 0.18\n",
         "\n",
         "    # termination reward\n",
-        "    reward += jp.where(\n",
-        "        (done == 1.0) \u0026 (state.info['step'] \u003c self._reset_horizon),\n",
-        "        self.reward_config.rewards.scales.termination,\n",
-        "        0.0,\n",
+        "    reward += (\n",
+        "        done  * (state.info['step'] \u003c self._reset_horizon) *\n",
+        "        self.reward_config.rewards.scales.termination\n",
         "    )\n",
         "\n",
         "    # when done, sample new command if more than _reset_horizon timesteps\n",
         "    # achieved\n",
         "    state.info['command'] = jp.where(\n",
-        "        (done == 1.0) \u0026 (state.info['step'] \u003e self._reset_horizon),\n",
+        "        done \u0026 (state.info['step'] \u003e self._reset_horizon),\n",
         "        self.sample_command(cmd_rng), state.info['command'])\n",
         "    # reset the step counter when done\n",
         "    state.info['step'] = jp.where(\n",
-        "        (done == 1.0) | (state.info['step'] \u003e self._reset_horizon), 0,\n",
+        "        done | (state.info['step'] \u003e self._reset_horizon), 0,\n",
         "        state.info['step']\n",
         "    )\n",
         "\n",
@@ -1133,7 +1136,7 @@
         "\n",
         "    state = state.replace(\n",
         "        pipeline_state=data, obs=obs + obs_noise, reward=reward,\n",
-        "        done=done)\n",
+        "        done=done * 1.0)\n",
         "    return state\n",
         "\n",
         "  def _get_obs(self, qpos: jax.Array, x: Transform, xd: Motion,\n",
@@ -1233,7 +1236,8 @@
         "      self, x: Transform, xd: Motion) -\u003e Tuple[jax.Array, jax.Array]:\n",
         "    offset = Transform.create(pos=self._feet_pos)\n",
         "    pos = x.take(self._feet_index).vmap().do(offset).pos\n",
-        "    vel = offset.vmap().do(xd.take(self._feet_index)).vel\n",
+        "    world_offset = Transform.create(pos=pos - x.take(self._feet_index).pos)\n",
+        "    vel = world_offset.vmap().do(xd.take(self._feet_index)).vel\n",
         "    return pos, vel\n",
         "\n",
         "  def _reward_foot_slip(\n",
@@ -1405,8 +1409,8 @@
       "private_outputs": true,
       "provenance": [
         {
-          "file_id": "1brcF4_qCRS2ASc-QQw1rsEwl5IjzGvq2",
-          "timestamp": 1697763780236
+          "file_id": "1QsuS7EJhdPEHxxAu9XwozvA7eb4ZnlAb",
+          "timestamp": 1701993737024
         }
       ],
       "toc_visible": true

From b22919543ddf096377bce27e4a638b779478ed54 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sat, 9 Dec 2023 16:05:43 -0800
Subject: [PATCH 054/121] Fix bugs related to saving of <statistics> values.

Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.

After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.

PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
---
 src/user/user_model.cc             | 31 ++++++++++++++++++++++++++----
 src/user/user_model.h              | 10 +++++++++-
 test/xml/xml_native_writer_test.cc | 28 ++++++++++++++++++++++++++-
 3 files changed, 63 insertions(+), 6 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 4645644e..c1c0300e 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -114,6 +114,16 @@ mjCModel::mjCModel() {
   center[0] = mjNAN;
   center[1] = center[2] = 0;
 
+  //------------------------ auto-computed statistics
+#ifndef MEMORY_SANITIZER
+  // initializing as best practice, but want MSAN to catch unintialized use
+  meaninertia_auto = 0;
+  meanmass_auto = 0;
+  meansize_auto = 0;
+  extent_auto = 0;
+  center_auto[0] = center_auto[1] = center_auto[2] = 0;
+#endif
+
   //------------------------ engine data
   modelname = "MuJoCo Model";
   mj_defaultOption(&option);
@@ -3157,6 +3167,13 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // actuator lengthrange computation
   LengthRange(m, d);
 
+  // save automatically-computed statistics, to disambiguate when saving
+  extent_auto = m->stat.extent;
+  meaninertia_auto = m->stat.meaninertia;
+  meanmass_auto = m->stat.meanmass;
+  meansize_auto = m->stat.meansize;
+  copyvec(center_auto, m->stat.center, 3);
+
   // override model statistics if defined by user
   if (mjuu_defined(extent)) m->stat.extent = (mjtNum)extent;
   if (mjuu_defined(meaninertia)) m->stat.meaninertia = (mjtNum)meaninertia;
@@ -3233,10 +3250,16 @@ bool mjCModel::CopyBack(const mjModel* m) {
   option = m->opt;
   visual = m->vis;
 
-  // runtime-modifiable members of mjStatistic
-  meansize = m->stat.meansize;
-  extent = m->stat.extent;
-  mju_copy3(center, m->stat.center);
+  // runtime-modifiable members of mjStatistic, if different from computed values
+  if (m->stat.meaninertia != meaninertia_auto) meaninertia = m->stat.meaninertia;
+  if (m->stat.meanmass != meanmass_auto) meanmass = m->stat.meanmass;
+  if (m->stat.meansize != meansize_auto) meansize = m->stat.meansize;
+  if (m->stat.extent != extent_auto) extent = m->stat.extent;
+  if (m->stat.center[0] != center_auto[0] ||
+      m->stat.center[1] != center_auto[1] ||
+      m->stat.center[2] != center_auto[2]) {
+    mju_copy3(center, m->stat.center);
+  }
 
   // qpos0, qpos_spring
   for (int i=0; i<njnt; i++) {
diff --git a/src/user/user_model.h b/src/user/user_model.h
index d771dd42..85ae8ec9 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -292,10 +292,18 @@ class mjCModel {
   std::vector<mjCCamera*> cameras;  // list of cameras
   std::vector<mjCLight*>  lights;   // list of lights
 
+  //------------------------ internal variables
+
+  // statistics, as computed by mj_setConst
+  double meaninertia_auto;        // mean diagonal inertia, as computed by mj_setConst
+  double meanmass_auto;           // mean body mass, as computed by mj_setConst
+  double meansize_auto;           // mean body size, as computed by mj_setConst
+  double extent_auto;             // spatial extent, as computed by mj_setConst
+  double center_auto[3];          // center of model, as computed by mj_setConst
+
   // map from object names to ids
   mjListKeyMap ids;
 
-  //------------------------ internal variables
   bool hasImplicitPluginElem;     // already encountered an implicit plugin sensor/actuator
   bool compiled;                  // already compiled flag (cannot be compiled again)
   mjCError errInfo;               // last error info
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index 52b21923..f5989279 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1135,7 +1135,7 @@ using DecompilerTest = MujocoTest;
 TEST_F(DecompilerTest, SavesStatitics) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <statistic meansize="2" extent="3" center="4 5 6"/>
+    <statistic meansize="2" extent="3" center="4 5 6" meanmass="7" meaninertia="8"/>
   </mujoco>
   )";
   mjModel* model = LoadModelFromString(xml);
@@ -1145,10 +1145,36 @@ TEST_F(DecompilerTest, SavesStatitics) {
   model->stat.center[0] = 9;
   model->stat.center[1] = 10;
   model->stat.center[2] = 11;
+  model->stat.meanmass = 12;
+  model->stat.meaninertia = 13;
   std::string saved_xml = SaveAndReadXml(model);
   EXPECT_THAT(saved_xml, HasSubstr("meansize=\"7\""));
   EXPECT_THAT(saved_xml, HasSubstr("extent=\"8\""));
   EXPECT_THAT(saved_xml, HasSubstr("center=\"9 10 11\""));
+  EXPECT_THAT(saved_xml, HasSubstr("meanmass=\"12\""));
+  EXPECT_THAT(saved_xml, HasSubstr("meaninertia=\"13\""));
+  mj_deleteModel(model);
+}
+
+TEST_F(DecompilerTest, DoesntSaveInferredStatitics) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <body>
+        <geom size="0.2"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  mjModel* model = LoadModelFromString(xml);
+  ASSERT_THAT(model, NotNull());
+  std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, Not(HasSubstr("meansize")));
+  EXPECT_THAT(saved_xml, Not(HasSubstr("meanmass")));
+  EXPECT_THAT(saved_xml, Not(HasSubstr("meaninertia")));
+  EXPECT_THAT(saved_xml, Not(HasSubstr("center")));
+  EXPECT_THAT(saved_xml, Not(HasSubstr("extent")));
+  EXPECT_THAT(saved_xml, Not(HasSubstr("statistic")));
   mj_deleteModel(model);
 }
 

From 1885d518ebf80b6fe6c2ba595be06027ce7306da Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sun, 10 Dec 2023 03:26:49 -0800
Subject: [PATCH 055/121] Use the string `(rot:lin)` in mjdata.h to clarify
 where 6D motion vectors use the Featherstone convention. Also add clarifying
 text to the appropriate note in the documentation.

Fixes #982.

PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
---
 doc/APIreference/APItypes.rst | 6 +++---
 doc/includes/references.h     | 6 +++---
 include/mujoco/mjdata.h       | 6 +++---
 introspect/structs.py         | 6 +++---
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
index 684e810b..ee8de505 100644
--- a/doc/APIreference/APItypes.rst
+++ b/doc/APIreference/APItypes.rst
@@ -1219,9 +1219,9 @@ a frame at the center-of-mass of the local kinematic subtree (``mjData.subtree_c
 This choice increases the precision of kinematic computations for mechanisms that are distant from the global origin.
 
 ``cdof``:
-  These 6D motion vectors describe the instantaneous axis of a degree-of-freedom and are used by all Jacobian functions.
-  Therefore, the minimal computation required for analytic Jacobians is :ref:`mj_kinematics` followed by
-  :ref:`mj_comPos`.
+  These 6D motion vectors (3 rotation, 3 translation) describe the instantaneous axis of a degree-of-freedom and are
+  used by all Jacobian functions. The minimal computation required for analytic Jacobians is :ref:`mj_kinematics`
+  followed by :ref:`mj_comPos`.
 
 ``cinert``:
   These 10-vectors describe the inertial properties of a body in the c-frame and are used by the Composite Rigid Body
diff --git a/doc/includes/references.h b/doc/includes/references.h
index f4aedde9..79302849 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -237,7 +237,7 @@ struct mjData_ {
 
   // computed by mj_fwdPosition/mj_comPos
   mjtNum* subtree_com;       // center of mass of each subtree                   (nbody x 3)
-  mjtNum* cdof;              // com-based motion axis of each dof                (nv x 6)
+  mjtNum* cdof;              // com-based motion axis of each dof (rot:lin)      (nv x 6)
   mjtNum* cinert;            // com-based body inertia and mass                  (nbody x 10)
 
   // computed by mj_fwdPosition/mj_flex
@@ -285,8 +285,8 @@ struct mjData_ {
   mjtNum* actuator_velocity; // actuator velocities                              (nu x 1)
 
   // computed by mj_fwdVelocity/mj_comVel
-  mjtNum* cvel;              // com-based velocity [3D rot; 3D tran]             (nbody x 6)
-  mjtNum* cdof_dot;          // time-derivative of cdof                          (nv x 6)
+  mjtNum* cvel;              // com-based velocity (rot:lin)                     (nbody x 6)
+  mjtNum* cdof_dot;          // time-derivative of cdof (rot:lin)                (nv x 6)
 
   // computed by mj_fwdVelocity/mj_rne (without acceleration)
   mjtNum* qfrc_bias;         // C(qpos,qvel)                                     (nv x 1)
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index a3609b8b..1fc6fe19 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -265,7 +265,7 @@ struct mjData_ {
 
   // computed by mj_fwdPosition/mj_comPos
   mjtNum* subtree_com;       // center of mass of each subtree                   (nbody x 3)
-  mjtNum* cdof;              // com-based motion axis of each dof                (nv x 6)
+  mjtNum* cdof;              // com-based motion axis of each dof (rot:lin)      (nv x 6)
   mjtNum* cinert;            // com-based body inertia and mass                  (nbody x 10)
 
   // computed by mj_fwdPosition/mj_flex
@@ -313,8 +313,8 @@ struct mjData_ {
   mjtNum* actuator_velocity; // actuator velocities                              (nu x 1)
 
   // computed by mj_fwdVelocity/mj_comVel
-  mjtNum* cvel;              // com-based velocity [3D rot; 3D tran]             (nbody x 6)
-  mjtNum* cdof_dot;          // time-derivative of cdof                          (nv x 6)
+  mjtNum* cvel;              // com-based velocity (rot:lin)                     (nbody x 6)
+  mjtNum* cdof_dot;          // time-derivative of cdof (rot:lin)                (nv x 6)
 
   // computed by mj_fwdVelocity/mj_rne (without acceleration)
   mjtNum* qfrc_bias;         // C(qpos,qvel)                                     (nv x 1)
diff --git a/introspect/structs.py b/introspect/structs.py
index a1fa3159..eea7f6cc 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -4493,7 +4493,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='com-based motion axis of each dof                (nv x 6)',  # pylint: disable=line-too-long
+                 doc='com-based motion axis of each dof (rot:lin)      (nv x 6)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='cinert',
@@ -4703,14 +4703,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='com-based velocity [3D rot; 3D tran]             (nbody x 6)',  # pylint: disable=line-too-long
+                 doc='com-based velocity (rot:lin)                     (nbody x 6)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='cdof_dot',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
-                 doc='time-derivative of cdof                          (nv x 6)',  # pylint: disable=line-too-long
+                 doc='time-derivative of cdof (rot:lin)                (nv x 6)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='qfrc_bias',

From 07e05b4c55c0a179e5a62e4aa7af67ca4e6e8cb5 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 11 Dec 2023 08:41:07 -0800
Subject: [PATCH 056/121] Fix typo. Fixes #1221

PiperOrigin-RevId: 589835888
Change-Id: Iacedbe642709d5fbd43b7f0f1f9daa6447ce6155
---
 doc/XMLreference.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 2f423abf..6ca8c13b 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -172,7 +172,7 @@ This element does not strictly belong to MJCF. Instead it is a meta-element, use
 files in a single document object model (DOM) before parsing. The included file must be a valid XML file with a unique
 top-level element. This top-level element is removed by the parser, and the elements below it are inserted at the
 location of the :el:`include` element. At least one element must be inserted as a result of this procedure. The
-:el:`include` element can be used where ever an XML element is expected in the MJFC file. Nested includes are allowed,
+:el:`include` element can be used where ever an XML element is expected in the MJCF file. Nested includes are allowed,
 however a given XML file can be included at most once in the entire model. After all the included XML files have been
 assembled into a single DOM, it must correspond to a valid MJCF model. Other than that, it is up to the user to decide
 how to use includes and how to modularize large files if desired.

From aed4254d65d54d61a1d357df62c917ee4ec390a1 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 12 Dec 2023 03:41:29 -0800
Subject: [PATCH 057/121] Fix the table formatting in
 plugin/actuator/README.md.

The line continuation format that was used is not supported on GitHub.

PiperOrigin-RevId: 590141362
Change-Id: I0ab0dabfb8977bdf79682476376dda435787eba0
---
 plugin/actuator/README.md | 20 +++++++-------------
 1 file changed, 7 insertions(+), 13 deletions(-)

diff --git a/plugin/actuator/README.md b/plugin/actuator/README.md
index 80676921..9139aed1 100644
--- a/plugin/actuator/README.md
+++ b/plugin/actuator/README.md
@@ -38,16 +38,10 @@ You can use it like:
 
 The available options are:
 
-|Attribute|Default |Meaning                                                                                                                              |
-|---------|--------|-------------------------------------------------------------------------------------------------------------------------------------|
-|`kp`     |0       |**P** gain for the controller.                                                                                                       |
-|`ki`     |0       |**I** gain for the controller.                                                                                                       |
-:         :        :                                                                                                                                     :
-:         :        :If nonzero, one activation variable will be added to `mjData.act`, containing the current I term (in units of force).                :
-|`kd`     |0       |**D** gain for the controller.                                                                                                       |
-|`imax`   |Optional|If specified, the force produced by the I term will be clipped to the range `[-imax, -imax]`.                                        |
-|`slewmax`|Optional|The maximum rate at which the setpoint for the PID controller can change.                                                            |
-:         :        :                                                                                                                                     :
-:         :        :If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]`  :
-:         :        :                                                                                                                                     :
-:         :        :If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`.                         :
+|Attribute | Default | Meaning |
+|----------|---------|---------|
+|`kp` | 0 | **P** gain for the controller. |
+|`ki` | 0 | **I** gain for the controller.<p/>If nonzero, one activation variable will be added to `mjData.act`, containing the current I term (in units of force). |
+|`kd` | 0 | **D** gain for the controller. |
+|`imax` | Optional | If specified, the force produced by the I term will be clipped to the range `[-imax, -imax]`. |
+|`slewmax` | Optional | The maximum rate at which the setpoint for the PID controller can change.<p/>If a bigger change is requested between two timesteps, it will be clipped to the range `[ctrl - slewmax * dt, ctrl + slewmax * dt]`<p/>If specified, one activation variable will be added to `mjData.act` containing the previous value of `ctrl`. |

From 64c33cefcfb6edfcaf424927615621d94ad39d21 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 12 Dec 2023 03:55:19 -0800
Subject: [PATCH 058/121] Correct formula for `solref` direct stiffness. Fixes
 #732.

PiperOrigin-RevId: 590144795
Change-Id: I94def777c7456243509374caecea2a335859f1f2
---
 doc/modeling.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/modeling.rst b/doc/modeling.rst
index c43b9a04..681534cd 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -403,7 +403,7 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
    .. math::
       \begin{aligned}
       b &= \text{damping} / d_\text{width} \\
-      k &= \text{stiffness} / d_\text{width}^2 \\
+      k &= \text{stiffness} \cdot d(r) / d_\text{width}^2 \\
       \end{aligned}
 
 .. tip::

From 28a9e6d9a28afdf303a20415d7946f9362f78cd5 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 12 Dec 2023 05:13:54 -0800
Subject: [PATCH 059/121] Add `mjNOBJECT` value to `mjtObj` enum.

PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
---
 doc/includes/references.h            | 4 +++-
 include/mujoco/mjmodel.h             | 4 +++-
 introspect/enums.py                  | 1 +
 src/engine/engine_io.c               | 2 ++
 unity/Runtime/Bindings/MjBindings.cs | 1 +
 5 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 79302849..c89a4363 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -570,7 +570,9 @@ typedef enum mjtObj_ {            // type of MujoCo object
   mjOBJ_TEXT,                     // text
   mjOBJ_TUPLE,                    // tuple
   mjOBJ_KEY,                      // keyframe
-  mjOBJ_PLUGIN                    // plugin instance
+  mjOBJ_PLUGIN,                   // plugin instance
+
+  mjNOBJECT                       // number of object types
 } mjtObj;
 typedef enum mjtConstraint_ {     // type of constraint
   mjCNSTR_EQUALITY    = 0,        // equality constraint
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 663e191f..49312dd1 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -246,7 +246,9 @@ typedef enum mjtObj_ {            // type of MujoCo object
   mjOBJ_TEXT,                     // text
   mjOBJ_TUPLE,                    // tuple
   mjOBJ_KEY,                      // keyframe
-  mjOBJ_PLUGIN                    // plugin instance
+  mjOBJ_PLUGIN,                   // plugin instance
+
+  mjNOBJECT                       // number of object types
 } mjtObj;
 
 
diff --git a/introspect/enums.py b/introspect/enums.py
index bb039f65..4982cf36 100644
--- a/introspect/enums.py
+++ b/introspect/enums.py
@@ -265,6 +265,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjOBJ_TUPLE', 23),
              ('mjOBJ_KEY', 24),
              ('mjOBJ_PLUGIN', 25),
+             ('mjNOBJECT', 26),
          ]),
      )),
     ('mjtConstraint',
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 32994e9c..ca55358a 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1858,6 +1858,8 @@ static int numObjects(const mjModel* m, mjtObj objtype) {
     return m->nkey;
   case mjOBJ_PLUGIN:
     return m->nplugin;
+  case mjNOBJECT:
+    return -2;
   }
   return -2;
 }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index a17a2694..91bf8765 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -301,6 +301,7 @@ public enum mjtObj : int{
   mjOBJ_TUPLE = 23,
   mjOBJ_KEY = 24,
   mjOBJ_PLUGIN = 25,
+  mjNOBJECT = 26,
 }
 public enum mjtConstraint : int{
   mjCNSTR_EQUALITY = 0,

From 35f095d7c5a644bf82c827513d87c7fc4afc5308 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 12 Dec 2023 06:42:40 -0800
Subject: [PATCH 060/121] When paused in `simulate`, add index of history
 scrubber if not 0.

PiperOrigin-RevId: 590184966
Change-Id: Id0914c41a1339cf71ebdea02ec486c52c3d37179
---
 simulate/simulate.cc | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 0b2a150a..db0821d2 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -2476,7 +2476,14 @@ void Simulate::Render() {
 
   // show pause/loading label
   if (!this->run || this->loadrequest) {
-    const char* label = this->loadrequest ? "LOADING..." : "PAUSE";
+    char label[30] = {'\0'};
+    if (this->loadrequest) {
+      std::snprintf(label, sizeof(label), "LOADING...");
+    } if (this->scrub_index == 0) {
+      std::snprintf(label, sizeof(label), "PAUSE");
+    } else {
+      std::snprintf(label, sizeof(label), "PAUSE (%d)", this->scrub_index);
+    }
     mjr_overlay(mjFONT_BIG, mjGRID_TOP, smallrect, label, nullptr,
                 &this->platform_ui->mjr_context());
   }

From e3df84ec3fd157d6bb28a206791a4d5f3436d91c Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 12 Dec 2023 08:40:20 -0800
Subject: [PATCH 061/121] Include the size limit in error message from
 mjr_addAux.

This is to help debug #1274.

PiperOrigin-RevId: 590215990
Change-Id: I356675be84f9cb2892d31d4dc7639adf49fe4a0f
---
 src/render/render_context.c | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/render/render_context.c b/src/render/render_context.c
index afb1377f..ec349b2a 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -1675,8 +1675,17 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
   // check max size
   int maxSize = 0;
   glGetIntegerv(GL_MAX_RENDERBUFFER_SIZE, &maxSize);
-  if (width > maxSize || height > maxSize) {
-    mju_error("Auxiliary buffer size exceeds maximum allowed by OpenGL implementation");
+  if (width > maxSize) {
+    mju_error(
+        "Auxiliary buffer width exceeds maximum allowed by OpenGL "
+        "implementation: %d > %d",
+        width, maxSize);
+  }
+  if (height > maxSize) {
+    mju_error(
+        "Auxiliary buffer height exceeds maximum allowed by OpenGL "
+        "implementation: %d > %d",
+        height, maxSize);
   }
 
   // clamp samples request

From 53883ce86a7da0f7df7016c009d4ce79eefc283e Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Tue, 12 Dec 2023 08:58:49 -0800
Subject: [PATCH 062/121] Add a `close()` method to `mujoco.Renderer` which
 explicitly frees the gl context.

PiperOrigin-RevId: 590221484
Change-Id: I07392f9c53f662a37a57ab23acfef9aa5a98a49b
---
 python/mujoco/cgl/__init__.py  |  19 +++---
 python/mujoco/glfw/__init__.py |   2 +-
 python/mujoco/renderer.py      |  37 ++++++++++++
 python/mujoco/renderer_test.py | 104 ++++++++++++++++-----------------
 4 files changed, 100 insertions(+), 62 deletions(-)

diff --git a/python/mujoco/cgl/__init__.py b/python/mujoco/cgl/__init__.py
index ba1e36a6..36037116 100644
--- a/python/mujoco/cgl/__init__.py
+++ b/python/mujoco/cgl/__init__.py
@@ -57,15 +57,18 @@ class GLContext:
 
   def free(self):
     """Frees resources associated with this context."""
-    if self._context:
-      cgl.CGLUnlockContext(self._context)
-      cgl.CGLSetCurrentContext(None)
-      cgl.CGLReleaseContext(self._context)
-    self._context = None
+    try:
+      if self._context:
+        cgl.CGLUnlockContext(self._context)
+        cgl.CGLSetCurrentContext(None)
+        cgl.CGLReleaseContext(self._context)
+      self._context = None
 
-    if self._pix:
-      cgl.CGLReleasePixelFormat(self._pix)
-    self._context = None
+      if self._pix:
+        cgl.CGLReleasePixelFormat(self._pix)
+      self._pix = None
+    except Exception:  # pylint: disable=broad-exception-caught
+      pass
 
   def __del__(self):
     self.free()
diff --git a/python/mujoco/glfw/__init__.py b/python/mujoco/glfw/__init__.py
index a5693bec..0fd8bd9a 100644
--- a/python/mujoco/glfw/__init__.py
+++ b/python/mujoco/glfw/__init__.py
@@ -35,7 +35,7 @@ class GLContext:
       if glfw.get_current_context() == self._context:
         glfw.make_context_current(None)
       glfw.destroy_window(self._context)
-      self._context = None
+    self._context = None
 
   def __del__(self):
     self.free()
diff --git a/python/mujoco/renderer.py b/python/mujoco/renderer.py
index f34c8243..dfb387c6 100644
--- a/python/mujoco/renderer.py
+++ b/python/mujoco/renderer.py
@@ -136,6 +136,9 @@ the clause:
       A new numpy array holding the pixels with shape `(H, W)` or `(H, W, 3)`,
       depending on the value of `self._depth_rendering` unless
       `out is None`, in which case a reference to `out` is returned.
+
+    Raises:
+      RuntimeError: if this method is called after the close method.
     """
     original_flags = self._scene.flags.copy()
 
@@ -145,6 +148,8 @@ the clause:
       self._scene.flags[_enums.mjtRndFlag.mjRND_SEGMENT] = True
       self._scene.flags[_enums.mjtRndFlag.mjRND_IDCOLOR] = True
 
+    if self._gl_context is None:
+      raise RuntimeError('render cannot be called after close.')
     self._gl_context.make_current()
 
     if self._depth_rendering:
@@ -288,3 +293,35 @@ the clause:
         camera, _enums.mjtCatBit.mjCAT_ALL.value,
         self._scene,
     )
+
+  def close(self) -> None:
+    """Frees the resources used by the renderer.
+
+    This method can be used directly:
+
+    ```python
+    renderer = Renderer(...)
+    # Use renderer.
+    renderer.close()
+    ```
+
+    or via a context manager:
+
+    ```python
+    with Renderer(...) as renderer:
+      # Use renderer.
+    ```
+    """
+    if self._gl_context:
+      self._gl_context.free()
+    self._gl_context = None
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    del exc_type, exc_value, traceback  # Unused.
+    self.close()
+
+  def __del__(self) -> None:
+    self.close()
diff --git a/python/mujoco/renderer_test.py b/python/mujoco/renderer_test.py
index 8aa44a97..e8022006 100644
--- a/python/mujoco/renderer_test.py
+++ b/python/mujoco/renderer_test.py
@@ -33,10 +33,10 @@ class MuJoCoRendererTest(parameterized.TestCase):
 """
     model = mujoco.MjModel.from_xml_string(xml)
     data = mujoco.MjData(model)
-    renderer = mujoco.Renderer(model, 50, 50)
-    mujoco.mj_forward(model, data)
-    with self.assertRaisesRegex(ValueError, r'camera "b" does not exist'):
-      renderer.update_scene(data, 'b')
+    with mujoco.Renderer(model, 50, 50) as renderer:
+      mujoco.mj_forward(model, data)
+      with self.assertRaisesRegex(ValueError, r'camera "b" does not exist'):
+        renderer.update_scene(data, 'b')
 
   def test_renderer_camera_under_range(self):
     xml = """
@@ -48,10 +48,10 @@ class MuJoCoRendererTest(parameterized.TestCase):
 """
     model = mujoco.MjModel.from_xml_string(xml)
     data = mujoco.MjData(model)
-    renderer = mujoco.Renderer(model, 50, 50)
-    mujoco.mj_forward(model, data)
-    with self.assertRaisesRegex(ValueError, '-2 is out of range'):
-      renderer.update_scene(data, -2)
+    with mujoco.Renderer(model, 50, 50) as renderer:
+      mujoco.mj_forward(model, data)
+      with self.assertRaisesRegex(ValueError, '-2 is out of range'):
+        renderer.update_scene(data, -2)
 
   def test_renderer_camera_over_range(self):
     xml = """
@@ -63,10 +63,10 @@ class MuJoCoRendererTest(parameterized.TestCase):
 """
     model = mujoco.MjModel.from_xml_string(xml)
     data = mujoco.MjData(model)
-    renderer = mujoco.Renderer(model, 50, 50)
-    mujoco.mj_forward(model, data)
-    with self.assertRaisesRegex(ValueError, '1 is out of range'):
-      renderer.update_scene(data, 1)
+    with mujoco.Renderer(model, 50, 50) as renderer:
+      mujoco.mj_forward(model, data)
+      with self.assertRaisesRegex(ValueError, '1 is out of range'):
+        renderer.update_scene(data, 1)
 
   def test_renderer_renders_scene(self):
     xml = """
@@ -79,19 +79,19 @@ class MuJoCoRendererTest(parameterized.TestCase):
 """
     model = mujoco.MjModel.from_xml_string(xml)
     data = mujoco.MjData(model)
-    renderer = mujoco.Renderer(model, 50, 50)
-    mujoco.mj_forward(model, data)
-    renderer.update_scene(data, 'closeup')
+    with mujoco.Renderer(model, 50, 50) as renderer:
+      mujoco.mj_forward(model, data)
+      renderer.update_scene(data, 'closeup')
 
-    pixels = renderer.render().flatten()
-    not_all_black = False
+      pixels = renderer.render().flatten()
+      not_all_black = False
 
-    # Pixels should all be a neutral color.
-    for pixel in pixels:
-      if pixel > 0:
-        not_all_black = True
-        break
-    self.assertTrue(not_all_black)
+      # Pixels should all be a neutral color.
+      for pixel in pixels:
+        if pixel > 0:
+          not_all_black = True
+          break
+      self.assertTrue(not_all_black)
 
   def test_renderer_output_without_out(self):
     xml = """
@@ -105,25 +105,25 @@ class MuJoCoRendererTest(parameterized.TestCase):
     model = mujoco.MjModel.from_xml_string(xml)
     data = mujoco.MjData(model)
     mujoco.mj_forward(model, data)
-    renderer = mujoco.Renderer(model, 50, 50)
-    renderer.update_scene(data, 'closeup')
-    pixels = [renderer.render()]
-
-    colors = (
-        (1.0, 0.0, 0.0, 1.0),
-        (0.0, 1.0, 0.0, 1.0),
-        (0.0, 0.0, 1.0, 1.0),
-    )
-
-    for i, color in enumerate(colors):
-      model.geom_rgba[0, :] = color
-      mujoco.mj_forward(model, data)
+    with mujoco.Renderer(model, 50, 50) as renderer:
       renderer.update_scene(data, 'closeup')
-      pixels.append(renderer.render())
-      self.assertIsNot(pixels[-2], pixels[-1])
+      pixels = [renderer.render()]
 
-      # Pixels should change over steps.
-      self.assertFalse((pixels[i + 1] == pixels[i]).all())
+      colors = (
+          (1.0, 0.0, 0.0, 1.0),
+          (0.0, 1.0, 0.0, 1.0),
+          (0.0, 0.0, 1.0, 1.0),
+      )
+
+      for i, color in enumerate(colors):
+        model.geom_rgba[0, :] = color
+        mujoco.mj_forward(model, data)
+        renderer.update_scene(data, 'closeup')
+        pixels.append(renderer.render())
+        self.assertIsNot(pixels[-2], pixels[-1])
+
+        # Pixels should change over steps.
+        self.assertFalse((pixels[i + 1] == pixels[i]).all())
 
   def test_renderer_output_with_out(self):
     xml = """
@@ -139,23 +139,21 @@ class MuJoCoRendererTest(parameterized.TestCase):
     model = mujoco.MjModel.from_xml_string(xml)
     data = mujoco.MjData(model)
     mujoco.mj_forward(model, data)
-    renderer = mujoco.Renderer(model, *render_size)
-    renderer.update_scene(data, 'closeup')
+    with mujoco.Renderer(model, *render_size) as renderer:
+      renderer.update_scene(data, 'closeup')
 
-    self.assertTrue(np.all(render_out == 0))
+      self.assertTrue(np.all(render_out == 0))
 
-    pixels = renderer.render(out=render_out)
+      pixels = renderer.render(out=render_out)
 
-    # Pixels should always refer to the same `render_out` array.
-    self.assertIs(pixels, render_out)
-    self.assertFalse(np.all(render_out == 0))
+      # Pixels should always refer to the same `render_out` array.
+      self.assertIs(pixels, render_out)
+      self.assertFalse(np.all(render_out == 0))
 
-    failing_render_size = (10, 10)
-    self.assertNotEqual(failing_render_size, render_size)
-    with self.assertRaises(ValueError):
-      pixels = renderer.render(
-          out=np.zeros((*failing_render_size, 3), np.uint8)
-      )
+      failing_render_size = (10, 10)
+      self.assertNotEqual(failing_render_size, render_size)
+      with self.assertRaises(ValueError):
+        renderer.render(out=np.zeros((*failing_render_size, 3), np.uint8))
 
 
 if __name__ == '__main__':

From fcebdf4d0962b9b2cc5071c52cbd7a775ea084d0 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Tue, 12 Dec 2023 10:36:48 -0800
Subject: [PATCH 063/121] Update MuJoCo to v3.1.0 for release.

PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
---
 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 c9723a29..bfc599f8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.0.2
+  VERSION 3.1.0
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/dist/mujoco.rc b/dist/mujoco.rc
index e52e3530..484597a9 100644
--- a/dist/mujoco.rc
+++ b/dist/mujoco.rc
@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,0,2,0
-PRODUCTVERSION 3,0,2,0
+FILEVERSION 3,1,0,0
+PRODUCTVERSION 3,1,0,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.0.2"
+      VALUE "ProductVersion", "3.1.0"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.0.2"
+      VALUE "FileVersion", "3.1.0"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/dist/simulate.rc b/dist/simulate.rc
index 4835c979..ae73084e 100644
--- a/dist/simulate.rc
+++ b/dist/simulate.rc
@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,0,2,0
-PRODUCTVERSION 3,0,2,0
+FILEVERSION 3,1,0,0
+PRODUCTVERSION 3,1,0,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.0.2"
+      VALUE "ProductVersion", "3.1.0"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.0.2"
+      VALUE "FileVersion", "3.1.0"
       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 33c5401c..3101f9b2 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -522,7 +522,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 302
+     - 310
      - 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 457c2cd7..f3a97af7 100644
--- a/doc/unity.rst
+++ b/doc/unity.rst
@@ -30,14 +30,14 @@ _____
 
 The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
 a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.0.2.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.0.dylib`` (it can be
 found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
 
 Linux
 _____
 
 Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
-``~/.mujoco/mujoco-3.0.2/lib/libmujoco.so.3.0.2`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.1.0/lib/libmujoco.so.3.1.0`` and rename it as ``libmujoco.so``.
 
 Windows
 _______
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 5f32cbc7..2935d5a8 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 302
+#define mjVERSION_HEADER 310
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index a385e9af..d615108d 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.0.2"
+version = "3.1.0"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -31,13 +31,13 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.0.2.dev0",
+    "mujoco>=3.1.0.dev0",
     "scipy",
     "trimesh",
 ]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.0.2"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.0"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.0.2/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.0/changelog.html"
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 256adb10..b4dc3f28 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.3.0.2.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.0.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.0.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.1.0 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 6c6d68b2..18a27c2f 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>3.0.2</string>
+    <string>3.1.0</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.0.2</string>
+    <string>3.1.0</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.0.2</string>
+    <string>3.1.0</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.0.2</string>
+    <string>3.1.0</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 81b7da8e..6f934c1d 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.0.2"
+version = "3.1.0"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.0.2"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.0"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.0.2/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.0/changelog.html"
 
 [tool.setuptools]
 include-package-data = false
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index 3dceb85c..0e989480 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.0.2
+  VERSION 3.1.0
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 464fc4c5..e16584e0 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.0.2
+  VERSION 3.1.0
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index b223a3e2..f887d1ca 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -38,8 +38,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 302
-#define mjVERSIONSTRING "3.0.2"
+ #define mjVERSION 310
+#define mjVERSIONSTRING "3.1.0"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
index f670431b..8ed2ac7a 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.3.0.2.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.1.0.dylib",
                 mujocoPath + "/mujoco.dylib");
             AssetDatabase.Refresh();
           }
@@ -45,7 +45,7 @@ public class MujocoBinaryRetriever {
           if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
             File.Copy(
                 Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
-                "/.mujoco/mujoco-3.0.2/lib/libmujoco.so.3.0.2",
+                "/.mujoco/mujoco-3.1.0/lib/libmujoco.so.3.1.0",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 91bf8765..6f797926 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -108,7 +108,7 @@ public const int mjMAXLINEPNT = 1000;
 public const int mjMAXPLANEGRID = 200;
 public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 302;
+public const int mjVERSION_HEADER = 310;
 
 
 // ------------------------------------Enums------------------------------------
diff --git a/unity/package.json b/unity/package.json
index 9c093316..f8f658d7 100644
--- a/unity/package.json
+++ b/unity/package.json
@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.0.2",
+  "version": "3.1.0",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

From 89d15c48e8b2f41b4f909767dd0ab569edabbf35 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Tue, 12 Dec 2023 10:41:28 -0800
Subject: [PATCH 064/121] Update version number in
 third_party/mujoco/doc/changelog.rst for v3.1.0

PiperOrigin-RevId: 590258202
Change-Id: I1220eb48e7c3871fdf785cf74819aca12d0c75c0
---
 doc/changelog.rst | 52 +++++++++++++++++++++++------------------------
 1 file changed, 26 insertions(+), 26 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 56904ed8..5a90b5f6 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,48 +2,48 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
+Version 3.1.0 (December 12, 2023)
 -----------------------------------
 
 General
 ^^^^^^^
-- Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
-  for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
-  robust for very small or large geom sizes.
-- Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
-  on its direct children, without requiring a :ref:`body<body>`.
-- Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
-  actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference
-  velocity. When using this attribute, it is recommended to use the implicitfast or implicit
-  :ref:`integrators<geIntegration>`.
+1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
+   for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
+   robust for very small or large geom sizes.
+2. Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
+   on its direct children, without requiring a :ref:`body<body>`.
+3. Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
+   actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference
+   velocity. When using this attribute, it is recommended to use the implicitfast or implicit
+   :ref:`integrators<geIntegration>`.
 
 Plugins
 ^^^^^^^
 
-- Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
-  ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
-  variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
+4. Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
+   ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
+   variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
 
-- Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
-  configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
+5. Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
+   configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
 
 MJX
 ^^^
 
-- Added ``site_xpos`` and ``site_xmat`` to MJX.
-- Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
-  deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
-  ``efc_J``.
+6.  Added ``site_xpos`` and ``site_xmat`` to MJX.
+7. Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
+   deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
+   ``efc_J``.
 
 Bug fixes
 ^^^^^^^^^
-- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
-  Before this fix such actuators could lead to non-conservation of momentum.
-- Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
-- Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
-- Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
-  supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
-  :github:issue:`1213`.
+8. Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
+   Before this fix such actuators could lead to non-conservation of momentum.
+9. Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
+10. Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
+11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
+    supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
+    :github:issue:`1213`.
 
 Version 3.0.1 (November 15, 2023)
 ---------------------------------

From 0df1c9c733ea0cc90ba392ce21050914f53832ef Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Tue, 12 Dec 2023 13:16:54 -0800
Subject: [PATCH 065/121] Updated version number in cmakelist,
 mujcodepencies.cmake for v 3.1.0

PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
---
 cmake/MujocoDependencies.cmake | 4 ++--
 python/mujoco/CMakeLists.txt   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 87bb13a7..86c860a2 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    aa6964bf3a34fd607837dd8123bc42465185c4f8
+    454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
@@ -54,7 +54,7 @@ set(MUJOCO_DEP_VERSION_gtest
 )
 
 set(MUJOCO_DEP_VERSION_benchmark
-    344117638c8ff7e239044fd0fa7085839fc03021 # v1.8.3
+    e45585a4b8e75c28479fa4107182c28172799640 # v1.8.3
     CACHE STRING "Version of `benchmark` to be fetched."
 )
 
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index b4dc3f28..1575f33b 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  aa6964bf3a34fd607837dd8123bc42465185c4f8
+  54f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL

From 0d37670698b49e78594c635b7f54682ce51ec95d Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Tue, 12 Dec 2023 14:21:49 -0800
Subject: [PATCH 066/121] Fix eigen3 commit hash.

PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
---
 python/mujoco/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 1575f33b..c9ed748e 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  54f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
+  454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL

From b82c382c53d866b391fde85914ee172634270ef5 Mon Sep 17 00:00:00 2001
From: Tyler Lindberg <tylindberg@hotmail.com>
Date: Tue, 12 Dec 2023 16:28:36 -0800
Subject: [PATCH 067/121] Use positional arguments with jp.where

---
 mjx/tutorial.ipynb | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index 522b0208..f27461c6 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -416,10 +416,8 @@
         "    forward_reward = self._forward_reward_weight * velocity[0]\n",
         "\n",
         "    min_z, max_z = self._healthy_z_range\n",
-        "    is_healthy = jp.where(data.qpos[2] \u003c min_z, x=0.0, y=1.0)\n",
-        "    is_healthy = jp.where(\n",
-        "        data.qpos[2] \u003e max_z, x=0.0, y=is_healthy\n",
-        "    )\n",
+        "    is_healthy = jp.where(data.qpos[2] \u003c min_z, 0.0, 1.0)\n",
+        "    is_healthy = jp.where(data.qpos[2] \u003e max_z, 0.0, is_healthy)\n",
         "    if self._terminate_when_unhealthy:\n",
         "      healthy_reward = self._healthy_reward\n",
         "    else:\n",

From 5b2c98f8f1fa7b0ddbce34ab7c5382bf52f41901 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 13 Dec 2023 13:12:29 -0800
Subject: [PATCH 068/121] When saving XMLs, don't round floats that are bigger
 than INT_MAX. Fixes #1278

PiperOrigin-RevId: 590692020
Change-Id: Icd11d20f47bc4163eb4378f4cb031b8fd9d13612
---
 src/xml/xml_util.cc                |  4 +++-
 test/xml/xml_native_writer_test.cc | 24 ++++++++++++++++++++++++
 2 files changed, 27 insertions(+), 1 deletion(-)

diff --git a/src/xml/xml_util.cc b/src/xml/xml_util.cc
index 0d1a7f75..d7a09afc 100644
--- a/src/xml/xml_util.cc
+++ b/src/xml/xml_util.cc
@@ -14,6 +14,7 @@
 
 #include <algorithm>
 #include <array>
+#include <climits>
 #include <cmath>
 #include <cstddef>
 #include <cstdio>
@@ -1004,7 +1005,8 @@ void mjXUtil::WriteAttr(XMLElement* elem, string name, int n, const T* data, con
     }
 
     // append number
-    if (isint(data[i])) {
+    double doubledata = static_cast<double>(data[i]);
+    if (doubledata < INT_MAX && doubledata > -INT_MAX && isint(data[i])) {
       stream << Round(data[i]);
     } else {
       stream << data[i];
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index f5989279..4b5b7f9e 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1178,5 +1178,29 @@ TEST_F(DecompilerTest, DoesntSaveInferredStatitics) {
   mj_deleteModel(model);
 }
 
+TEST_F(DecompilerTest, VeryLargeNumbers) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler angle="radian"/>
+    <worldbody>
+      <camera focal="16777217 1" sensorsize="1 1" resolution="100 100"/>
+      <body pos="1e+20 0 0">
+        <geom size="1"/>
+        <joint axis="1 0 0" range="-1e+10 1e+10"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << error.data();
+  std::string saved_xml = SaveAndReadXml(model);
+  // note, focal is float and loses precision 16777217 -> 16777216
+  EXPECT_THAT(saved_xml, HasSubstr("focal=\"16777216 1\""));
+  EXPECT_THAT(saved_xml, HasSubstr("pos=\"1e+20 0 0\""));
+  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1e+10 1e+10\""));
+  mj_deleteModel(model);
+}
+
 }  // namespace
 }  // namespace mujoco

From 1c3455363179c86ec03f4f01ba47d085f3b4a3db Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 13 Dec 2023 13:13:12 -0800
Subject: [PATCH 069/121] Add shortcuts for power function in impedance
 computation.

PiperOrigin-RevId: 590692245
Change-Id: I1a49475c9a8299f4845e4ec33c9a7ce21a9c5d2b
---
 src/engine/engine_core_constraint.c | 25 +++++++++++++++++++------
 1 file changed, 19 insertions(+), 6 deletions(-)

diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index d1cb4a6c..fbb8ff9a 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -1325,6 +1325,19 @@ static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int
 
 
 
+// return a to the power of b, quick return for powers 1 and 2
+// solimp[4] == 2 is the default, so these branches are common
+static mjtNum power(mjtNum a, mjtNum b) {
+  if (b == 1) {
+    return a;
+  } else if (b == 2) {
+    return a*a;
+  }
+  return mju_pow(a, b);
+}
+
+
+
 // compute impedance and derivative for one constraint
 static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
                          mjtNum* imp, mjtNum* impP) {
@@ -1359,16 +1372,16 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
 
   // y(x) = a*x^p if x<=midpoint
   else if (x <= solimp[3]) {
-    mjtNum a = 1/mju_pow(solimp[3], solimp[4]-1);
-    y = a*mju_pow(x, solimp[4]);
-    yP = solimp[4] * a*mju_pow(x, solimp[4]-1);
+    mjtNum a = 1/power(solimp[3], solimp[4]-1);
+    y = a*power(x, solimp[4]);
+    yP = solimp[4] * a*power(x, solimp[4]-1);
   }
 
   // y(x) = 1-b*(1-x)^p is x>midpoint
   else {
-    mjtNum b = 1/mju_pow(1-solimp[3], solimp[4]-1);
-    y = 1-b*mju_pow(1-x, solimp[4]);
-    yP = solimp[4] * b*mju_pow(1-x, solimp[4]-1);
+    mjtNum b = 1/power(1-solimp[3], solimp[4]-1);
+    y = 1-b*power(1-x, solimp[4]);
+    yP = solimp[4] * b*power(1-x, solimp[4]-1);
   }
 
   // scale

From 537d649e95d5de559786ae55a0f3bb83cffd1426 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 13 Dec 2023 13:21:43 -0800
Subject: [PATCH 070/121] Improvements to transmission documentation.

PiperOrigin-RevId: 590694542
Change-Id: I9dc25655116c9300061095c2a2b701530bbbbeca
---
 doc/computation/index.rst | 25 ++++++++++++++-----------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index 8afdb7cf..788cdd14 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -300,19 +300,22 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
    Slider-cranks can also be modeled explicitly by creating MuJoCo bodies and coupling them with equality constraints to
    the rest of the system, but that would be less efficient.
 
-:at:`site`
-   :at:`site` transmission (without a :at:`refsite`, see below) and :at:`body` transmission targets have a fixed zero
-   length :math:`l_i(q) = 0`. They can therefore not be used to maintain a desired length, but can be used to apply
-   forces. Site transmissions correspond to applying a Cartsian force/torque at the site, and are useful for modeling
-   jets and propellors. :el:`body` transmissions correspond to applying forces at contact points belonging to a body, in
+:at:`body`
+   :el:`body` transmission corresponds to applying forces at contact points belonging to a body, in
    order to model vacuum grippers and biomechanical adhesive appendages. For more information about adhesion, see the
-   :ref:`adhesion<actuator-adhesion>` actuator documentation.
+   :ref:`adhesion<actuator-adhesion>` actuator documentation. These transmission targets have a fixed zero length
+   :math:`l_i(q) = 0`.
 
-   If a :at:`site` transmission target is defined with the optional :at:`refsite` attribute, forces and torques are
-   applied in the frame of the reference site rather than the site's own frame. If a reference site is defined then
-   the length of the actuator is nonzero and corresponds to the pose difference of the two sites. This length can then
-   be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the
-   :ref:`refsite<actuator-general-refsite>` documentation for more details.
+:at:`site`
+   Site transmissions correspond to applying a Cartsian force/torque in the frame of a site, and are useful for
+   modeling jets and propellors. When a :at:`refsite` is not defined (see below), these targets have a fixed zero
+   length :math:`l_i(q) = 0`.
+
+   If a :at:`site` transmission is defined with the optional :at:`refsite` attribute, forces and torques are applied in
+   the frame of the reference site rather than the site's own frame. If a reference site is defined, the length of the
+   actuator is nonzero and corresponds to the pose difference of the two sites, projected onto a chosen direction in the
+   reference frame. This length can then be controlled with a :el:`position` actuator, allowing for Cartesian
+   end-effector control. See the :ref:`refsite<actuator-general-refsite>` documentation for more details.
 
 .. _geActivation:
 

From c2c76195dd5c706e4427915b0aa374df4f13e36e Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 13 Dec 2023 14:25:10 -0800
Subject: [PATCH 071/121] Updating Mujoco Release version number to v3.1.1

PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
---
 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 bfc599f8..40931b19 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.1.0
+  VERSION 3.1.1
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/dist/mujoco.rc b/dist/mujoco.rc
index 484597a9..6a7fb828 100644
--- a/dist/mujoco.rc
+++ b/dist/mujoco.rc
@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,1,0,0
-PRODUCTVERSION 3,1,0,0
+FILEVERSION 3,1,1,0
+PRODUCTVERSION 3,1,1,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.1.0"
+      VALUE "ProductVersion", "3.1.1"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.1.0"
+      VALUE "FileVersion", "3.1.1"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/dist/simulate.rc b/dist/simulate.rc
index ae73084e..14627b0b 100644
--- a/dist/simulate.rc
+++ b/dist/simulate.rc
@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,1,0,0
-PRODUCTVERSION 3,1,0,0
+FILEVERSION 3,1,1,0
+PRODUCTVERSION 3,1,1,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.1.0"
+      VALUE "ProductVersion", "3.1.1"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.1.0"
+      VALUE "FileVersion", "3.1.1"
       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 3101f9b2..c43f3145 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -522,7 +522,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 310
+     - 311
      - 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 f3a97af7..0a608df9 100644
--- a/doc/unity.rst
+++ b/doc/unity.rst
@@ -30,14 +30,14 @@ _____
 
 The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
 a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.0.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.1.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-3.1.0/lib/libmujoco.so.3.1.0`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.1.1/lib/libmujoco.so.3.1.1`` and rename it as ``libmujoco.so``.
 
 Windows
 _______
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 2935d5a8..ea861353 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 310
+#define mjVERSION_HEADER 311
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index d615108d..a558c2ed 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.1.0"
+version = "3.1.1"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -31,13 +31,13 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.1.0.dev0",
+    "mujoco>=3.1.1.dev0",
     "scipy",
     "trimesh",
 ]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.1.0"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.1"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.1.0/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.1/changelog.html"
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index c9ed748e..e782497d 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.3.1.0.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.1.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.1.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.1.1 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 18a27c2f..7b2dfa5e 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>3.1.0</string>
+    <string>3.1.1</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.1.0</string>
+    <string>3.1.1</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.1.0</string>
+    <string>3.1.1</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.1.0</string>
+    <string>3.1.1</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index 6f934c1d..ab298dc4 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.1.0"
+version = "3.1.1"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.1.0"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.1"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.1.0/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.1/changelog.html"
 
 [tool.setuptools]
 include-package-data = false
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index 0e989480..0d2c2c7f 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.1.0
+  VERSION 3.1.1
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index e16584e0..fb416535 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.1.0
+  VERSION 3.1.1
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index f887d1ca..819dc693 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -38,8 +38,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 310
-#define mjVERSIONSTRING "3.1.0"
+ #define mjVERSION 311
+#define mjVERSIONSTRING "3.1.1"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
index 8ed2ac7a..3e9b9bfc 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.3.1.0.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.1.1.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-3.1.0/lib/libmujoco.so.3.1.0",
+                "/.mujoco/mujoco-3.1.1/lib/libmujoco.so.3.1.1",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 6f797926..c4969e46 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -108,7 +108,7 @@ public const int mjMAXLINEPNT = 1000;
 public const int mjMAXPLANEGRID = 200;
 public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 310;
+public const int mjVERSION_HEADER = 311;
 
 
 // ------------------------------------Enums------------------------------------
diff --git a/unity/package.json b/unity/package.json
index f8f658d7..a6f629b9 100644
--- a/unity/package.json
+++ b/unity/package.json
@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.1.0",
+  "version": "3.1.1",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

From da211ddf29400ffc7bbd981d21a7325cc113d4f8 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 13 Dec 2023 16:05:19 -0800
Subject: [PATCH 072/121] Improve description of the collision detection
 pipeline.

PiperOrigin-RevId: 590742091
Change-Id: Idfcc37cece21dcf46401a147a43aa8ec4eeb05aa
---
 doc/computation/index.rst | 49 ++++++++++++++++++---------------------
 1 file changed, 23 insertions(+), 26 deletions(-)

diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index 788cdd14..190be5ac 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -307,9 +307,9 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
    :math:`l_i(q) = 0`.
 
 :at:`site`
-   Site transmissions correspond to applying a Cartsian force/torque in the frame of a site, and are useful for
-   modeling jets and propellors. When a :at:`refsite` is not defined (see below), these targets have a fixed zero
-   length :math:`l_i(q) = 0`.
+   Site transmissions correspond to applying a Cartsian force/torque in the frame of a site. When a :at:`refsite` is not
+   defined (see below), these targets have a fixed zero length :math:`l_i(q) = 0` and are useful for modeling jets and
+   propellors: forces and torques which are fixed to the site frame.
 
    If a :at:`site` transmission is defined with the optional :at:`refsite` attribute, forces and torques are applied in
    the frame of the reference site rather than the site's own frame. If a reference site is defined, the length of the
@@ -1458,48 +1458,45 @@ others can be pruned quickly without a detailed check. MuJoCo has flexible mecha
 checked in detail. The decision process involves two stages: generation and filtering.
 
 Generation
-   First we generate a list of candidate geom pairs in one of two ways: "pair" or "dynamic". The user can also specify
-   "all" which merges both sources (and is the default). This is done via the setting ``mjModel.opt.collision``. "Pair"
-   refers to an explicit list of geom pairs defined with the :ref:`pair <contact-pair>` element in MJCF. It gives the
-   user full control, however it is a static mechanism (independent of the spatial arrangement of the geoms at runtime)
-   and can be tedious for large models. It is normally used to supplement the output of the "dynamic" mechanism. Dynamic
-   generation works with bodies rather than geoms; when a body pair is included this means that all geoms attached to
-   one body can collide with all geoms attached to the other body.
+   First we generate a list of candidate geom pairs by merging from two sources: pairs of bodies that might contain
+   colliding geoms and the explicit list of geom pairs defined with the :ref:`pair <contact-pair>` element in MJCF.
 
    The body pairs are generated via broad-phase collision detection based on a modified sweep-and-prune algorithm. The
    modification is that the axis for sorting is chosen as the principal eigenvector of the covariance matrix of all geom
-   centers - which maximizes the spread. Then, for each body pair, a mid-phase collision detection using a static
-   bounding volume hierarchy (a BVH binary tree) of axis-aligned bounding boxes (AABB) is performed. Each body is
-   equipped with an AABB tree of its geoms, aligned with the body inertial or geom frames for all inner or leaf nodes,
+   centers -- which maximizes the spread. Then, for each body pair, mid-phase collision detection is performed using a
+   static bounding volume hierarchy (a BVH binary tree) of axis-aligned bounding boxes (AABB). Each body is equipped
+   with an AABB tree of its geoms, aligned with the body inertial or geom frames for all inner or leaf nodes,
    respectively.
 
-   Finally, the user can explicitly exclude certain body pairs using the :ref:`exclude <contact-exclude>` element
-   in MJCF. Exclusion is applied when "dynamic" or "all" are selected, but not when "pair" is selected. At the end of
-   this step we have a list of geoms pairs that is typically much smaller than :math:`n (n-1)/2`, but can still be
-   pruned further before detailed collision checking.
+   Finally, the user can explicitly exclude certain body pairs using the :ref:`exclude <contact-exclude>` element in
+   MJCF. At the end of this step we have a list of geoms pairs that is typically much smaller than :math:`n (n-1)/2`,
+   but can still be pruned further before detailed collision checking.
 
 Filtering
    Next we apply four filters to the list generated in the previous step. Filters 1 and 2 are applied to all geom pairs.
-   Filters 3 and 4 are applied only to pairs generated by the "dynamic" mechanism, thereby allowing the user to bypass
+   Filters 3 and 4 are applied only to pairs generated by the body-pair mechanism, thereby allowing the user to bypass
    those filters by specifying geom pairs explicitly.
 
-   #. The types of the two geoms must correspond to a collision function that is capable of performing the detailed
+   1. The types of the two geoms must correspond to a collision function that is capable of performing the detailed
       check. This is usually the case but there are exceptions (for example plane-plane collisions are not supported),
       and furthermore the user may override the default table of collision functions with NULL pointers, effectively
       disabling collisions between certain geom types.
-   #. A bounding sphere test is applied, taking into account the contact margin. If one of the geoms in the pair is a
+   2. A bounding sphere test is applied, taking into account the contact margin. If one of the geoms in the pair is a
       plane, this becomes a plane-sphere test.
-   #. The two geoms cannot belong to the same body. Furthermore, they cannot belong to a parent and a child body, unless
+   3. The two geoms cannot belong to the same body. Furthermore, they cannot belong to a parent and a child body, unless
       the parent is the world body. The motivation is to avoid permanent contacts within bodies and joints. Note that if
       several bodies are welded together in the sense that there are no joints between them, they are treated as a
       single body for the purposes of this test. The parent-filter test can be disabled by the user, while the same-body
       test cannot be disabled.
-   #. The two geoms must be "compatible" in the following sense. Each geom has integer parameters ``contype`` and
+   4. The two geoms must be "compatible" in the following sense. Each geom has integer parameters ``contype`` and
       ``conaffinity``. The boolean expression below must be true for the test to pass:
-      ``(contype1 & conaffinity2) || (contype2 & conaffinity1)`` This requires the ``contype`` of one geom and the
-      ``conaffinity`` of the other geom to have a common bit set to 1. This is a powerful mechanism borrowed from the
-      Open Dynamics Engine. The default setting for all geoms is ``contype = conaffinity = 1`` which always passes the
-      test, so the user can ignore this mechanism if it is confusing at first.
+
+      ``(contype1 & conaffinity2) || (contype2 & conaffinity1)``
+
+      This requires the ``contype`` of one geom and the ``conaffinity`` of the other geom to have a common bit set to 1.
+      This is a powerful mechanism borrowed from Open Dynamics Engine. The default setting for all geoms is
+      ``contype = conaffinity = 1`` which always passes the test, so the user can ignore this mechanism if it is
+      confusing at first.
 
 .. _coChecking:
 

From 0915d69c3f5610ca22be7997e2328cc1261fefe9 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Wed, 13 Dec 2023 16:33:44 -0800
Subject: [PATCH 073/121] Correctly transform site_xmat in MJX
 get_data/put_data.

PiperOrigin-RevId: 590750273
Change-Id: I836e1f5d20725ed9b93bf86fe3e8e61954a56b47
---
 mjx/mujoco/mjx/_src/io.py      | 6 +++---
 mjx/mujoco/mjx/_src/io_test.py | 7 ++++++-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 9658ad53..9396d7f3 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -217,7 +217,7 @@ def _get_contact(
       value = value.reshape((-1, 9))
     getattr(c, field.name)[:] = value
 
-  ncon = con_id.shape[0]
+  ncon = cx.dist.shape[0]
   c.efc_address[:] = np.arange(efc_start, efc_start + ncon * 4, 4)[con_id]
 
 
@@ -257,7 +257,7 @@ def get_data(
 
       value = getattr(dx_i, field.name)
 
-      if field.name in ('xmat', 'ximat', 'geom_xmat'):
+      if field.name in ('xmat', 'ximat', 'geom_xmat', 'site_xmat'):
         value = value.reshape((-1, 9))
 
       if field.name in ('efc_frictionloss', 'efc_D', 'efc_aref', 'efc_force'):
@@ -318,7 +318,7 @@ def put_data(m: mujoco.MjModel, d: mujoco.MjData, device=None) -> types.Data:
       if f.type is jax.Array
   }
 
-  for fname in ('xmat', 'ximat', 'geom_xmat'):
+  for fname in ('xmat', 'ximat', 'geom_xmat', 'site_xmat'):
     fields[fname] = fields[fname].reshape((-1, 3, 3))
 
   # pad efc fields: MuJoCo efc arrays are sparse for inactive constraints.
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 4c7b0065..a16a8780 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -71,6 +71,7 @@ _MULTIPLE_CONSTRAINTS = """
           <joint axis="0 1 0" type="hinge" range="-45 45"/>
           <joint axis="1 0 0" type="hinge" range="-0.001 0.001"/>
           <geom type="capsule" size=".2 .05"/>
+          <site pos="-0.214 -0.078 0" quat="0.664 0.664 -0.242 -0.242"/>
         </body>
       </body>
     </worldbody>
@@ -318,9 +319,11 @@ class IoTest(parameterized.TestCase):
     self.assertEqual(dx.xmat.shape, (3, 3, 3))
     self.assertEqual(dx.ximat.shape, (3, 3, 3))
     self.assertEqual(dx.geom_xmat.shape, (3, 3, 3))
+    self.assertEqual(dx.site_xmat.shape, (1, 3, 3))
     np.testing.assert_allclose(dx.xmat.reshape((3, 9)), d.xmat)
     np.testing.assert_allclose(dx.ximat.reshape((3, 9)), d.ximat)
     np.testing.assert_allclose(dx.geom_xmat.reshape((3, 9)), d.geom_xmat)
+    np.testing.assert_allclose(dx.site_xmat.reshape((1, 9)), d.site_xmat)
 
     # efc_ are also shape transformed and padded
     self.assertEqual(dx.efc_J.shape, (21, 8))  # nefc, nv
@@ -369,13 +372,15 @@ class IoTest(parameterized.TestCase):
     self.assertEqual(d_2.contact.frame.shape, (1, 9))
     np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
 
-    # xmat, ximat, geom_xmat are all shape transformed
+    # xmat, ximat, geom_xmat, site_xmat are all shape transformed
     self.assertEqual(d_2.xmat.shape, (3, 9))
     self.assertEqual(d_2.ximat.shape, (3, 9))
     self.assertEqual(d_2.geom_xmat.shape, (3, 9))
+    self.assertEqual(d_2.site_xmat.shape, (1, 9))
     np.testing.assert_allclose(d_2.xmat, d.xmat)
     np.testing.assert_allclose(d_2.ximat, d.ximat)
     np.testing.assert_allclose(d_2.geom_xmat, d.geom_xmat)
+    np.testing.assert_allclose(d_2.site_xmat, d.site_xmat)
 
     # efc_* are also shape transformed and filtered
     self.assertEqual(d_2.efc_J.shape, (64,))  # nefc * nv

From 9f6be3135ecc077700ab69d60f0826bee43f24a9 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Thu, 14 Dec 2023 11:11:00 -0800
Subject: [PATCH 074/121] Modify mjListKeyMap to be a fixed-size array, and add
 internal object_lists variable to mjCModel to remove redundant code.

PiperOrigin-RevId: 590997348
Change-Id: I5f4d7de605f44d40a75eb1e9ceec208325fa3be5
---
 src/user/user_model.cc       | 234 ++++++++---------------------------
 src/user/user_model.h        |   6 +-
 test/user/user_model_test.cc |  27 +++-
 3 files changed, 80 insertions(+), 187 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index c1c0300e..a4f5a2dd 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -147,7 +147,6 @@ mjCModel::mjCModel() {
   nuser_sensor = -1;
 
   //------------------------ private variables
-  ids.clear();
   cameras.clear();
   lights.clear();
   flexes.clear();
@@ -183,6 +182,35 @@ mjCModel::mjCModel() {
   world->name = "world";
   world->def = defaults[0];
   bodies.push_back(world);
+
+  for (int i = 0; i < mjNOBJECT; ++i) {
+    object_lists[i] = nullptr;
+  }
+
+  object_lists[mjOBJ_BODY]     = (std::vector<mjCBase*>*) &bodies;
+  object_lists[mjOBJ_XBODY]    = (std::vector<mjCBase*>*) &bodies;
+  object_lists[mjOBJ_JOINT]    = (std::vector<mjCBase*>*) &joints;
+  object_lists[mjOBJ_GEOM]     = (std::vector<mjCBase*>*) &geoms;
+  object_lists[mjOBJ_SITE]     = (std::vector<mjCBase*>*) &sites;
+  object_lists[mjOBJ_CAMERA]   = (std::vector<mjCBase*>*) &cameras;
+  object_lists[mjOBJ_LIGHT]    = (std::vector<mjCBase*>*) &lights;
+  object_lists[mjOBJ_FLEX]     = (std::vector<mjCBase*>*) &flexes;
+  object_lists[mjOBJ_MESH]     = (std::vector<mjCBase*>*) &meshes;
+  object_lists[mjOBJ_SKIN]     = (std::vector<mjCBase*>*) &skins;
+  object_lists[mjOBJ_HFIELD]   = (std::vector<mjCBase*>*) &hfields;
+  object_lists[mjOBJ_TEXTURE]  = (std::vector<mjCBase*>*) &textures;
+  object_lists[mjOBJ_MATERIAL] = (std::vector<mjCBase*>*) &materials;
+  object_lists[mjOBJ_PAIR]     = (std::vector<mjCBase*>*) &pairs;
+  object_lists[mjOBJ_EXCLUDE]  = (std::vector<mjCBase*>*) &excludes;
+  object_lists[mjOBJ_EQUALITY] = (std::vector<mjCBase*>*) &equalities;
+  object_lists[mjOBJ_TENDON]   = (std::vector<mjCBase*>*) &tendons;
+  object_lists[mjOBJ_ACTUATOR] = (std::vector<mjCBase*>*) &actuators;
+  object_lists[mjOBJ_SENSOR]   = (std::vector<mjCBase*>*) &sensors;
+  object_lists[mjOBJ_NUMERIC]  = (std::vector<mjCBase*>*) &numerics;
+  object_lists[mjOBJ_TEXT]     = (std::vector<mjCBase*>*) &texts;
+  object_lists[mjOBJ_TUPLE]    = (std::vector<mjCBase*>*) &tuples;
+  object_lists[mjOBJ_KEY]      = (std::vector<mjCBase*>*) &keys;
+  object_lists[mjOBJ_PLUGIN]   = (std::vector<mjCBase*>*) &plugins;
 }
 
 
@@ -213,7 +241,6 @@ mjCModel::~mjCModel() {
   for (int i=0; i<defaults.size(); i++) delete defaults[i];
 
   // clear pointer lists created in model construction
-  ids.clear();
   flexes.clear();
   meshes.clear();
   skins.clear();
@@ -456,118 +483,20 @@ mjCPlugin* mjCModel::AddPlugin(void) {
 
 // get number of objects of specified type
 int mjCModel::NumObjects(mjtObj type) {
-  switch (type) {
-  case mjOBJ_BODY:
-  case mjOBJ_XBODY:
-    return (int)bodies.size();
-  case mjOBJ_JOINT:
-    return (int)joints.size();
-  case mjOBJ_GEOM:
-    return (int)geoms.size();
-  case mjOBJ_SITE:
-    return (int)sites.size();
-  case mjOBJ_CAMERA:
-    return (int)cameras.size();
-  case mjOBJ_LIGHT:
-    return (int)lights.size();
-  case mjOBJ_FLEX:
-    return (int)flexes.size();
-  case mjOBJ_MESH:
-    return (int)meshes.size();
-  case mjOBJ_SKIN:
-    return (int)skins.size();
-  case mjOBJ_HFIELD:
-    return (int)hfields.size();
-  case mjOBJ_TEXTURE:
-    return (int)textures.size();
-  case mjOBJ_MATERIAL:
-    return (int)materials.size();
-  case mjOBJ_PAIR:
-    return (int)pairs.size();
-  case mjOBJ_EXCLUDE:
-    return (int)excludes.size();
-  case mjOBJ_EQUALITY:
-    return (int)equalities.size();
-  case mjOBJ_TENDON:
-    return (int)tendons.size();
-  case mjOBJ_ACTUATOR:
-    return (int)actuators.size();
-  case mjOBJ_SENSOR:
-    return (int)sensors.size();
-  case mjOBJ_NUMERIC:
-    return (int)numerics.size();
-  case mjOBJ_TEXT:
-    return (int)texts.size();
-  case mjOBJ_TUPLE:
-    return (int)tuples.size();
-  case mjOBJ_KEY:
-    return (int)keys.size();
-  case mjOBJ_PLUGIN:
-    return (int)plugins.size();
-  default:
+  if (!object_lists[type]) {
     return 0;
   }
+  return (int) object_lists[type]->size();
 }
 
 
 
 // get pointer to specified object
 mjCBase* mjCModel::GetObject(mjtObj type, int id) {
-  if (id>=0 && id<NumObjects(type)) {
-    switch (type) {
-    case mjOBJ_BODY:
-    case mjOBJ_XBODY:
-      return bodies[id];
-    case mjOBJ_JOINT:
-      return joints[id];
-    case mjOBJ_GEOM:
-      return geoms[id];
-    case mjOBJ_SITE:
-      return sites[id];
-    case mjOBJ_CAMERA:
-      return cameras[id];
-    case mjOBJ_LIGHT:
-      return lights[id];
-    case mjOBJ_FLEX:
-      return flexes[id];
-    case mjOBJ_MESH:
-      return meshes[id];
-    case mjOBJ_SKIN:
-      return skins[id];
-    case mjOBJ_HFIELD:
-      return hfields[id];
-    case mjOBJ_TEXTURE:
-      return textures[id];
-    case mjOBJ_MATERIAL:
-      return materials[id];
-    case mjOBJ_PAIR:
-      return pairs[id];
-    case mjOBJ_EXCLUDE:
-      return excludes[id];
-    case mjOBJ_EQUALITY:
-      return equalities[id];
-    case mjOBJ_TENDON:
-      return tendons[id];
-    case mjOBJ_ACTUATOR:
-      return actuators[id];
-    case mjOBJ_SENSOR:
-      return sensors[id];
-    case mjOBJ_NUMERIC:
-      return numerics[id];
-    case mjOBJ_TEXT:
-      return texts[id];
-    case mjOBJ_TUPLE:
-      return tuples[id];
-    case mjOBJ_KEY:
-      return keys[id];
-    case mjOBJ_PLUGIN:
-      return plugins[id];
-    default:
-      return 0;
-    }
+  if (id < 0 || id >= NumObjects(type)) {
+    return nullptr;
   }
-
-  return 0;
+  return (*object_lists[type])[id];
 }
 
 
@@ -666,55 +595,10 @@ static T* findobject(std::string_view name, const vector<T*>& list, const mjKeyM
 
 // find object in global lists given string type and name
 mjCBase* mjCModel::FindObject(mjtObj type, string name) {
-  switch (type) {
-  case mjOBJ_BODY:
-  case mjOBJ_XBODY:
-    return findobject(name, bodies, ids["body"]);
-  case mjOBJ_JOINT:
-    return findobject(name, joints, ids["joint"]);
-  case mjOBJ_GEOM:
-    return findobject(name, geoms, ids["geom"]);
-  case mjOBJ_SITE:
-    return findobject(name, sites, ids["site"]);
-  case mjOBJ_CAMERA:
-    return findobject(name, cameras, ids["camera"]);
-  case mjOBJ_LIGHT:
-    return findobject(name, lights, ids["light"]);
-  case mjOBJ_FLEX:
-    return findobject(name, flexes, ids["flex"]);
-  case mjOBJ_MESH:
-    return findobject(name, meshes, ids["mesh"]);
-  case mjOBJ_SKIN:
-    return findobject(name, skins, ids["skin"]);
-  case mjOBJ_HFIELD:
-    return findobject(name, hfields, ids["hfield"]);
-  case mjOBJ_TEXTURE:
-    return findobject(name, textures, ids["texture"]);
-  case mjOBJ_MATERIAL:
-    return findobject(name, materials, ids["material"]);
-  case mjOBJ_PAIR:
-    return findobject(name, pairs, ids["pair"]);
-  case mjOBJ_EXCLUDE:
-    return findobject(name, excludes, ids["exclude"]);
-  case mjOBJ_EQUALITY:
-    return findobject(name, equalities, ids["equality"]);
-  case mjOBJ_TENDON:
-    return findobject(name, tendons, ids["tendon"]);
-  case mjOBJ_ACTUATOR:
-    return findobject(name, actuators, ids["actuator"]);
-  case mjOBJ_SENSOR:
-    return findobject(name, sensors, ids["sensor"]);
-  case mjOBJ_NUMERIC:
-    return findobject(name, numerics, ids["numeric"]);
-  case mjOBJ_TEXT:
-    return findobject(name, texts, ids["text"]);
-  case mjOBJ_TUPLE:
-    return findobject(name, tuples, ids["tuple"]);
-  case mjOBJ_PLUGIN:
-    return findobject(name, plugins, ids["plugin"]);
-  default:
-    return 0;
+  if (!object_lists[type]) {
+    return nullptr;
   }
+  return findobject(name, *object_lists[type], ids[type]);
 }
 
 
@@ -2649,37 +2533,37 @@ static void reassignid(vector<T*>& list) {
 // set ids, check for repeated names
 template <class T>
 static void processlist(mjListKeyMap& ids, vector<T*>& list,
-                        string defname, bool checkrepeat = true) {
+                        mjtObj type, bool checkrepeat = true) {
   // loop over list elements
-  for (int i=0; i<(int)list.size(); i++) {
+  for (size_t i=0; i < list.size(); i++) {
     // check for incompatible id setting; SHOULD NOT OCCUR
     if (list[i]->id!=-1 && list[i]->id!=i) {
-      throw mjCError(list[i], "incompatible id in %s array, position %d", defname.c_str(), i);
+      throw mjCError(list[i], "incompatible id in %s array, position %d", mju_type2Str(type), i);
     }
 
     // id equals position in array
     list[i]->id = i;
 
     // add to ids map
-    ids[defname][list[i]->name] = i;
+    ids[type][list[i]->name] = i;
   }
 
   // check for repeated names
   if (checkrepeat) {
     // created vectors with all names
     vector<string> allnames;
-    for (int i=0; i<(int)list.size(); i++) {
+    for (size_t i=0; i < list.size(); i++) {
       if (!list[i]->name.empty()) {
         allnames.push_back(list[i]->name);
       }
     }
 
     // sort and check for duplicates
-    if (allnames.size()>1) {
+    if (allnames.size() > 1) {
       std::sort(allnames.begin(), allnames.end());
       auto adjacent = std::adjacent_find(allnames.begin(), allnames.end());
-      if (adjacent!=allnames.end()) {
-        string msg = "repeated name '" + *adjacent + "' in " + defname;
+      if (adjacent != allnames.end()) {
+        string msg = "repeated name '" + *adjacent + "' in " + mju_type2Str(type);
         throw mjCError(NULL, msg.c_str());
       }
     }
@@ -2813,29 +2697,11 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   CheckEmptyNames();
 
   // set object ids, check for repeated names
-  processlist(ids, bodies, "body");
-  processlist(ids, joints, "joint");
-  processlist(ids, geoms, "geom");
-  processlist(ids, sites, "site");
-  processlist(ids, cameras, "camera");
-  processlist(ids, lights, "light");
-  processlist(ids, flexes, "flex");
-  processlist(ids, meshes, "mesh");
-  processlist(ids, skins, "skin");
-  processlist(ids, hfields, "hfield");
-  processlist(ids, textures, "texture");
-  processlist(ids, materials, "material");
-  processlist(ids, pairs, "pair");
-  processlist(ids, excludes, "exclude");
-  processlist(ids, equalities, "equality");
-  processlist(ids, tendons, "tendon");
-  processlist(ids, actuators, "actuator");
-  processlist(ids, sensors, "sensor");
-  processlist(ids, numerics, "numeric");
-  processlist(ids, texts, "text");
-  processlist(ids, tuples, "tuple");
-  processlist(ids, keys, "key");
-  processlist(ids, plugins, "plugin");
+  for (int i = 0; i < mjNOBJECT; i++) {
+    if (i != mjOBJ_XBODY && object_lists[i]) {
+      processlist(ids, *object_lists[i], (mjtObj) i);
+    }
+  }
 
   // convert names into indices
   IndexAssets();
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 85ae8ec9..222cbccf 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -32,9 +32,8 @@ typedef enum _mjtInertiaFromGeom {
   mjINERTIAFROMGEOM_AUTO          // use only if inertial element is missing
 } mjtInertiaFromGeom;
 
-// TODO: convert mjListKeyMap to mjKeyMap[mjNOBJECT] by adding mjNOBJECT to mjtObj
 typedef std::map<std::string, int, std::less<> > mjKeyMap;
-typedef std::map<std::string, mjKeyMap, std::less<> > mjListKeyMap;
+typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
 
 
 
@@ -294,6 +293,9 @@ class mjCModel {
 
   //------------------------ internal variables
 
+  // array of pointers to each object list (enumerated by type)
+  std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists;
+
   // statistics, as computed by mj_setConst
   double meaninertia_auto;        // mean diagonal inertia, as computed by mj_setConst
   double meanmass_auto;           // mean body mass, as computed by mj_setConst
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index db1059ef..2079b1d1 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -30,16 +30,41 @@ namespace {
 
 using ::testing::DoubleNear;
 using ::testing::ElementsAre;
+using ::testing::HasSubstr;
+using ::testing::IsNull;
 using ::testing::NotNull;
-using UserDataTest = MujocoTest;
 
 static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
   return std::vector<mjtNum>(array + ncolumn * row,
                              array + ncolumn * (row + 1));
 }
 
+// ----------------------------- test mjCModel  --------------------------------
+
+using UserCModelTest = MujocoTest;
+
+TEST_F(UserCModelTest, RepeatedNames) {
+  static constexpr char xml[] = R"(
+   <mujoco>
+     <worldbody>
+       <body name="body1">
+         <joint axis="0 1 0" name="joint1"/>
+         <geom size="1" name="geom1"/>
+         <geom size="1" name="geom1"/>
+        </body>
+      </worldbody>
+    </mujoco>)";
+
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("repeated name 'geom1' in geom"));
+}
+
 // ------------- test automatic inference of nuser_xxx -------------------------
 
+using UserDataTest = MujocoTest;
+
 TEST_F(UserDataTest, AutoNUserBody) {
   static constexpr char xml[] = R"(
   <mujoco>

From f2a967348c64197b9a29fb9e1c7dd9879984e10b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 14 Dec 2023 13:29:22 -0800
Subject: [PATCH 075/121] Fix bug introduced in
 7942fe957ea046750f936ac002d49425e31d9dab

That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.

PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
---
 src/engine/engine_collision_driver.c          | 18 ++++----
 src/engine/engine_util_misc.c                 | 40 ++++++++++++++----
 src/engine/engine_util_misc.h                 |  6 ++-
 test/engine/engine_collision_box_test.cc      | 42 ++++++++++++++-----
 .../testdata/collision_box/boxbox_deep.xml    | 11 +++++
 5 files changed, 90 insertions(+), 27 deletions(-)
 create mode 100644 test/engine/testdata/collision_box/boxbox_deep.xml

diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index d42a4f2e..f6132b74 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -1444,9 +1444,6 @@ static void mj_makeCapsule(const mjModel* m, mjData* d, int f, const int vid[2],
 
 // test two geoms for collision, apply filters, add to contact list
 void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
-  // relative distance (1%) outside of which box-box contacts are removed
-  static mjtNum kBoxRemoveMargin = 1.01;
-
   TM_START;
 
   int num, type1, type2, condim;
@@ -1547,11 +1544,16 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
       // box sizes with margin
       mjtNum sz1[3] = {size1[0] + margin, size1[1] + margin, size1[2] + margin};
       mjtNum sz2[3] = {size2[0] + margin, size2[1] + margin, size2[2] + margin};
-      mju_scl3(sz1, sz1, kBoxRemoveMargin);
-      mju_scl3(sz2, sz2, kBoxRemoveMargin);
-      // mark as bad if outside box
-      if (mju_outsideBox(con[i].pos, pos1, mat1, sz1) ||
-          mju_outsideBox(con[i].pos, pos2, mat2, sz2)) {
+
+      // relative distance from surface (1%) outside of which box-box contacts are removed
+      static mjtNum kRemoveRatio = 1.01;
+
+      // is the contact outside: 1, inside: -1, within the removal width: 0
+      int out1 = mju_outsideBox(con[i].pos, pos1, mat1, sz1, kRemoveRatio);
+      int out2 = mju_outsideBox(con[i].pos, pos2, mat2, sz2, kRemoveRatio);
+
+      // mark as bad if outside one box and not inside the other box
+      if ((out1 == 1 && out2 != -1) || (out2 == 1 && out1 != -1)) {
         con[i].dim = -1;
       }
     }
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index 29e2e0f8..37eca9e4 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -837,21 +837,47 @@ mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum k, mjtNum b, mjtNum t)
 
 
 
-// return 1 if point is outside box given by pos, mat, size
+// return 1 if point is outside box given by pos, mat, size * inflate
+// return -1 if point is inside box given by pos, mat, size / inflate
+// return 0 if point is between the inflated and deflated boxes
 int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
-                   const mjtNum size[3]) {
+                   const mjtNum size[3], mjtNum inflate) {
+  // check inflation coefficient
+  if (inflate < 1) {
+    mjERROR("inflation coefficient must be >= 1")
+  }
+
   // vector from pos to point, projected to box frame
   mjtNum vec[3] = {point[0]-pos[0], point[1]-pos[1], point[2]-pos[2]};
   mju_rotVecMatT(vec, vec, mat);
 
-  // outside
-  if (vec[0] > size[0] || vec[0] < -size[0] ||
-      vec[1] > size[1] || vec[1] < -size[1] ||
-      vec[2] > size[2] || vec[2] < -size[2]) {
+  // big: inflated box
+  mjtNum big[3] = {size[0], size[1], size[2]};
+  if (inflate > 1) {
+    mju_scl3(big, big, inflate);
+  }
+
+  // check if outside big box
+  if (vec[0] > big[0] || vec[0] < -big[0] ||
+      vec[1] > big[1] || vec[1] < -big[1] ||
+      vec[2] > big[2] || vec[2] < -big[2]) {
     return 1;
   }
 
-  // inside
+  // quick return if no inflation
+  if (inflate == 1) {
+    return -1;
+  }
+
+  // check if inside small (deflated) box
+  mjtNum small[3] = {size[0]/inflate, size[1]/inflate, size[2]/inflate};
+  if (vec[0] < small[0] && vec[0] > -small[0] &&
+      vec[1] < small[1] && vec[1] > -small[1] &&
+      vec[2] < small[2] && vec[2] > -small[2]) {
+    return -1;
+  }
+
+  // within margin between small and big box
   return 0;
 }
 
diff --git a/src/engine/engine_util_misc.h b/src/engine/engine_util_misc.h
index c103aba1..cb317258 100644
--- a/src/engine/engine_util_misc.h
+++ b/src/engine/engine_util_misc.h
@@ -78,9 +78,11 @@ MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid,
 // integrate spring-damper analytically, return pos(dt)
 MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
 
-// return 1 if point is outside box given by pos, mat, size
+// return 1 if point is outside box given by pos, mat, size * inflate
+// return -1 if point is inside box given by pos, mat, size / inflate
+// return 0 if point is between the inflated and deflated boxes
 MJAPI int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
-                         const mjtNum size[3]);
+                         const mjtNum size[3], mjtNum inflate);
 
 // print matrix
 MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
diff --git a/test/engine/engine_collision_box_test.cc b/test/engine/engine_collision_box_test.cc
index 0247335d..5477189d 100644
--- a/test/engine/engine_collision_box_test.cc
+++ b/test/engine/engine_collision_box_test.cc
@@ -94,7 +94,7 @@ TEST_F(MjCollisionBoxTest, BadContacts) {
       }
 
       // expect some contacts to have been removed
-      EXPECT_LT(nmatched, num);
+      EXPECT_LT(nmatched, num) << local_path;
 
       // get box info
       const mjtNum* pos1 =  data->geom_xpos  + 3 * g1;
@@ -103,23 +103,27 @@ TEST_F(MjCollisionBoxTest, BadContacts) {
       const mjtNum* pos2 =  data->geom_xpos  + 3 * g2;
       const mjtNum* mat2 =  data->geom_xmat  + 9 * g2;
       const mjtNum* size2 = model->geom_size + 3 * g2;
+      mjtNum margin = mju_max(model->geom_margin[g1], model->geom_margin[g2]);
 
       // loop over raw contacts, find removed
       for (int i = 0; i < num; i++) {
         if (!match_raw[i]) {
           // === check if outside
 
-          // get margin and adjusted sizes
-          const mjtNum kBoxRemoveMargin = 1.01;
-          mjtNum sz1[3], sz2[3];
-          mju_scl3(sz1, size1, kBoxRemoveMargin);
-          mju_scl3(sz2, size2, kBoxRemoveMargin);
+          mjtNum sz1[3] = {size1[0]+margin, size1[1]+margin, size1[2]+margin};
+          mjtNum sz2[3] = {size2[0]+margin, size2[1]+margin, size2[2]+margin};
 
-          // is contact outside one of the boxes
-          bool outside = mju_outsideBox(con_raw[i].pos, pos1, mat1, sz1) ||
-                         mju_outsideBox(con_raw[i].pos, pos2, mat2, sz2);
+          // relative distance (1%) outside of which contacts are removed
+          static mjtNum kRatio = 1.01;
 
-          // expect that removed contact was either outside
+          // is the contact outside: 1, inside: -1, within the removal width: 0
+          int out1 = mju_outsideBox(con_raw[i].pos, pos1, mat1, sz1, kRatio);
+          int out2 = mju_outsideBox(con_raw[i].pos, pos2, mat2, sz2, kRatio);
+
+          // mark as bad if outside one box and not inside the other box
+          bool outside = (out1 == 1 && out2 != -1) || (out2 == 1 && out1 != -1);
+
+          // expect that removed contact was outside
           EXPECT_TRUE(outside);
         }
       }
@@ -222,5 +226,23 @@ TEST_F(MjCollisionBoxTest, DuplicateContacts) {
 }
 
 
+static const char* const kDeepFilePath =
+    "engine/testdata/collision_box/boxbox_deep.xml";
+
+TEST_F(MjCollisionBoxTest, DeepPenetration) {
+  const std::string xml_path = GetTestDataFilePath(kDeepFilePath);
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
+  ASSERT_THAT(model, NotNull());
+  mjData* data = mj_makeData(model);
+  mj_forward(model, data);
+
+  // expect 4 contact
+  EXPECT_EQ(data->ncon ,4);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
+
 }  // namespace
 }  // namespace mujoco
diff --git a/test/engine/testdata/collision_box/boxbox_deep.xml b/test/engine/testdata/collision_box/boxbox_deep.xml
new file mode 100644
index 00000000..65f14e5f
--- /dev/null
+++ b/test/engine/testdata/collision_box/boxbox_deep.xml
@@ -0,0 +1,11 @@
+<mujoco>
+  <!-- Box deeply penetrating another box -->
+
+  <worldbody>
+    <geom type="box" size="1 1 1" rgba=".5 .5 .5 .5"/>
+    <body pos=".1 .2 .3">
+      <freejoint/>
+      <geom type="box" size=".2 .2 .2"/>
+    </body>
+  </worldbody>
+</mujoco>

From 38fa756a20b8edc218bea622f21c50a333ab02cb Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 15 Dec 2023 05:35:34 -0800
Subject: [PATCH 076/121] Add `mjGEOM_LINEBOX`, used in visualization of
 collision trees.

PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
---
 doc/includes/references.h            |  3 +-
 include/mujoco/mjmodel.h             |  3 +-
 introspect/enums.py                  |  9 +--
 introspect/enums_test.py             |  2 +-
 python/mujoco/bindings_test.py       |  2 +-
 src/engine/engine_vis_visualize.c    | 96 ++++++++++------------------
 src/render/render_gl3.c              | 35 ++++++++++
 unity/Runtime/Bindings/MjBindings.cs |  9 +--
 8 files changed, 84 insertions(+), 75 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index c89a4363..7224e3a3 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -459,10 +459,11 @@ typedef enum mjtGeom_ {           // type of geometric shape
   mjGEOM_ARROW1,                  // arrow without wedges
   mjGEOM_ARROW2,                  // arrow in both directions
   mjGEOM_LINE,                    // line
+  mjGEOM_LINEBOX,                 // box with line edges
   mjGEOM_FLEX,                    // flex
   mjGEOM_SKIN,                    // skin
   mjGEOM_LABEL,                   // text label
-  mjGEOM_TRIANGLE,                // triangle connecting a frame
+  mjGEOM_TRIANGLE,                // triangle
 
   mjGEOM_NONE         = 1001      // missing geom type
 } mjtGeom;
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 49312dd1..d3417683 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -109,10 +109,11 @@ typedef enum mjtGeom_ {           // type of geometric shape
   mjGEOM_ARROW1,                  // arrow without wedges
   mjGEOM_ARROW2,                  // arrow in both directions
   mjGEOM_LINE,                    // line
+  mjGEOM_LINEBOX,                 // box with line edges
   mjGEOM_FLEX,                    // flex
   mjGEOM_SKIN,                    // skin
   mjGEOM_LABEL,                   // text label
-  mjGEOM_TRIANGLE,                // triangle connecting a frame
+  mjGEOM_TRIANGLE,                // triangle
 
   mjGEOM_NONE         = 1001      // missing geom type
 } mjtGeom;
diff --git a/introspect/enums.py b/introspect/enums.py
index 4982cf36..8502dbdb 100644
--- a/introspect/enums.py
+++ b/introspect/enums.py
@@ -90,10 +90,11 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGEOM_ARROW1', 101),
              ('mjGEOM_ARROW2', 102),
              ('mjGEOM_LINE', 103),
-             ('mjGEOM_FLEX', 104),
-             ('mjGEOM_SKIN', 105),
-             ('mjGEOM_LABEL', 106),
-             ('mjGEOM_TRIANGLE', 107),
+             ('mjGEOM_LINEBOX', 104),
+             ('mjGEOM_FLEX', 105),
+             ('mjGEOM_SKIN', 106),
+             ('mjGEOM_LABEL', 107),
+             ('mjGEOM_TRIANGLE', 108),
              ('mjGEOM_NONE', 1001),
          ]),
      )),
diff --git a/introspect/enums_test.py b/introspect/enums_test.py
index b4144420..3580d4c1 100644
--- a/introspect/enums_test.py
+++ b/introspect/enums_test.py
@@ -61,7 +61,7 @@ class EnumsTest(absltest.TestCase):
     self.assertEqual(enum_decl.values['mjGEOM_ARROW'], 100)
     self.assertEqual(enum_decl.values['mjGEOM_ARROW1'], 101)
     self.assertEqual(enum_decl.values['mjGEOM_ARROW2'], 102)
-    self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 107)
+    self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 108)
     # Skip a few...
 
     self.assertEqual(enum_decl.values['mjGEOM_NONE'], 1001)
diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index 1222569c..3d2e0ac6 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -840,7 +840,7 @@ Euler integrator, semi-implicit in velocity.
     self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, 100)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW1, 101)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW2, 102)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 107)
+    self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 108)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_NONE, 1001)
 
   def test_enum_from_int(self):
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 393bd509..d2e2de20 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -509,56 +509,6 @@ static int bodycategory(const mjModel* m, int bodyid) {
 
 
 
-// draw bounding box
-static void drawBoundingBox(mjData* d, mjvScene* scn,
-                            const mjtNum aabb[6], const mjtNum xpos[3],
-                            const mjtNum xmat[9], const float rgba[4]) {
-  mjtNum x[3];
-  mjtNum dist[3][3];
-  mjvGeom* thisgeom;
-  int category = mjCAT_DECOR;
-  int objtype = mjOBJ_UNKNOWN;
-  int i = -1;
-
-  if (xmat != NULL) {
-    mju_rotVecMat(x, aabb, xmat);
-    mju_addTo3(x, xpos);
-    for (int j=0; j < 3; j++) {
-      for (int k=0; k < 3; k++) {
-        dist[k][j] = aabb[k+3] * xmat[3*j+k];
-      }
-    }
-  } else {
-    mju_copy3(x, aabb);
-    mju_addTo3(x, xpos);
-    for (int j=0; j < 3; j++) {
-      mju_zero3(dist[j]);
-      dist[j][j] = aabb[j+3];
-    }
-  }
-
-  int split[3] = {1, 2, 4};
-  for (int v=0; v < 8; v++) {
-    mjtNum from[3] = {x[0], x[1], x[2]};
-    for (int k=0; k < 3; k++) {
-      mju_addToScl3(from, dist[k], v&split[k] ? 1 : -1);
-    }
-
-    mjtNum to[3];
-    for (int k=0; k < 3; k++) {
-      mju_addScl3(to, from, dist[k], 2);
-      if (!(v&split[k])) {
-        START
-        mjv_connector(thisgeom, mjGEOM_LINE, 2, from, to);
-        f2f(thisgeom->rgba, rgba, 4);
-        FINISH
-      }
-    }
-  }
-}
-
-
-
 // computes the camera frustum
 static void getFrustum(float zver[2], float zhor[2], float znear,
                        const float K[4], const float sensorsize[2]) {
@@ -683,6 +633,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   }
 
   // body BVH
+  category = mjCAT_DECOR;
+  objtype = mjOBJ_UNKNOWN;
   if (vopt->flags[mjVIS_BODYBVH]) {
     float rgba[] = {1, 0, 0, 1};
     for (int i = 0; i < m->nbvhstatic; i++) {
@@ -708,20 +660,30 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         break;
       }
 
-      // compute transformation
-      mjtNum *aabb = isleaf ? m->geom_aabb + 6*geomid : m->bvh_aabb + 6*i;
-
+      // get xpos, xmat, size
       const mjtNum* xpos = isleaf ? d->geom_xpos + 3 * geomid : d->xipos + 3 * bodyid;
       const mjtNum* xmat = isleaf ? d->geom_xmat + 9 * geomid : d->ximat + 9 * bodyid;
+      const mjtNum *size = isleaf ? m->geom_aabb + 6*geomid + 3 : m->bvh_aabb + 6*i + 3;
+
+      // offset xpos with aabb center (not always at frame origin)
+      const mjtNum *center = isleaf ? m->geom_aabb + 6*geomid : m->bvh_aabb + 6*i;
+      mjtNum pos[3];
+      mju_rotVecMat(pos, center, xmat);
+      mju_addTo3(pos, xpos);
 
       rgba[0] = d->bvh_active[i] ? 1 : 0;
       rgba[1] = d->bvh_active[i] ? 0 : 1;
 
-      drawBoundingBox(d, scn, aabb, xpos, xmat, rgba);
+      START
+      mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
+      FINISH
+
     }
   }
 
   // flex BVH
+  category = mjCAT_DECOR;
+  objtype = mjOBJ_UNKNOWN;
   if (vopt->flags[mjVIS_FLEXBVH]) {
     float rgba[] = {1, 0, 0, 0.1};
     for (int f=0; f < m->nflex; f++) {
@@ -741,10 +703,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           rgba[0] = d->bvh_active[i] ? 1 : 0;
           rgba[1] = d->bvh_active[i] ? 0 : 1;
 
-          // b/304453879 : add LINEBOX geom for bounding box visualization
-
           START
-          mjv_initGeom(thisgeom, mjGEOM_BOX, aabb+3, aabb, NULL, rgba);
+          mjv_initGeom(thisgeom, mjGEOM_LINEBOX, aabb+3, aabb, NULL, rgba);
           FINISH
         }
       }
@@ -752,6 +712,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   }
 
   // mesh BVH
+  category = mjCAT_DECOR;
+  objtype = mjOBJ_UNKNOWN;
   if (vopt->flags[mjVIS_MESHBVH]) {
     float rgba[] = {1, 0, 0, 1};
     for (int geomid = 0; geomid < m->ngeom; geomid++) {
@@ -770,11 +732,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           }
         }
 
-        // compute transformation
-        const mjtNum *aabb = m->bvh_aabb + 6*i;
-        const mjtNum* xpos = d->geom_xpos + 3 * geomid;
-        const mjtNum* xmat = d->geom_xmat + 9 * geomid;
-
         if (!d->bvh_active[i]) {
           continue;
         }
@@ -782,7 +739,20 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         rgba[0] = d->bvh_active[i] ? 1 : 0;
         rgba[1] = d->bvh_active[i] ? 0 : 1;
 
-        drawBoundingBox(d, scn, aabb, xpos, xmat, rgba);
+        // get xpos, xmat, size
+        const mjtNum* xpos = d->geom_xpos + 3 * geomid;
+        const mjtNum* xmat = d->geom_xmat + 9 * geomid;
+        const mjtNum *size = m->bvh_aabb + 6*i + 3;
+
+        // offset xpos with aabb center (not always at geom origin)
+        const mjtNum *center = m->bvh_aabb + 6*i;
+        mjtNum pos[3];
+        mju_rotVecMat(pos, center, xmat);
+        mju_addTo3(pos, xpos);
+
+        START
+        mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
+        FINISH
       }
     }
   }
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
index 4e108c0d..6535874a 100644
--- a/src/render/render_gl3.c
+++ b/src/render/render_gl3.c
@@ -404,6 +404,41 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
     }
     break;
 
+  case mjGEOM_LINEBOX:                        // box with line edges
+    glLineWidth(1.5*con->lineWidth);
+    lighting = glIsEnabled(GL_LIGHTING);
+    glDisable(GL_LIGHTING);
+    // bottom face
+    glBegin(GL_LINE_LOOP);
+    glVertex3f(-size[0], -size[1], -size[2]);
+    glVertex3f( size[0], -size[1], -size[2]);
+    glVertex3f( size[0],  size[1], -size[2]);
+    glVertex3f(-size[0],  size[1], -size[2]);
+    glEnd();
+    // top face
+    glBegin(GL_LINE_LOOP);
+    glVertex3f(-size[0], -size[1], size[2]);
+    glVertex3f( size[0], -size[1], size[2]);
+    glVertex3f( size[0],  size[1], size[2]);
+    glVertex3f(-size[0],  size[1], size[2]);
+    glEnd();
+    // vertical edges
+    glBegin(GL_LINES);
+    glVertex3f(-size[0], -size[1], -size[2]);
+    glVertex3f(-size[0], -size[1],  size[2]);
+    glVertex3f( size[0], -size[1], -size[2]);
+    glVertex3f( size[0], -size[1],  size[2]);
+    glVertex3f( size[0],  size[1], -size[2]);
+    glVertex3f( size[0],  size[1],  size[2]);
+    glVertex3f(-size[0],  size[1], -size[2]);
+    glVertex3f(-size[0],  size[1],  size[2]);
+    glEnd();
+    glLineWidth(con->lineWidth);
+    if (lighting) {
+      glEnable(GL_LIGHTING);
+    }
+    break;
+
   case mjGEOM_TRIANGLE:                       // triangle
     glBegin(GL_TRIANGLES);
     glVertex3f(0, 0, 0);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index c4969e46..d773cf87 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -191,10 +191,11 @@ public enum mjtGeom : int{
   mjGEOM_ARROW1 = 101,
   mjGEOM_ARROW2 = 102,
   mjGEOM_LINE = 103,
-  mjGEOM_FLEX = 104,
-  mjGEOM_SKIN = 105,
-  mjGEOM_LABEL = 106,
-  mjGEOM_TRIANGLE = 107,
+  mjGEOM_LINEBOX = 104,
+  mjGEOM_FLEX = 105,
+  mjGEOM_SKIN = 106,
+  mjGEOM_LABEL = 107,
+  mjGEOM_TRIANGLE = 108,
   mjGEOM_NONE = 1001,
 }
 public enum mjtCamLight : int{

From dc0d0c59d40bf768282a47bdc465c83c2b7fb5f1 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 15 Dec 2023 08:11:26 -0800
Subject: [PATCH 077/121] Fix bug in simulate where the "LOADING..." label was
 not properly showing.

PiperOrigin-RevId: 591257979
Change-Id: Id09754b1e5a87decfb68b9fe305388aa8f0f5ed3
---
 simulate/simulate.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index db0821d2..abe5a23b 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -2479,7 +2479,7 @@ void Simulate::Render() {
     char label[30] = {'\0'};
     if (this->loadrequest) {
       std::snprintf(label, sizeof(label), "LOADING...");
-    } if (this->scrub_index == 0) {
+    } else if (this->scrub_index == 0) {
       std::snprintf(label, sizeof(label), "PAUSE");
     } else {
       std::snprintf(label, sizeof(label), "PAUSE (%d)", this->scrub_index);

From 8ecb16abfa16beb3a92f1840bfb31c0bf7d11cae Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 18 Dec 2023 03:33:05 -0800
Subject: [PATCH 078/121] Don't run particle.xml in testspeed_test under ASAN.

Reduce the number of steps for a couple of other slow tests.

PiperOrigin-RevId: 591844569
Change-Id: If722567b91163f1f3c451302f9543a43d05872a1
---
 test/sample/testspeed_test.sh | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/test/sample/testspeed_test.sh b/test/sample/testspeed_test.sh
index 942c2a98..f48342bc 100755
--- a/test/sample/testspeed_test.sh
+++ b/test/sample/testspeed_test.sh
@@ -26,8 +26,17 @@ test_model() {
   echo "Testing $model" >&2
 
   local iterations=10
-  if [[ "$model" == */composite/particle.xml && ${TESTSPEED_ASAN:-0} != 0 ]]; then
-    iterations=2
+  # for particularly slow models, only run 2 steps under ASAN, or skip.
+  if [[ ${TESTSPEED_ASAN:-0} != 0 ]]; then
+    if [[ "$model" == */composite/particle.xml ]]; then
+      # this test can take several minutes under ASAN
+      return 0
+    fi
+    if [[ "$model" == */benchmark/testdata/humanoid200.xml
+        || "$model" == */engine/testdata/collision_convex/stacked_boxes.xml
+    ]]; then
+      iterations=2
+    fi
   fi
 
   # run testspeed, writing its output to stderr.

From 7cb7c87f70a8dc6718283c3fec90f8b28497debf Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 18 Dec 2023 07:32:20 -0800
Subject: [PATCH 079/121] Fix a few issues with the passive viewer.

1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
---
 doc/includes/references.h            |  3 +++
 include/mujoco/mjvisualize.h         |  3 +++
 include/mujoco/mjxmacro.h            |  2 +-
 introspect/structs.py                | 19 +++++++++++++++++++
 simulate/simulate.cc                 |  9 ++++++---
 src/engine/engine_vis_state.c        | 16 ++++++++++++++++
 test/engine/CMakeLists.txt           |  7 ++++++-
 test/engine/engine_vis_state_test.cc |  8 ++++----
 unity/Runtime/Bindings/MjBindings.cs |  3 +++
 9 files changed, 61 insertions(+), 9 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 7224e3a3..1c788150 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -2170,6 +2170,7 @@ struct mjvSceneState_ {
     int nnames;
     int npaths;
     int nsensordata;
+    int narena;
 
     mjOption opt;
     mjVisual vis;
@@ -2383,6 +2384,7 @@ struct mjvSceneState_ {
     mjtNum* ten_length;
     mjtNum* wrap_xpos;
 
+    mjtNum* bvh_aabb_dyn;
     mjtByte* bvh_active;
     int* island_dofadr;
     int* island_dofind;
@@ -2394,6 +2396,7 @@ struct mjvSceneState_ {
 
     mjContact* contact;
     mjtNum* efc_force;
+    void* arena;
   } data;
 };
 typedef struct mjvSceneState_ mjvSceneState;
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index d693df9c..dc8a4bc6 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -436,6 +436,7 @@ struct mjvSceneState_ {
     int nnames;
     int npaths;
     int nsensordata;
+    int narena;
 
     mjOption opt;
     mjVisual vis;
@@ -649,6 +650,7 @@ struct mjvSceneState_ {
     mjtNum* ten_length;
     mjtNum* wrap_xpos;
 
+    mjtNum* bvh_aabb_dyn;
     mjtByte* bvh_active;
     int* island_dofadr;
     int* island_dofind;
@@ -660,6 +662,7 @@ struct mjvSceneState_ {
 
     mjContact* contact;
     mjtNum* efc_force;
+    void* arena;
   } data;
 };
 typedef struct mjvSceneState_ mjvSceneState;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index f4088314..86f61e0c 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -614,7 +614,7 @@
     X   ( mjtNum,    qLD,               nM,          1           ) \
     X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
     X   ( mjtNum,    qLDiagSqrtInv,     nv,          1           ) \
-    X   ( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
+    XMJV( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
     XMJV( mjtByte,   bvh_active,        nbvh,        1           ) \
     X   ( mjtNum,    flexedge_velocity, nflexedge,   1           ) \
     X   ( mjtNum,    ten_velocity,      ntendon,     1           ) \
diff --git a/introspect/structs.py b/introspect/structs.py
index eea7f6cc..43e7cdc9 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -6334,6 +6334,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              type=ValueType(name='int'),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='narena',
+                             type=ValueType(name='int'),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='opt',
                              type=ValueType(name='mjOption'),
@@ -7596,6 +7601,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='bvh_aabb_dyn',
+                             type=PointerType(
+                                 inner_type=ValueType(name='mjtNum'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='bvh_active',
                              type=PointerType(
@@ -7659,6 +7671,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='arena',
+                             type=PointerType(
+                                 inner_type=ValueType(name='void'),
+                             ),
+                             doc='',
+                         ),
                      ),
                  ),
                  doc='',
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index abe5a23b..226e290d 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1817,6 +1817,9 @@ void Simulate::Sync() {
   if (!m_) {
     return;
   }
+  if (this->exitrequest.load()) {
+    return;
+  }
 
   bool update_profiler = this->profiler && (this->pause_update || this->run);
   bool update_sensor = this->sensor && (this->pause_update || this->run);
@@ -2714,9 +2717,9 @@ void Simulate::RenderLoop() {
     }
   }
 
-  if (!is_passive_){
-    mjv_freeScene(&this->scn);
-  } else {
+  const MutexLock lock(this->mtx);
+  mjv_freeScene(&this->scn);
+  if (is_passive_) {
     mjv_freeSceneState(&scnstate_);
   }
 
diff --git a/src/engine/engine_vis_state.c b/src/engine/engine_vis_state.c
index 5ef3c274..55d35497 100644
--- a/src/engine/engine_vis_state.c
+++ b/src/engine/engine_vis_state.c
@@ -86,6 +86,11 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
 #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);
@@ -118,6 +123,10 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
 #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);
 
@@ -177,6 +186,7 @@ void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData*
     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;
@@ -194,10 +204,16 @@ void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, 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;
diff --git a/test/engine/CMakeLists.txt b/test/engine/CMakeLists.txt
index fb77205d..727cf955 100644
--- a/test/engine/CMakeLists.txt
+++ b/test/engine/CMakeLists.txt
@@ -99,5 +99,10 @@ target_link_libraries(engine_util_spatial_test fixture gmock)
 mujoco_test(engine_vfs_test)
 target_link_libraries(engine_vfs_test fixture gmock)
 
-mujoco_test(engine_vis_state_test)
+mujoco_test(
+  engine_vis_state_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
+)
 target_link_libraries(engine_vis_state_test fixture gmock)
diff --git a/test/engine/engine_vis_state_test.cc b/test/engine/engine_vis_state_test.cc
index 48d48efd..6fefde47 100644
--- a/test/engine/engine_vis_state_test.cc
+++ b/test/engine/engine_vis_state_test.cc
@@ -35,17 +35,17 @@ 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 kModelPath =
-    "testdata/model.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}) {
+       {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());
+    ASSERT_THAT(model, NotNull()) << "Failed to load model from " << path;
     mjData* data = mj_makeData(model);
 
     while (data->time < 2) {
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index d773cf87..213cba7a 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -6095,6 +6095,7 @@ public unsafe struct model {
   public int nnames;
   public int npaths;
   public int nsensordata;
+  public int narena;
   public mjOption_ opt;
   public mjVisual_ vis;
   public mjStatistic_ stat;
@@ -6287,6 +6288,7 @@ public unsafe struct data {
   public int* wrap_obj;
   public double* ten_length;
   public double* wrap_xpos;
+  public double* bvh_aabb_dyn;
   public byte* bvh_active;
   public int* island_dofadr;
   public int* island_dofind;
@@ -6296,6 +6298,7 @@ public unsafe struct data {
   public double* flexvert_xpos;
   public mjContact_* contact;
   public double* efc_force;
+  public void* arena;
 }
 
 [StructLayout(LayoutKind.Sequential)]

From d39ed1d3c8890f30037cc454a0f415f506cf907f Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 18 Dec 2023 10:04:25 -0800
Subject: [PATCH 080/121] Update changelog.

PiperOrigin-RevId: 591932297
Change-Id: I9131400fee6839e9311baf28a069fc1e7237ee86
---
 doc/changelog.rst | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 5a90b5f6..016d028b 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,9 +2,23 @@
 Changelog
 =========
 
-Version 3.1.0 (December 12, 2023)
+
+Upcoming version (not yet released)
 -----------------------------------
 
+Bug fixes
+^^^^^^^^^
+- Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts is one box was deeply embedded in the
+  other.
+- Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing correctly.
+- Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models containing Flex objects.
+- Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``
+- Fixed a bug in MJX where ``efc_address`` was sometimes incorrectly calculated in ``get_data``.
+
+
+Version 3.1.0 (December 12, 2023)
+---------------------------------
+
 General
 ^^^^^^^
 1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
@@ -39,7 +53,7 @@ Bug fixes
 ^^^^^^^^^
 8. Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
    Before this fix such actuators could lead to non-conservation of momentum.
-9. Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
+9. Fix bug that prevented using flex with :ref:`simulate<saSimulate>`.
 10. Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
 11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
     supported version is still 11.0, but we release these wheels to fix compatibility for those users. See

From 3ed81f864c75957b507a9f9453d112f2cb9d243f Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 18 Dec 2023 11:34:33 -0800
Subject: [PATCH 081/121] Update version number in
 third_party/mujoco/doc/changelog.rst for v3.1.1

PiperOrigin-RevId: 591962782
Change-Id: I7c498e1339013e9207ef8c21e793c1d80f55d16d
---
 doc/changelog.rst | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 016d028b..c4970235 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -3,17 +3,17 @@ Changelog
 =========
 
 
-Upcoming version (not yet released)
+Version 3.1.1 (December 18, 2023)
 -----------------------------------
 
 Bug fixes
 ^^^^^^^^^
-- Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts is one box was deeply embedded in the
+1. Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts is one box was deeply embedded in the
   other.
-- Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing correctly.
-- Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models containing Flex objects.
-- Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``
-- Fixed a bug in MJX where ``efc_address`` was sometimes incorrectly calculated in ``get_data``.
+2. Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing correctly.
+3. Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models containing Flex objects.
+4. Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``
+5. Fixed a bug in MJX where ``efc_address`` was sometimes incorrectly calculated in ``get_data``.
 
 
 Version 3.1.0 (December 12, 2023)

From 1c31676e2d37d3d7808d1511318ce6afce3dc91b Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Mon, 18 Dec 2023 14:56:12 -0800
Subject: [PATCH 082/121] Fix formatting error.

PiperOrigin-RevId: 592018049
Change-Id: If0b59d18c380997c4c94795e275b56d2f6293c22
---
 doc/changelog.rst | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index c4970235..b70c7e9e 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -8,8 +8,7 @@ Version 3.1.1 (December 18, 2023)
 
 Bug fixes
 ^^^^^^^^^
-1. Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts is one box was deeply embedded in the
-  other.
+1. Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts if one box was deeply embedded in the other.
 2. Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing correctly.
 3. Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models containing Flex objects.
 4. Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``

From 7fb448613fbcd205f742628c353b3f20223b3c88 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 18 Dec 2023 15:02:35 -0800
Subject: [PATCH 083/121] Post release version update: Update to V3.1.2

PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
---
 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 40931b19..57b9ddd3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.1.1
+  VERSION 3.1.2
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/dist/mujoco.rc b/dist/mujoco.rc
index 6a7fb828..2c2d58c6 100644
--- a/dist/mujoco.rc
+++ b/dist/mujoco.rc
@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,1,1,0
-PRODUCTVERSION 3,1,1,0
+FILEVERSION 3,1,2,0
+PRODUCTVERSION 3,1,2,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.1.1"
+      VALUE "ProductVersion", "3.1.2"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.1.1"
+      VALUE "FileVersion", "3.1.2"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/dist/simulate.rc b/dist/simulate.rc
index 14627b0b..255cb59c 100644
--- a/dist/simulate.rc
+++ b/dist/simulate.rc
@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,1,1,0
-PRODUCTVERSION 3,1,1,0
+FILEVERSION 3,1,2,0
+PRODUCTVERSION 3,1,2,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.1.1"
+      VALUE "ProductVersion", "3.1.2"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.1.1"
+      VALUE "FileVersion", "3.1.2"
       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 c43f3145..483383c4 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -522,7 +522,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 311
+     - 312
      - 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 0a608df9..4e443f40 100644
--- a/doc/unity.rst
+++ b/doc/unity.rst
@@ -30,14 +30,14 @@ _____
 
 The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
 a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.1.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.2.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-3.1.1/lib/libmujoco.so.3.1.1`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.1.2/lib/libmujoco.so.3.1.2`` and rename it as ``libmujoco.so``.
 
 Windows
 _______
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index ea861353..5ab8a363 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 311
+#define mjVERSION_HEADER 312
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index a558c2ed..b0672ead 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.1.1"
+version = "3.1.2"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -31,13 +31,13 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.1.1.dev0",
+    "mujoco>=3.1.2.dev0",
     "scipy",
     "trimesh",
 ]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.1.1"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.2"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.1.1/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.2/changelog.html"
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index e782497d..ed90bd7d 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.3.1.1.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.2.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.1.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.1.2 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 7b2dfa5e..e4cb8947 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>3.1.1</string>
+    <string>3.1.2</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.1.1</string>
+    <string>3.1.2</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.1.1</string>
+    <string>3.1.2</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.1.1</string>
+    <string>3.1.2</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index ab298dc4..e8a31471 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.1.1"
+version = "3.1.2"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.1.1"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.2"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.1.1/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.2/changelog.html"
 
 [tool.setuptools]
 include-package-data = false
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index 0d2c2c7f..3df0c6ce 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.1.1
+  VERSION 3.1.2
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index fb416535..670aa6e2 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.1.1
+  VERSION 3.1.2
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 819dc693..dfa91d0a 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -38,8 +38,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 311
-#define mjVERSIONSTRING "3.1.1"
+ #define mjVERSION 312
+#define mjVERSIONSTRING "3.1.2"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
index 3e9b9bfc..2d6e9ea0 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.3.1.1.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.1.2.dylib",
                 mujocoPath + "/mujoco.dylib");
             AssetDatabase.Refresh();
           }
@@ -45,7 +45,7 @@ public class MujocoBinaryRetriever {
           if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
             File.Copy(
                 Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
-                "/.mujoco/mujoco-3.1.1/lib/libmujoco.so.3.1.1",
+                "/.mujoco/mujoco-3.1.2/lib/libmujoco.so.3.1.2",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 213cba7a..fd2c33bf 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -108,7 +108,7 @@ public const int mjMAXLINEPNT = 1000;
 public const int mjMAXPLANEGRID = 200;
 public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 311;
+public const int mjVERSION_HEADER = 312;
 
 
 // ------------------------------------Enums------------------------------------
diff --git a/unity/package.json b/unity/package.json
index a6f629b9..cff13baf 100644
--- a/unity/package.json
+++ b/unity/package.json
@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.1.1",
+  "version": "3.1.2",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

From 80f50c943c4fc500f8a7ea5bd8705836588260b4 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Mon, 18 Dec 2023 15:27:16 -0800
Subject: [PATCH 084/121] Add filterexact to MJX.

PiperOrigin-RevId: 592026712
Change-Id: Ia73d67f36db5a4a1786a2532b5daa9e9a36f714c
---
 doc/changelog.rst                   |  8 ++++++
 doc/mjx.rst                         |  8 +++---
 mjx/mujoco/mjx/_src/forward.py      | 41 +++++++++++++++++++++--------
 mjx/mujoco/mjx/_src/forward_test.py | 40 ++++++++++++++++++++++++++++
 mjx/mujoco/mjx/_src/test_util.py    | 12 +++++++++
 mjx/mujoco/mjx/_src/types.py        | 10 +++----
 6 files changed, 99 insertions(+), 20 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index b70c7e9e..ad621fb4 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,6 +2,14 @@
 Changelog
 =========
 
+Upcoming version (not yet released)
+-----------------------------------
+
+MJX
+^^^
+
+1. Add :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
+
 
 Version 3.1.1 (December 18, 2023)
 -----------------------------------
diff --git a/doc/mjx.rst b/doc/mjx.rst
index 92a709b6..cc052182 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -183,7 +183,7 @@ The following features are **fully supported** in MJX:
    * - :ref:`Transmission <mjtTrn>`
      - ``TRN_JOINT``
    * - :ref:`Actuator Dynamics <mjtDyn>`
-     - ``NONE``, ``INTEGRATOR``, ``FILTER``
+     - ``NONE``, ``INTEGRATOR``, ``FILTER``, ``FILTEREXACT``
    * - :ref:`Actuator Gain <mjtGain>`
      - ``FIXED``, ``AFFINE``
    * - :ref:`Actuator Bias <mjtBias>`
@@ -218,7 +218,7 @@ The following features are **in development** and coming soon:
    * - Dynamics
      - :ref:`Inverse <mj_inverse>`
    * - :ref:`Transmission <mjtTrn>`
-     - ``TRN_TENDON``
+     - ``TRN_SITE``, ``TRN_TENDON``
    * - :ref:`Actuator Dynamics <mjtDyn>`
      - ``MUSCLE``
    * - :ref:`Actuator Gain <mjtGain>`
@@ -257,9 +257,9 @@ The following features are **unsupported**:
    * - Category
      - Feature
    * - :ref:`Transmission <mjtTrn>`
-     - ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_SITE``, ``TRN_BODY``
+     - ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_BODY``
    * - :ref:`Actuator Dynamics <mjtDyn>`
-     - ``FILTEREXACT``, ``USER``
+     - ``USER``
    * - :ref:`Actuator Gain <mjtGain>`
      - ``USER``
    * - :ref:`Actuator Bias <mjtBias>`
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 827c8f31..1ff268e7 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -107,7 +107,7 @@ def fwd_actuation(m: Model, d: Data) -> Data:
       act_dot = jp.array(0.0)
     elif dyn_typ == DynType.INTEGRATOR:
       act_dot = ctrl
-    elif dyn_typ == DynType.FILTER:
+    elif dyn_typ in (DynType.FILTER, DynType.FILTEREXACT):
       act_dot = (ctrl - act) / jp.clip(dyn_prm[0], mujoco.mjMINVAL)
     else:
       raise NotImplementedError(f'dyntype {dyn_typ.name} not implemented.')
@@ -228,6 +228,34 @@ def _integrate_pos(
   return jp.concatenate(qs) if qs else jp.empty((0,))
 
 
+def _next_activation(m: Model, d: Data, act_dot: jax.Array) -> jax.Array:
+  """Returns the next act given the current act_dot, after clamping."""
+  act = d.act
+
+  if not m.na:
+    return act
+
+  actrange = jp.where(
+      m.actuator_actlimited[:, None],
+      m.actuator_actrange,
+      jp.array([-jp.inf, jp.inf]),
+  )
+
+  def fn(dyntype, dynprm, act, act_dot, actrange):
+    if dyntype == DynType.FILTEREXACT:
+      tau = jp.clip(dynprm[0], a_min=mujoco.mjMINVAL)
+      act = act + act_dot * tau * (1 - jp.exp(-m.opt.timestep / tau))
+    else:
+      act = act + act_dot * m.opt.timestep
+    act = jp.clip(act, actrange[0], actrange[1])
+    return act
+
+  args = (m.actuator_dyntype, m.actuator_dynprm, act, act_dot, actrange)
+  act = scan.flat(m, fn, 'uuaau', 'a', *args, group_by='u')
+
+  return act.reshape(m.na)
+
+
 @named_scope
 def _advance(
     m: Model,
@@ -237,16 +265,7 @@ def _advance(
     qvel: Optional[jax.Array] = None,
 ) -> Data:
   """Advance state and time given activation derivatives and acceleration."""
-  act = d.act
-  if m.na:
-    act = d.act + act_dot * m.opt.timestep
-    actrange = jp.where(
-        m.actuator_actlimited[:, None],
-        m.actuator_actrange,
-        jp.array([-jp.inf, jp.inf]),
-    )
-    fn = lambda act, actrange: jp.clip(act, actrange[0], actrange[1])
-    act = scan.flat(m, fn, 'au', 'a', act, actrange, group_by='u')
+  act = _next_activation(m, d, act_dot)
 
   # advance velocities
   d = d.replace(qvel=d.qvel + qacc * m.opt.timestep)
diff --git a/mjx/mujoco/mjx/_src/forward_test.py b/mjx/mujoco/mjx/_src/forward_test.py
index fbe28c9d..cc767ae8 100644
--- a/mjx/mujoco/mjx/_src/forward_test.py
+++ b/mjx/mujoco/mjx/_src/forward_test.py
@@ -134,5 +134,45 @@ class ForwardTest(absltest.TestCase):
     np.testing.assert_allclose(dx.qvel, 1 + m.opt.timestep)
 
 
+class ActuatorTest(absltest.TestCase):
+  _DYN_XML = """
+    <mujoco>
+      <compiler autolimits="true"/>
+      <worldbody>
+        <body name="box">
+          <joint name="slide1" type="slide" axis="1 0 0" />
+          <joint name="slide2" type="slide" axis="0 1 0" />
+          <joint name="slide3" type="slide" axis="0 0 1" />
+          <joint name="slide4" type="slide" axis="1 1 0" />
+          <geom type="box" size=".05 .05 .05" mass="1"/>
+        </body>
+      </worldbody>
+      <actuator>
+        <general joint="slide1" dynprm="0.1" gainprm="1.1" />
+        <general joint="slide2" dyntype="integrator" dynprm="0.1" gainprm="1.1" />
+        <general joint="slide3" dyntype="filter" dynprm="0.1" gainprm="1.1" />
+        <general joint="slide4" dyntype="filterexact" dynprm="0.1" gainprm="1.1" />
+      </actuator>
+    </mujoco>
+  """
+
+  def test_dyntype(self):
+    m = mujoco.MjModel.from_xml_string(self._DYN_XML)
+    d = mujoco.MjData(m)
+    d.ctrl = np.array([1.5, 1.5, 1.5, 1.5])
+    d.act = np.array([0.5, 0.5, 0.5])
+
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+
+    mujoco.mj_fwdActuation(m, d)
+    dx = jax.jit(mjx.fwd_actuation)(mx, dx)
+    _assert_attr_eq(d, dx, 'act_dot')
+
+    mujoco.mj_Euler(m, d)
+    dx = jax.jit(mjx.euler)(mx, dx)
+    _assert_attr_eq(d, dx, 'act')
+
+
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index 870621f7..85cdb5dc 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -29,6 +29,8 @@ TEST_FILES: List[str] = [
 ]
 
 _ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
+_DYN_TYPES = ['none', 'integrator', 'filter', 'filterexact']
+_DYN_PRMS = ['0.189', '2.1']
 _JOINT_TYPES = ['free', 'hinge', 'slide', 'ball']
 _JOINT_AXES = ['1 0 0', '0 1 0', '0 0 1']
 _FRICTIONS = ['1.2 0.003 0.0002', '0.2 0.0001 0.0005']
@@ -124,6 +126,8 @@ def _make_geom(
 def _make_actuator(actuator_type: str, joint: str) -> Dict[str, str]:
   """Returns attributes for an actuator."""
   attr = {'joint': joint}
+
+  # set actuator type
   if actuator_type == 'motor':
     attr['gear'] = np.random.choice(_GEARS)
   elif actuator_type == 'position':
@@ -139,10 +143,18 @@ def _make_actuator(actuator_type: str, joint: str) -> Dict[str, str]:
   elif actuator_type == 'velocity':
     attr['kv'] = np.random.choice(_KV_VEL)
 
+  # set dyntype
+  if actuator_type == 'general':
+    attr['dyntype'] = np.random.choice(_DYN_TYPES)
+    if attr['dyntype'] != 'none':
+      attr['dynprm'] = np.random.choice(_DYN_PRMS)
+
+  # ctrlrange
   if p(50) and actuator_type != 'intvelocity':
     lb, ub = -np.random.uniform(), np.random.uniform()
     attr['ctrlrange'] = f'{lb:.2f} {ub:.2f}'
 
+  # forcerange
   if p(50):
     lb, ub = -np.random.uniform(), np.random.uniform()
     attr['forcerange'] = f'{lb*10:.2f} {ub*10:.2f}'
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 19b37630..9ccbe29a 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -20,10 +20,7 @@ from typing import Sequence
 import jax
 import jax.numpy as jp
 import mujoco
-# pylint: disable=g-importing-member
-from mujoco.mjx._src import dataclasses
-from mujoco.mjx._src.dataclasses import PyTreeNode
-# pylint: enable=g-importing-member
+from mujoco.mjx._src.dataclasses import PyTreeNode  # pylint: disable=g-importing-member
 import numpy as np
 
 
@@ -167,11 +164,14 @@ class DynType(enum.IntEnum):
   Attributes:
     NONE: no internal dynamics; ctrl specifies force
     INTEGRATOR: integrator: da/dt = u
+    FILTER: linear filter: da/dt = (u-a) / tau
+    FILTEREXACT: linear filter: da/dt = (u-a) / tau, with exact integration
   """
   NONE = mujoco.mjtDyn.mjDYN_NONE
   INTEGRATOR = mujoco.mjtDyn.mjDYN_INTEGRATOR
   FILTER = mujoco.mjtDyn.mjDYN_FILTER
-  # unsupported: FILTEREXACT, MUSCLE, USER
+  FILTEREXACT = mujoco.mjtDyn.mjDYN_FILTEREXACT
+  # unsupported: MUSCLE, USER
 
 
 class GainType(enum.IntEnum):

From 77b4132c47fe652df27d014884b39b410301fb1c Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Tue, 19 Dec 2023 16:18:01 -0800
Subject: [PATCH 085/121] Add site transmission to MJX.

PiperOrigin-RevId: 592373042
Change-Id: I54d941f4ee6f74404fe2aea7253f5b426d097e23
---
 doc/changelog.rst                  |  1 +
 doc/mjx.rst                        |  4 +--
 mjx/mujoco/mjx/_src/device_test.py |  6 ----
 mjx/mujoco/mjx/_src/io.py          |  4 +++
 mjx/mujoco/mjx/_src/io_test.py     | 41 +++++++++++++++++-----
 mjx/mujoco/mjx/_src/scan.py        | 40 +++++++++++++++++-----
 mjx/mujoco/mjx/_src/smooth.py      | 55 ++++++++++++++++++++----------
 mjx/mujoco/mjx/_src/smooth_test.py | 35 +++++++++++++++++++
 mjx/mujoco/mjx/_src/test_util.py   | 33 +++++++++++++-----
 mjx/mujoco/mjx/_src/types.py       |  4 ++-
 10 files changed, 171 insertions(+), 52 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index ad621fb4..52592511 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -9,6 +9,7 @@ MJX
 ^^^
 
 1. Add :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
+2. Add :at:`site` transmission.
 
 
 Version 3.1.1 (December 18, 2023)
diff --git a/doc/mjx.rst b/doc/mjx.rst
index cc052182..c9263fa9 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -181,7 +181,7 @@ The following features are **fully supported** in MJX:
    * - :ref:`Joint <mjtJoint>`
      - ``FREE``, ``BALL``, ``SLIDE``, ``HINGE``
    * - :ref:`Transmission <mjtTrn>`
-     - ``TRN_JOINT``
+     - ``TRN_JOINT``, ``TRN_SITE``
    * - :ref:`Actuator Dynamics <mjtDyn>`
      - ``NONE``, ``INTEGRATOR``, ``FILTER``, ``FILTEREXACT``
    * - :ref:`Actuator Gain <mjtGain>`
@@ -218,7 +218,7 @@ The following features are **in development** and coming soon:
    * - Dynamics
      - :ref:`Inverse <mj_inverse>`
    * - :ref:`Transmission <mjtTrn>`
-     - ``TRN_SITE``, ``TRN_TENDON``
+     - ``TRN_TENDON``
    * - :ref:`Actuator Dynamics <mjtDyn>`
      - ``MUSCLE``
    * - :ref:`Actuator Gain <mjtGain>`
diff --git a/mjx/mujoco/mjx/_src/device_test.py b/mjx/mujoco/mjx/_src/device_test.py
index 9f518d91..b4b9a0cd 100644
--- a/mjx/mujoco/mjx/_src/device_test.py
+++ b/mjx/mujoco/mjx/_src/device_test.py
@@ -129,12 +129,6 @@ class ValidateInputTest(absltest.TestCase):
     with self.assertRaises(NotImplementedError):
       mjx.device_put(m)
 
-  def test_trn(self):
-    m = test_util.load_test_file('pendula.xml')
-    m.actuator_trntype[0] = mujoco.mjtTrn.mjTRN_SITE
-    with self.assertRaises(NotImplementedError):
-      mjx.device_put(m)
-
   def test_dyn(self):
     m = test_util.load_test_file('pendula.xml')
     m.actuator_dyntype[0] = mujoco.mjtDyn.mjDYN_MUSCLE
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 9396d7f3..ab255cfa 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -103,6 +103,10 @@ def put_model(m: mujoco.MjModel, device=None) -> types.Model:
           f'{[mj_type(m) for m in missing]} not supported'
       )
 
+  # TODO: implement reference sites.
+  if any(m.actuator_trnid[:, 1] != -1):
+    raise NotImplementedError('refsite is not supported')
+
   opt = _put_option(m.opt, device=device)
   stat = _put_statistic(m.stat, device=device)
 
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index a16a8780..08dec57a 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -82,7 +82,8 @@ _MULTIPLE_CONSTRAINTS = """
 """
 
 
-class IoTest(parameterized.TestCase):
+class ModelIOTest(parameterized.TestCase):
+  """IO tests for mjx.Model."""
 
   def test_put_model(self):
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
@@ -133,7 +134,7 @@ class IoTest(parameterized.TestCase):
     )
     self.assertTrue(m.opt.has_fluid_params)
 
-  def test_put_model_implicit_not_implemented(self):
+  def test_implicit_not_implemented(self):
     """Test that MJX guards against models with unimplemented features."""
 
     with self.assertRaises(NotImplementedError):
@@ -143,7 +144,7 @@ class IoTest(parameterized.TestCase):
           )
       )
 
-  def test_put_model_cone_not_implemented(self):
+  def test_cone_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(
           mujoco.MjModel.from_xml_string(
@@ -151,7 +152,7 @@ class IoTest(parameterized.TestCase):
           )
       )
 
-  def test_put_model_pgs_not_implemented(self):
+  def test_pgs_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(
           mujoco.MjModel.from_xml_string(
@@ -159,7 +160,7 @@ class IoTest(parameterized.TestCase):
           )
       )
 
-  def test_put_model_site_actuator_not_implemented(self):
+  def test_site_actuator_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(mujoco.MjModel.from_xml_string("""
         <mujoco>
@@ -174,7 +175,7 @@ class IoTest(parameterized.TestCase):
           </actuator>
         </mujoco>"""))
 
-  def test_put_model_tendon_not_implemented(self):
+  def test_tendon_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(mujoco.MjModel.from_xml_string("""
         <mujoco>
@@ -191,7 +192,7 @@ class IoTest(parameterized.TestCase):
           </tendon>
         </mujoco>"""))
 
-  def test_put_model_condim_not_implemented(self):
+  def test_condim_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(mujoco.MjModel.from_xml_string("""
         <mujoco>
@@ -207,7 +208,7 @@ class IoTest(parameterized.TestCase):
           </worldbody>
         </mujoco>"""))
 
-  def test_put_model_cylinder_not_implemented(self):
+  def test_cylinder_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(mujoco.MjModel.from_xml_string("""
         <mujoco>
@@ -223,6 +224,29 @@ class IoTest(parameterized.TestCase):
           </worldbody>
         </mujoco>"""))
 
+  def test_refsite_not_implemented(self):
+    """Tests that site transmissions with refsites are not implemented."""
+    with self.assertRaises(NotImplementedError):
+      mjx.put_model(mujoco.MjModel.from_xml_string("""
+        <mujoco>
+        <compiler autolimits="true"/>
+        <worldbody>
+          <body name="box">
+            <site name="site1"/>
+            <site name="site2" pos="0.2 0.1 0.05"/>
+            <joint name="slide" type="slide" axis="1 0 0" />
+            <geom type="box" size=".05 .05 .05" mass="1"/>
+          </body>
+        </worldbody>
+        <actuator>
+          <position site="site2" refsite="site1"/>
+        </actuator>
+        </mujoco>"""))
+
+
+class DataIOTest(parameterized.TestCase):
+  """IO tests for mjx.Data."""
+
   def test_make_data(self):
     """Test that make_data returns the correct shapes."""
 
@@ -407,5 +431,6 @@ class IoTest(parameterized.TestCase):
     self.assertEqual(ds[0].ncon, 1)
     self.assertEqual(ds[1].ncon, 0)
 
+
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/scan.py b/mjx/mujoco/mjx/_src/scan.py
index ae0eeb30..9035c98e 100644
--- a/mjx/mujoco/mjx/_src/scan.py
+++ b/mjx/mujoco/mjx/_src/scan.py
@@ -49,7 +49,9 @@ def _take(obj: Y, idx: np.ndarray) -> Y:
 
   def take(x):
     # TODO(erikfrey): if this helps perf, add support for striding too
-    if (
+    if not x.shape[0]:
+      return x
+    elif (
         len(idx.shape) == 1
         and idx.size > 0
         and (idx == np.arange(idx[0], idx[0] + idx.size)).all()
@@ -113,8 +115,12 @@ def _nvmap(f: Callable[..., Y], *args) -> Y:
     if isinstance(arg, np.ndarray) and not np.all(arg == arg[0]):
       raise RuntimeError(f'numpy arg elements do not match: {arg}')
 
+  # split out numpy and jax args
   np_args = [a[0] if isinstance(a, np.ndarray) else None for a in args]
   args = [a if n is None else None for n, a in zip(np_args, args)]
+
+  # remove empty args that we should not vmap over
+  args = jax.tree_map(lambda a: a if a.shape[0] else None, args)
   in_axes = [None if a is None else 0 for a in args]
 
   def outer_f(*args, np_args=np_args):
@@ -126,7 +132,15 @@ 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."""
-  size = {'b': m.nbody, 'j': m.njnt, 'q': m.nq, 'v': m.nv, 'u': m.nu, 'a': m.na}
+  size = {
+      'b': m.nbody,
+      'j': m.njnt,
+      'q': m.nq,
+      'v': m.nv,
+      'u': m.nu,
+      'a': m.na,
+      's': m.nsite,
+  }
   for idx, (arg, typ) in enumerate(zip(args, in_types)):
     if len(arg) != size[typ]:
       raise IndexError(
@@ -162,7 +176,7 @@ def flat(
 ) -> Y:
   r"""Scan a function across bodies or actuators.
 
-  Scan group data according to type and batch shape then calls vmap(f) on it.
+  Scan group data according to type and batch shape then calls vmap(f) on it.\
 
   Args:
     m: an mjx model
@@ -223,14 +237,22 @@ def flat(
         'j': (
             m.actuator_trnid[i, 0]
             if m.actuator_trntype[i] == TrnType.JOINT
-            else np.array(-1)
+            else -1
+        ),
+        's': (
+            m.actuator_trnid[i, 0]
+            if m.actuator_trntype[i] == TrnType.SITE
+            else -1
         ),
     }
-    # v/q associated with joint transmissions
-    typ_ids.update({
-        'v': np.nonzero(m.dof_jntid == typ_ids['j'])[0],
-        'q': np.nonzero(_q_jointid(m) == typ_ids['j'])[0],
-    })
+    v, q = np.array([-1]), np.array([-1])
+    if m.actuator_trntype[i] == TrnType.JOINT:
+      # v/q are associated with the joint transmissions only
+      v = np.nonzero(m.dof_jntid == typ_ids['j'])[0]
+      q = np.nonzero(_q_jointid(m) == typ_ids['j'])[0]
+
+    typ_ids.update({'v': v, 'q': q})
+
     return typ_ids
 
   # build up a grouping of type take-ids in body/actuator order
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index ba470bed..81c53213 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -19,11 +19,13 @@ from jax import numpy as jp
 import mujoco
 from mujoco.mjx._src import math
 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 DisableBit
 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
 
 
@@ -432,38 +434,55 @@ def rne(m: Model, d: Data) -> Data:
 
 def transmission(m: Model, d: Data) -> Data:
   """Computes actuator/transmission lengths and moments."""
+  # TODO: consider combining transmission calculation into fwd_actuation.
   if not m.nu:
     return d
 
-  def fn(gear, jnt_typ, m_j, qpos):
-    # handles joint transmissions only
-    if jnt_typ == JointType.FREE:
+  def fn(trntype, trnid, gear, jnt_typ, m_j, qpos, site_xpos, site_xmat):
+    if trntype == TrnType.JOINT:
+      if jnt_typ == JointType.FREE:
+        length = jp.zeros(1)
+        moment = gear
+        m_j = m_j + jp.arange(6)
+      elif jnt_typ == JointType.BALL:
+        axis, angle = math.quat_to_axis_angle(qpos)
+        length = jp.dot(axis * angle, gear[:3])[None]
+        moment = gear[:3]
+        m_j = m_j + jp.arange(3)
+      elif jnt_typ in (JointType.SLIDE, JointType.HINGE):
+        length = qpos * gear[0]
+        moment = gear[:1]
+        m_j = m_j[None]
+      else:
+        raise RuntimeError(f'unrecognized joint type: {JointType(jnt_typ)}')
+
+      moment = jp.zeros((m.nv,)).at[m_j].set(moment)
+    elif trntype == TrnType.SITE:
       length = jp.zeros(1)
-      moment = gear
-      m_j = m_j + jp.arange(6)
-    elif jnt_typ == JointType.BALL:
-      axis, angle = math.quat_to_axis_angle(qpos)
-      length = jp.dot(axis * angle, gear[:3])[None]
-      moment = gear[:3]
-      m_j = m_j + jp.arange(3)
-    elif jnt_typ in (JointType.SLIDE, JointType.HINGE):
-      length = qpos * gear[0]
-      moment = gear[:1]
-      m_j = m_j[None]
+      jacp, jacr = support.jac(
+          m, d, site_xpos, jp.array(m.site_bodyid)[trnid[0]]
+      )
+      jac = jp.concatenate((jacp, jacr), axis=1)
+      wrench = jp.concatenate((site_xmat @ gear[:3], site_xmat @ gear[3:]))
+      moment = jac @ wrench
     else:
-      raise RuntimeError(f'unrecognized joint type: {jnt_typ}')
-    moment = jp.zeros((m.nv,)).at[m_j].set(moment)
+      raise RuntimeError(f'unrecognized trntype: {TrnType(trntype)}')
+
     return length, moment
 
   length, moment = scan.flat(
       m,
       fn,
-      'ujjq',
-      'uuuu',
+      'uuujjqss',
+      'uu',
+      m.actuator_trntype,
+      jp.array(m.actuator_trnid),
       m.actuator_gear,
       m.jnt_type,
       jp.array(m.jnt_dofadr),
       d.qpos,
+      d.site_xpos,
+      d.site_xmat,
       group_by='u',
   )
   length = length.reshape((m.nu,))
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 203cb654..e83779ad 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -132,5 +132,40 @@ class SmoothTest(absltest.TestCase):
     dx = jax.jit(mjx.rne)(mx, dx)
     np.testing.assert_allclose(dx.qfrc_bias, 0)
 
+  def test_site_transmission(self):
+    m = mujoco.MjModel.from_xml_string("""
+        <mujoco>
+        <compiler autolimits="true"/>
+        <worldbody>
+          <body>
+            <joint type="free"/>
+            <geom type="box" size=".05 .05 .05" mass="1"/>
+            <site name="site1"/>
+            <site name="site2" pos="0.1 0.2 0.3"/>
+          </body>
+          <body pos="1 0 0">
+            <joint name="slide" type="hinge"/>
+            <geom type="box" size=".05 .05 .05" mass="1"/>
+          </body>
+        </worldbody>
+        <actuator>
+          <position site="site1" gear="1 2 3 0 0 0"/>
+          <position site="site1" gear="0 0 0 1 2 3"/>
+          <position site="site2" gear="0 3 0 0 0 1"/>
+          <position joint="slide"/>
+        </actuator>
+        </mujoco>
+      """)
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+
+    mujoco.mj_transmission(m, d)
+    dx = mjx.transmission(mx, dx)
+    _assert_attr_eq(d, dx, 'actuator_length')
+    _assert_attr_eq(d, dx, 'actuator_moment')
+
+
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index 85cdb5dc..66bab2f7 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -47,7 +47,7 @@ _SOLIMPS = [
 _DIMS = ['3']
 _MARGINS = ['0.0', '0.01', '0.02']
 _GAPS = ['0.0', '0.005']
-_GEARS = ['20', '50', '100']
+_GEARS = ['2.1 0.0 3.3 0 2.3 0', '5.0 3.1 0 2.3 0.0 1.1']
 
 
 def p(pct: int) -> bool:
@@ -123,14 +123,21 @@ def _make_geom(
   return attr
 
 
-def _make_actuator(actuator_type: str, joint: str) -> Dict[str, str]:
+def _make_actuator(
+    actuator_type: str, joint: str | None = None, site: str | None = None
+) -> Dict[str, str]:
   """Returns attributes for an actuator."""
-  attr = {'joint': joint}
+  if joint:
+    attr = {'joint': joint}
+  elif site:
+    attr = {'site': site}
+  else:
+    raise ValueError('must provide a joint or site name')
+
+  attr['gear'] = np.random.choice(_GEARS)
 
   # set actuator type
-  if actuator_type == 'motor':
-    attr['gear'] = np.random.choice(_GEARS)
-  elif actuator_type == 'position':
+  if actuator_type == 'position':
     attr['kp'] = np.random.choice(_KP_POS)
   elif actuator_type == 'general':
     attr['biastype'] = 'affine'
@@ -245,6 +252,7 @@ def create_mjcf(
     pos = f'{body_pos[0]:.3f} {body_pos[1]:.3f} {body_pos[2] + z_pos:.3f}'
     n_bodies = len(list(mjcf.iter('body')))
     child = ET.SubElement(body, 'body', {'pos': pos, 'name': f'body{n_bodies}'})
+    ET.SubElement(child, 'site', {'name': f'site{n_bodies}'})
 
     n_joints = len(list(mjcf.iter('joint')))
     for nj in range(np.random.randint(1, max_stacked_joints + 1)):
@@ -282,17 +290,28 @@ def create_mjcf(
   for _ in range(num_trees):
     make_tree(world, 0)
 
+  bodies = list(mjcf.iter('body'))
+  n_bodies = len(bodies)
+
   # actuators
   if add_actuators:
     actuator = ET.SubElement(mjcf, 'actuator')
     n_joints = len(list(mjcf.iter('joint')))
     nu = np.random.randint(1, n_joints + 1)
     actuators = []
+
+    # joint transmission
     for i in range(nu):
       actuator_type = np.random.choice(_ACTUATOR_TYPES)
       attr = _make_actuator(actuator_type, joint=f'joint{i}')
       actuators.append((actuator_type, attr))
 
+    # site transmission
+    for i in range(np.random.randint(0, n_bodies)):
+      actuator_type = np.random.choice(_ACTUATOR_TYPES)
+      attr = _make_actuator(actuator_type, site=f'site{i}')
+      actuators.append((actuator_type, attr))
+
     np.random.shuffle(actuators)
     for typ, attr in actuators:
       ET.SubElement(actuator, typ, attr)
@@ -320,9 +339,7 @@ def create_mjcf(
     ET.SubElement(contact, 'pair', attr)
 
   # exclude contacts
-  bodies = list(mjcf.iter('body'))
   body_names = [b.get('name') for b in bodies]
-  n_bodies = len(bodies)
   for _ in range(min(max_contact_excludes, (n_bodies * (n_bodies - 1) // 2))):
     if p(50):
       continue
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 9ccbe29a..ece81623 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -153,9 +153,11 @@ class TrnType(enum.IntEnum):
 
   Attributes:
     JOINT: force on joint
+    SITE: force on site
   """
   JOINT = mujoco.mjtTrn.mjTRN_JOINT
-  # unsupported: JOINTINPARENT, SLIDERCRANK, TENDON, SITE, BODY
+  SITE = mujoco.mjtTrn.mjTRN_SITE
+  # unsupported: JOINTINPARENT, SLIDERCRANK, TENDON, BODY
 
 
 class DynType(enum.IntEnum):

From 2a46ca37874181bbae6ac148ba9797a53101d0b9 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Wed, 20 Dec 2023 05:01:55 -0800
Subject: [PATCH 086/121] Update the documentation on the maximum number of
 contacts from hfield collisions.

The docs were incorrectly asserting that the limit is 9 contacts, which hasn't been true since version 1.5.

This fixes #1285.

PiperOrigin-RevId: 592526249
Change-Id: Id45d73666fec8dcfd18d11605975e787f2cfeba2
---
 doc/XMLreference.rst | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 6ca8c13b..8fb1edd3 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1378,9 +1378,9 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
 | For collision detection, a height field is treated as a union of triangular prisms. Collisions between height fields
   and other geoms (except for planes and other height fields which are not supported) are computed by first selecting
   the sub-grid of prisms that could collide with the geom based on its bounding box, and then using the general convex
-  collider. The number of possible contacts between a height field and a geom is limited to 9; any contacts beyond that
-  are discarded. To avoid penetration due to discarded contacts, the spatial features of the height field should be
-  large compared to the geoms it collides with.
+  collider. The number of possible contacts between a height field and a geom is limited to 50
+  (:ref:`mjMAXCONPAIR <glNumeric>`); any contacts beyond that are discarded. To avoid penetration due to discarded
+  contacts, the spatial features of the height field should be large compared to the geoms it collides with.
 
 .. _asset-hfield-name:
 

From 4c066a26b5c939155c9ba0db45b4d9ec81bebcbd Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sun, 24 Dec 2023 12:06:05 -0800
Subject: [PATCH 087/121] Change `mjVISSTRING` of connect and weld equality
 constraints from "Constraint" to "Equality". This is more consistent with the
 'E' shortcut key and with `mjDISABLESTRING` ("constraint" means all
 constraints, "equality" means bilateral constraints).

Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.

PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
---
 python/mujoco/bindings_test.py |  2 +-
 simulate/simulate.cc           | 12 ++++--------
 src/engine/engine_vis_init.c   | 34 +++++++++++++++++-----------------
 3 files changed, 22 insertions(+), 26 deletions(-)

diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index 3d2e0ac6..407557f0 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -822,7 +822,7 @@ Euler integrator, semi-implicit in velocity.
     self.assertLen(mujoco.mjRNDSTRING, mujoco.mjtRndFlag.mjNRNDFLAG)
     self.assertEqual(mujoco.mjDISABLESTRING[11], 'Refsafe')
     self.assertEqual(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA],
-                     ('&Inertia', '0', 'I'))
+                     ('Inertia', '0', 'I'))
 
   def test_enum_values(self):
     self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, 0)
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 226e290d..d9d4f99d 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -837,15 +837,8 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
     {mjITEM_END}
   };
   for (int i=0; i<mjNVISFLAG; i++) {
-    // set name, remove "&"
+    // set name
     mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
-    for (int j=0; j<strlen(mjVISSTRING[i][0]); j++) {
-      if (mjVISSTRING[i][0][j]=='&') {
-        mju_strncpy(
-          defFlag[0].name+j, mjVISSTRING[i][0]+j+1, mju::sizeof_arr(defFlag[0].name)-j);
-        break;
-      }
-    }
 
     // set shortcut and data
     if (mjVISSTRING[i][2][0]) {
@@ -868,7 +861,10 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
   // add rendering flags
   mjui_add(&sim->ui0, defOpenGL);
   for (int i=0; i<mjNRNDFLAG; i++) {
+    // set name
     mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
+
+    // set shortcut and data
     if (mjRNDSTRING[i][2][0]) {
       mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
     } else {
diff --git a/src/engine/engine_vis_init.c b/src/engine/engine_vis_init.c
index 11ab0f5e..3c16bf66 100644
--- a/src/engine/engine_vis_init.c
+++ b/src/engine/engine_vis_init.c
@@ -68,29 +68,29 @@ const char* mjFRAMESTRING[mjNFRAME] = {
 
 // visual options: {name, initial value, shortcut}
 const char* mjVISSTRING[mjNVISFLAG][3] = {
-  {"Convex &Hull",    "0", "H"},
-  {"Te&xture",        "1", "X"},
-  {"&Joint",          "0", "J"},
+  {"Convex Hull",     "0", "H"},
+  {"Texture",         "1", "X"},
+  {"Joint",           "0", "J"},
   {"Camera",          "0", "Q"},
-  {"Act&uator",       "0", "U"},
-  {"Act&ivation",     "0", ","},
+  {"Actuator",        "0", "U"},
+  {"Activation",      "0", ","},
   {"Light",           "0", "Z"},
   {"Tendon",          "1", "V"},
   {"Range Finder",    "1", "Y"},
-  {"Co&nstraint",     "0", "E"},
-  {"&Inertia",        "0", "I"},
+  {"Equality",        "0", "E"},
+  {"Inertia",         "0", "I"},
   {"Scale Inertia",   "0", "'"},
-  {"Pertur&b Force",  "0", "B"},
-  {"Perturb &Object", "1", "O"},
-  {"&Contact Point",  "0", "C"},
+  {"Perturb Force",   "0", "B"},
+  {"Perturb Object",  "1", "O"},
+  {"Contact Point",   "0", "C"},
   {"Island",          "1", ""},   // TODO(b/295296178): turn off after islands are on by default.
-  {"Contact &Force",  "0", "F"},
-  {"Contact S&plit",  "0", "P"},
-  {"&Transparent",    "0", "T"},
-  {"&Auto Connect",   "0", "A"},
-  {"Center of &Mass", "0", "M"},
-  {"S&elect Point",   "0", ""},
-  {"Static Bo&dy",    "1", "D"},
+  {"Contact Force",   "0", "F"},
+  {"Contact Split",   "0", "P"},
+  {"Transparent",     "0", "T"},
+  {"Auto Connect",    "0", "A"},
+  {"Center of Mass",  "0", "M"},
+  {"Select Point",    "0", ""},
+  {"Static Body",     "1", "D"},
   {"Skin",            "1", ";"},
   {"Flex Vert",       "0", ""},
   {"Flex Edge",       "0", ""},

From 1c7809e54261009698b5baab569faf700c8f8dad Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Tue, 2 Jan 2024 08:37:44 -0800
Subject: [PATCH 088/121] Free `MjrContext` in Renderer destructor. Fixes
 #1186.

PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
---
 python/mujoco/renderer.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/python/mujoco/renderer.py b/python/mujoco/renderer.py
index dfb387c6..973e8076 100644
--- a/python/mujoco/renderer.py
+++ b/python/mujoco/renderer.py
@@ -315,6 +315,9 @@ the clause:
     if self._gl_context:
       self._gl_context.free()
     self._gl_context = None
+    if self._mjr_context:
+      self._mjr_context.free()
+    self._mjr_context = None
 
   def __enter__(self):
     return self

From e07ea625acc9ca9f221ebc566e6990848929602a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 2 Jan 2024 11:59:41 -0800
Subject: [PATCH 089/121] Add keyframes to humanoid model.

PiperOrigin-RevId: 595175659
Change-Id: I2aae405a5dfbd9b14253d6330cb12003bd4f6c08
---
 model/humanoid/humanoid.xml | 42 ++++++++++++++++++++++++++-----------
 1 file changed, 30 insertions(+), 12 deletions(-)

diff --git a/model/humanoid/humanoid.xml b/model/humanoid/humanoid.xml
index 31cde3ed..013ebe23 100644
--- a/model/humanoid/humanoid.xml
+++ b/model/humanoid/humanoid.xml
@@ -233,17 +233,35 @@
       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="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 8ce2c92021ed202db6bbb71bf4e30e4f81150b4c Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Tue, 2 Jan 2024 16:44:59 -0800
Subject: [PATCH 090/121] Add refsite transmission.

PiperOrigin-RevId: 595239860
Change-Id: Id1ca8fe2ffab4b55013e8987e92eb99847278dc4
---
 mjx/mujoco/mjx/_src/dataclasses.py            |  4 +-
 mjx/mujoco/mjx/_src/io.py                     |  5 --
 mjx/mujoco/mjx/_src/io_test.py                | 35 ---------
 mjx/mujoco/mjx/_src/scan.py                   |  5 +-
 mjx/mujoco/mjx/_src/smooth.py                 | 73 +++++++++++++++++--
 mjx/mujoco/mjx/_src/smooth_test.py            | 17 +++--
 mjx/mujoco/mjx/_src/test_util.py              | 18 ++++-
 mjx/mujoco/mjx/_src/types.py                  |  2 -
 .../mjx/integration_test/smooth_test.py       |  6 +-
 9 files changed, 103 insertions(+), 62 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/dataclasses.py b/mjx/mujoco/mjx/_src/dataclasses.py
index b939ab9e..5d95eb69 100644
--- a/mjx/mujoco/mjx/_src/dataclasses.py
+++ b/mjx/mujoco/mjx/_src/dataclasses.py
@@ -62,7 +62,7 @@ def dataclass(clz: _T) -> _T:
 
     def to_meta(field, obj):
       val = getattr(obj, field.name)
-      return to_tup(val) if isinstance(val, np.ndarray) else val
+      return (to_tup(val), val.dtype) if isinstance(val, np.ndarray) else val
 
     def to_data(field, obj):
       return (jax.tree_util.GetAttrKey(field.name), getattr(obj, field.name))
@@ -75,7 +75,7 @@ def dataclass(clz: _T) -> _T:
 
     def from_meta(field, meta):
       if field.type is np.ndarray:
-        return (field.name, np.array(meta))
+        return (field.name, np.array(meta[0], dtype=meta[1]))
       else:
         return (field.name, meta)
 
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index ab255cfa..788c3899 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -103,10 +103,6 @@ def put_model(m: mujoco.MjModel, device=None) -> types.Model:
           f'{[mj_type(m) for m in missing]} not supported'
       )
 
-  # TODO: implement reference sites.
-  if any(m.actuator_trnid[:, 1] != -1):
-    raise NotImplementedError('refsite is not supported')
-
   opt = _put_option(m.opt, device=device)
   stat = _put_statistic(m.stat, device=device)
 
@@ -196,7 +192,6 @@ def make_data(m: Union[types.Model, mujoco.MjModel]) -> types.Data:
       qfrc_bias=zero_nv,
       qfrc_passive=zero_nv,
       efc_aref=zero_nefc,
-      actuator_force=zero_nu,
       qfrc_actuator=zero_nv,
       qfrc_smooth=zero_nv,
       qacc_smooth=zero_nv,
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 08dec57a..8b25f359 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -160,21 +160,6 @@ class ModelIOTest(parameterized.TestCase):
           )
       )
 
-  def test_site_actuator_not_implemented(self):
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <worldbody>
-            <site name="ref"/>
-            <body>
-              <site name="end"/>
-            </body>
-          </worldbody>
-          <actuator>
-            <general site="end" refsite="ref"/>
-          </actuator>
-        </mujoco>"""))
-
   def test_tendon_not_implemented(self):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(mujoco.MjModel.from_xml_string("""
@@ -224,25 +209,6 @@ class ModelIOTest(parameterized.TestCase):
           </worldbody>
         </mujoco>"""))
 
-  def test_refsite_not_implemented(self):
-    """Tests that site transmissions with refsites are not implemented."""
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(mujoco.MjModel.from_xml_string("""
-        <mujoco>
-        <compiler autolimits="true"/>
-        <worldbody>
-          <body name="box">
-            <site name="site1"/>
-            <site name="site2" pos="0.2 0.1 0.05"/>
-            <joint name="slide" type="slide" axis="1 0 0" />
-            <geom type="box" size=".05 .05 .05" mass="1"/>
-          </body>
-        </worldbody>
-        <actuator>
-          <position site="site2" refsite="site1"/>
-        </actuator>
-        </mujoco>"""))
-
 
 class DataIOTest(parameterized.TestCase):
   """IO tests for mjx.Data."""
@@ -305,7 +271,6 @@ class DataIOTest(parameterized.TestCase):
     self.assertEqual(d.qfrc_bias.shape, (nv,))
     self.assertEqual(d.qfrc_passive.shape, (nv,))
     self.assertEqual(d.efc_aref.shape, (nefc,))
-    self.assertEqual(d.actuator_force.shape, (1,))
     self.assertEqual(d.qfrc_actuator.shape, (nv,))
     self.assertEqual(d.qfrc_smooth.shape, (nv,))
     self.assertEqual(d.qacc_smooth.shape, (nv,))
diff --git a/mjx/mujoco/mjx/_src/scan.py b/mjx/mujoco/mjx/_src/scan.py
index 9035c98e..89f360cb 100644
--- a/mjx/mujoco/mjx/_src/scan.py
+++ b/mjx/mujoco/mjx/_src/scan.py
@@ -220,6 +220,7 @@ def flat(
         m.actuator_dyntype[ids_u],
         m.actuator_trntype[ids_u],
         m.jnt_type[ids_j],
+        m.actuator_trnid[ids_u, 1] == -1,  # key by refsite being present
     )
 
   def type_ids_j(m, i):
@@ -240,9 +241,9 @@ def flat(
             else -1
         ),
         's': (
-            m.actuator_trnid[i, 0]
+            m.actuator_trnid[i]
             if m.actuator_trntype[i] == TrnType.SITE
-            else -1
+            else np.array([-1, -1])
         ),
     }
     v, q = np.array([-1]), np.array([-1])
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 81c53213..c1531192 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -27,6 +27,7 @@ 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
 
 
 def kinematics(m: Model, d: Data) -> Data:
@@ -432,13 +433,54 @@ def rne(m: Model, d: Data) -> Data:
   return d
 
 
+def _site_dof_mask(m: Model) -> np.ndarray:
+  """Creates a dof mask for site transmissions."""
+  mask = np.ones((m.nu, m.nv))
+  for i in np.nonzero(m.actuator_trnid[:, 1] != -1)[0]:
+    id_, refid = m.actuator_trnid[i]
+    # intialize last dof address for each body
+    b0 = m.body_weldid[m.site_bodyid[id_]]
+    b1 = m.body_weldid[m.site_bodyid[refid]]
+    dofadr0 = m.body_dofadr[b0] + m.body_dofnum[b0] - 1
+    dofadr1 = m.body_dofadr[b1] + m.body_dofnum[b1] - 1
+
+    # find common ancestral dof, if any
+    while dofadr0 != dofadr1:
+      if dofadr0 < dofadr1:
+        dofadr1 = m.dof_parentid[dofadr1]
+      else:
+        dofadr0 = m.dof_parentid[dofadr0]
+      if dofadr0 == -1 or dofadr1 == -1:
+        break
+
+    # if common ancestral dof was found, clear the columns of its parental chain
+    da = dofadr0 if dofadr0 == dofadr1 else -1
+    while da >= 0:
+      mask[i, da] = 0.0
+      da = m.dof_parentid[da]
+
+  return mask
+
+
 def transmission(m: Model, d: Data) -> Data:
   """Computes actuator/transmission lengths and moments."""
   # TODO: consider combining transmission calculation into fwd_actuation.
   if not m.nu:
     return d
 
-  def fn(trntype, trnid, gear, jnt_typ, m_j, qpos, site_xpos, site_xmat):
+  def fn(
+      trntype,
+      trnid,
+      gear,
+      jnt_typ,
+      m_j,
+      qpos,
+      has_refsite,
+      site_dof_mask,
+      site_xpos,
+      site_xmat,
+      site_quat,
+  ):
     if trntype == TrnType.JOINT:
       if jnt_typ == JointType.FREE:
         length = jp.zeros(1)
@@ -459,21 +501,34 @@ def transmission(m: Model, d: Data) -> Data:
       moment = jp.zeros((m.nv,)).at[m_j].set(moment)
     elif trntype == TrnType.SITE:
       length = jp.zeros(1)
-      jacp, jacr = support.jac(
-          m, d, site_xpos, jp.array(m.site_bodyid)[trnid[0]]
-      )
-      jac = jp.concatenate((jacp, jacr), axis=1)
-      wrench = jp.concatenate((site_xmat @ gear[:3], site_xmat @ gear[3:]))
+      id_, refid = jp.array(m.site_bodyid)[trnid]
+      jacp, jacr = support.jac(m, d, site_xpos[0], id_)
+      frame_xmat = site_xmat[0]
+      if has_refsite:
+        vecp = site_xmat[1].T @ (site_xpos[0] - site_xpos[1])
+        vecr = math.quat_sub(site_quat[0], site_quat[1])
+        length += jp.dot(jp.concatenate([vecp, vecr]), gear)
+        jacrefp, jacrefr = support.jac(m, d, site_xpos[1], refid)
+        jacp, jacr = jacp - jacrefp, jacr - jacrefr
+        frame_xmat = site_xmat[1]
+
+      jac = jp.concatenate((jacp, jacr), axis=1) * site_dof_mask[:, None]
+      wrench = jp.concatenate((frame_xmat @ gear[:3], frame_xmat @ gear[3:]))
       moment = jac @ wrench
     else:
       raise RuntimeError(f'unrecognized trntype: {TrnType(trntype)}')
 
     return length, moment
 
+  # pre-compute values for site transmissions
+  has_refsite = m.actuator_trnid[:, 1] != -1
+  site_dof_mask = _site_dof_mask(m)
+  site_quat = jax.vmap(math.quat_mul)(m.site_quat, d.xquat[m.site_bodyid])
+
   length, moment = scan.flat(
       m,
       fn,
-      'uuujjqss',
+      'uuujjquusss',
       'uu',
       m.actuator_trntype,
       jp.array(m.actuator_trnid),
@@ -481,11 +536,15 @@ def transmission(m: Model, d: Data) -> Data:
       m.jnt_type,
       jp.array(m.jnt_dofadr),
       d.qpos,
+      has_refsite,
+      jp.array(site_dof_mask),
       d.site_xpos,
       d.site_xmat,
+      site_quat,
       group_by='u',
   )
   length = length.reshape((m.nu,))
   moment = moment.reshape((m.nu, m.nv))
+
   d = d.replace(actuator_length=length, actuator_moment=moment)
   return d
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index e83779ad..b7d62eb9 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -141,7 +141,11 @@ class SmoothTest(absltest.TestCase):
             <joint type="free"/>
             <geom type="box" size=".05 .05 .05" mass="1"/>
             <site name="site1"/>
-            <site name="site2" pos="0.1 0.2 0.3"/>
+            <body>
+              <joint type="hinge"/>
+              <geom size="0.1" mass="1"/>
+              <site name="site2" pos="0.1 0.2 0.3"/>
+            </body>
           </body>
           <body pos="1 0 0">
             <joint name="slide" type="hinge"/>
@@ -149,10 +153,11 @@ class SmoothTest(absltest.TestCase):
           </body>
         </worldbody>
         <actuator>
-          <position site="site1" gear="1 2 3 0 0 0"/>
-          <position site="site1" gear="0 0 0 1 2 3"/>
-          <position site="site2" gear="0 3 0 0 0 1"/>
-          <position joint="slide"/>
+          <position site="site1" kv="0.1" gear="1 2 3 0 0 0"/>
+          <position site="site1" kv="0.2" gear="0 0 0 1 2 3"/>
+          <position site="site2" kv="0.3" gear="0 3 0 0 0 1"/>
+          <position joint="slide" kv="0.05" />
+          <position site="site2" refsite="site1" gear="1 2 3 0.5 0.4 0.6"/>
         </actuator>
         </mujoco>
       """)
@@ -162,7 +167,7 @@ class SmoothTest(absltest.TestCase):
     dx = mjx.put_data(m, d)
 
     mujoco.mj_transmission(m, d)
-    dx = mjx.transmission(mx, dx)
+    dx = jax.jit(mjx.transmission)(mx, dx)
     _assert_attr_eq(d, dx, 'actuator_length')
     _assert_attr_eq(d, dx, 'actuator_moment')
 
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index 66bab2f7..ab27c2b1 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -36,7 +36,7 @@ _JOINT_AXES = ['1 0 0', '0 1 0', '0 0 1']
 _FRICTIONS = ['1.2 0.003 0.0002', '0.2 0.0001 0.0005']
 _KP_POS = ['1', '2']
 _KP_INTVEL = ['10000', '2000']
-_KV_VEL = ['123', '1']
+_KV_VEL = ['12', '1', '0', '0.1']
 _PAIR_FRICTIONS = ['1.2 0.9 0.003 0.0002 0.0001']
 _SOLREFS = ['0.04 1.01', '0.05 1.02', '0.03 1.1', '0.015 1.0']
 _SOLIMPS = [
@@ -124,7 +124,10 @@ def _make_geom(
 
 
 def _make_actuator(
-    actuator_type: str, joint: str | None = None, site: str | None = None
+    actuator_type: str,
+    joint: str | None = None,
+    site: str | None = None,
+    refsite: str | None = None,
 ) -> Dict[str, str]:
   """Returns attributes for an actuator."""
   if joint:
@@ -134,11 +137,15 @@ def _make_actuator(
   else:
     raise ValueError('must provide a joint or site name')
 
+  if refsite:
+    attr['refsite'] = refsite
+
   attr['gear'] = np.random.choice(_GEARS)
 
   # set actuator type
   if actuator_type == 'position':
     attr['kp'] = np.random.choice(_KP_POS)
+    attr['kv'] = np.random.choice(_KV_VEL)
   elif actuator_type == 'general':
     attr['biastype'] = 'affine'
     attr['gainprm'] = '35 0 0'
@@ -312,6 +319,13 @@ def create_mjcf(
       attr = _make_actuator(actuator_type, site=f'site{i}')
       actuators.append((actuator_type, attr))
 
+    # site transmission with refsite
+    for i in range(np.random.randint(0, n_bodies)):
+      j = np.random.randint(0, n_bodies)
+      actuator_type = np.random.choice(_ACTUATOR_TYPES)
+      attr = _make_actuator(actuator_type, site=f'site{i}', refsite=f'site{j}')
+      actuators.append((actuator_type, attr))
+
     np.random.shuffle(actuators)
     for typ, attr in actuators:
       ET.SubElement(actuator, typ, attr)
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index ece81623..595d7f90 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -590,7 +590,6 @@ class Data(PyTreeNode):
     qfrc_bias: C(qpos,qvel)                                       (nv,)
     qfrc_passive: passive force                                   (nv,)
     efc_aref: reference pseudo-acceleration                       (nefc,)
-    actuator_force: actuator force in actuation space             (nu,)
     qfrc_actuator: actuator force                                 (nv,)
     qfrc_smooth: net unconstrained force                          (nv,)
     qacc_smooth: unconstrained acceleration                       (nv,)
@@ -650,7 +649,6 @@ class Data(PyTreeNode):
   qfrc_passive: jax.Array
   efc_aref: jax.Array
   # position, velcoity, control & acceleration dependent:
-  actuator_force: jax.Array
   qfrc_actuator: jax.Array
   qfrc_smooth: jax.Array
   qacc_smooth: jax.Array
diff --git a/mjx/mujoco/mjx/integration_test/smooth_test.py b/mjx/mujoco/mjx/integration_test/smooth_test.py
index d032be79..c4d3bfda 100644
--- a/mjx/mujoco/mjx/integration_test/smooth_test.py
+++ b/mjx/mujoco/mjx/integration_test/smooth_test.py
@@ -57,7 +57,9 @@ class TransmissionIntegrationTest(parameterized.TestCase):
     d = mujoco.MjData(m)
     d.ctrl = np.random.normal(scale=10, size=m.nu)
     d.act = np.random.normal(scale=10, size=m.na)
+    d.qpos = np.random.normal(m.nq)
     d.qvel = np.random.random(m.nv)
+    mujoco.mj_forward(m, d)
 
     # put on device
     mx = mjx.put_model(m)
@@ -67,7 +69,9 @@ class TransmissionIntegrationTest(parameterized.TestCase):
     dx = transmission_jit_fn(mx, dx)
 
     _assert_attr_eq(d, dx, 'actuator_length', seed, f'transmission{seed}')
-    _assert_attr_eq(d, dx, 'actuator_moment', seed, f'transmission{seed}')
+    _assert_attr_eq(
+        d, dx, 'actuator_moment', seed, f'transmission{seed}', atol=1e-4
+    )
 
 
 if __name__ == '__main__':

From cd972bbeee9691ed19c31e535c76b59e2611c075 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Wed, 3 Jan 2024 04:46:13 -0800
Subject: [PATCH 091/121] Document humanoid model changes in changelog section
 of its README + minor cosmetic improvements.

PiperOrigin-RevId: 595367344
Change-Id: I17483de71c6cbcf6a66e2fad762cc32f8cbee8b5
---
 model/humanoid/README.md | 34 ++++++++++++++++++++++++++--------
 1 file changed, 26 insertions(+), 8 deletions(-)

diff --git a/model/humanoid/README.md b/model/humanoid/README.md
index 28ab7e7a..6f926186 100644
--- a/model/humanoid/README.md
+++ b/model/humanoid/README.md
@@ -1,17 +1,35 @@
-Humanoid
-========
-
-Degrees of Freedom: 27
-Actuators: 21
+# Humanoid
 
 This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
 behaviours. While several variants of it exist in the wild, this version is based on the model
 in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
 
+* Degrees of Freedom: 27
+* Actuators: 21
+
+<p float="left">
+  <img src="humanoid.png" width="400">
+</p>
+
+## Changelog
+
+* 02-01-2024: Add more keyframes.
+* 27-11-2023: Move humanoid geoms to group 1.
+* 05-04-2023: Fix typo in texture size.
+* 20-09-2022: Use default class for left_upper_arm geom.
+* 17-09-2022: Increase offscreen render buffer resolution of the humanoid to 2560x1440.
+* 12-09-2022:
+  * Increased maximum hip flexion.
+  * Symmetrised shoulder and ankle joints.
+  * Added hamstring tendons which couple the hip and knee at large flexion values.
+  * Moved duplicated values into defaults.
+  * Added two keyframes.
+  * Improved lighting.
+  * Changed naming convention.
+
+## References
+
 [1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization]
      (https://doi.org/10.1109/IROS.2012.6386025).
 
 [2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690).
-
-
-![humanoid](humanoid.png)

From 6860e953ed884fab19a8785cb5353a362f0d9277 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 3 Jan 2024 06:01:49 -0800
Subject: [PATCH 092/121] Improve docstring of `mju_eig3`.

PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
---
 doc/APIreference/functions.rst | 2 +-
 include/mujoco/mujoco.h        | 2 +-
 introspect/functions.py        | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 6bf64e11..04d8802a 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -2985,7 +2985,7 @@ mju_eig3
 
 .. mujoco-include:: mju_eig3
 
-Eigenvalue decomposition of symmetric 3x3 matrix.
+Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
 
 .. _mju_boxQP:
 
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 5ab8a363..cb6962a1 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1118,7 +1118,7 @@ MJAPI void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
 // Address of diagonal element i in band-dense matrix representation.
 MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
 
-// Eigenvalue decomposition of symmetric 3x3 matrix.
+// Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
 MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
 
 // minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper, return rank or -1 if failed
diff --git a/introspect/functions.py b/introspect/functions.py
index e57bd7a9..0e9d2568 100644
--- a/introspect/functions.py
+++ b/introspect/functions.py
@@ -7368,7 +7368,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Eigenvalue decomposition of symmetric 3x3 matrix.',
+         doc="Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.",  # pylint: disable=line-too-long
      )),
     ('mju_boxQP',
      FunctionDecl(

From 8d1b05bbd26da9670638ce215a3c47c6cde4161b Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Wed, 3 Jan 2024 06:18:36 -0800
Subject: [PATCH 093/121] Fix markdown hyperlink.

PiperOrigin-RevId: 595383191
Change-Id: Ia11b962c68ed33cc0fd6c5279f571f4b21d81570
---
 model/humanoid/README.md | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/model/humanoid/README.md b/model/humanoid/README.md
index 6f926186..de4c7069 100644
--- a/model/humanoid/README.md
+++ b/model/humanoid/README.md
@@ -29,7 +29,6 @@ in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
 
 ## References
 
-[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization]
-     (https://doi.org/10.1109/IROS.2012.6386025).
+[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization](https://doi.org/10.1109/IROS.2012.6386025).
 
 [2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690).

From 2940b934febdce7feb89f402faf13b92af2865e3 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Wed, 3 Jan 2024 08:08:48 -0800
Subject: [PATCH 094/121] Fix typo in sdf plugin readme.

PiperOrigin-RevId: 595404942
Change-Id: I43eb079779538e4ff82d0f549b5a49819ebcd9cb
---
 plugin/sdf/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/plugin/sdf/README.md b/plugin/sdf/README.md
index a51d84bb..11ca621b 100644
--- a/plugin/sdf/README.md
+++ b/plugin/sdf/README.md
@@ -95,6 +95,6 @@ class MySDF {
   mjtNum attribute[MySDFAttribute::nattribute];
 
  private:
-  Torus(const mjModel* m, mjData* d, int instance);
+  MySDF(const mjModel* m, mjData* d, int instance);
 };
 ```

From 63ec34f9f8a5ffa3a97812e1d74075419e96637a Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 3 Jan 2024 09:52:30 -0800
Subject: [PATCH 095/121] Add plugins to flex parent body if there are pinned
 vertices.

Fixes #1270.

PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
---
 doc/changelog.rst                         |  7 +-
 plugin/elasticity/elasticity.h            |  3 +
 src/user/user_flexcomp.cc                 |  8 +++
 test/plugin/elasticity/elasticity_test.cc | 79 ++++++++++++++++-------
 4 files changed, 71 insertions(+), 26 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 52592511..0b89de4b 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -7,9 +7,12 @@ Upcoming version (not yet released)
 
 MJX
 ^^^
+1. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
+2. Added :at:`site` transmission.
 
-1. Add :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
-2. Add :at:`site` transmission.
+Bug fixes
+^^^^^^^^^
+3. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes :github:issue:`1270`.
 
 
 Version 3.1.1 (December 18, 2023)
diff --git a/plugin/elasticity/elasticity.h b/plugin/elasticity/elasticity.h
index 8436777e..00074a6e 100644
--- a/plugin/elasticity/elasticity.h
+++ b/plugin/elasticity/elasticity.h
@@ -133,6 +133,9 @@ inline void ComputeForce(mjtNum* qfrc_passive,
       if (vertbodyid) {
         body_dofnum = m->body_dofnum[vertbodyid[v[i]]];
         body_dofadr = m->body_dofadr[vertbodyid[v[i]]];
+        if (body_dofnum && m->body_simple[vertbodyid[v[i]]] != 2) {
+          mju_error("Non-simple or non-static bodies are not yet supported");
+        }
       }
       for (int x = 0; x < body_dofnum; x++) {
         qfrc_passive[body_dofadr+x] -= force[3*i+x];
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 033a215b..b6f24b96 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -399,6 +399,14 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
     // pinned: parent body
     if (pinned[i]) {
       pf->vertbody.push_back(body->name);
+
+      // add plugin
+      if (plugin_instance) {
+        body->is_plugin = true;
+        body->plugin_name = plugin_name;
+        body->plugin_instance = plugin_instance;
+        body->plugin_instance_name = plugin_instance_name;
+      }
     }
 
     // not pinned: new body
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index ae240eba..199f3d0b 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -31,6 +31,38 @@ namespace {
 
 using ElasticityTest = PluginTest;
 
+// -------------------------------- flex ------------------------------------
+TEST_F(ElasticityTest, FlexCompatibility) {
+  static constexpr char flex_xml[] = R"(
+  <mujoco>
+    <extension>
+        <plugin plugin="mujoco.elasticity.solid"/>
+    </extension>
+
+    <worldbody>
+      <body name="parent">
+        <flexcomp name="soft" type="grid" count="3 3 3"
+                  radius="0.01" dim="3"mass="1">
+            <pin id="2"/>
+            <plugin plugin="mujoco.elasticity.solid">
+              <config key="poisson" value="0.2"/>
+              <config key="young" value="5e4"/>
+            </plugin>
+        </flexcomp>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(flex_xml, error, sizeof(error));
+  ASSERT_THAT(m, testing::NotNull()) << error;
+
+  mjData* d = mj_makeData(m);
+  mj_deleteData(d);
+  mj_deleteModel(m);
+}
+
 // -------------------------------- shell -----------------------------------
 TEST_F(ElasticityTest, ElasticEnergyShell) {
   static constexpr char cantilever_xml[] = R"(
@@ -144,6 +176,29 @@ 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>
+    <composite type="particle" count="2 2 1" spacing="1">
+      <geom size=".025"/>
+      <plugin plugin="mujoco.elasticity.shell">
+        <config key="thickness" value="hello"/>
+      </plugin>
+    </composite>
+  </worldbody>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(xml, error, sizeof(error));
+  ASSERT_THAT(m, testing::IsNull());
+}
+
 // -------------------------------- solid -----------------------------------
 TEST_F(ElasticityTest, ElasticEnergySolid) {
   static constexpr char cantilever_xml[] = R"(
@@ -202,7 +257,6 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
 }
 
 // -------------------------------- cable -----------------------------------
-
 TEST_F(ElasticityTest, CantileverIntoCircle) {
   static constexpr char cantilever_xml[] = R"(
   <mujoco>
@@ -303,29 +357,6 @@ TEST_F(ElasticityTest, InvalidMixedAttribute) {
   ASSERT_THAT(m, testing::IsNull());
 }
 
-TEST_F(ElasticityTest, InvalidThickness) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
-
-  <worldbody>
-    <composite type="particle" count="2 2 1" spacing="1">
-      <geom size=".025"/>
-      <plugin plugin="mujoco.elasticity.shell">
-        <config key="thickness" value="hello"/>
-      </plugin>
-    </composite>
-  </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjModel* m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m, testing::IsNull());
-}
-
 TEST_F(ElasticityTest, ValidAttributes) {
   static constexpr char cantilever_xml[] = R"(
   <mujoco>

From 7ce05f495702fa3c04688b27025444173b0d3667 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 4 Jan 2024 09:16:52 -0800
Subject: [PATCH 096/121] Improve documentation of solver parameters.

PiperOrigin-RevId: 595723619
Change-Id: I00b67eaec02d2e85ce60fb44eb3e582ce036be3a
---
 doc/modeling.rst                           | 23 ++++++---
 test/engine/engine_core_constraint_test.cc | 56 ++++++++++++++++++++++
 2 files changed, 72 insertions(+), 7 deletions(-)

diff --git a/doc/modeling.rst b/doc/modeling.rst
index 681534cd..b146407f 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -272,6 +272,7 @@ approximately
 
 .. math::
    \ac + d \cdot (b v + k r) = (1 - d)\cdot \au
+   :label: eq:constraint
 
 Again, the parameters that are under the user's control are :math:`d, b, k`. The remaining quantities are functions of
 the system state and are computed automatically at each time step.
@@ -343,12 +344,9 @@ Next we explain the setting of the stiffness :math:`k` and damping :math:`b` whi
 
 .. admonition:: Intuitive description of the **reference acceleration**
 
-   The *reference acceleration* :math:`\ar` determines the **motion that constraint is trying to achieve** in
-   order to rectify violation. For example, consider a contact between a motionless free body pulled down by gravity
-   onto a static plane geom. Since there is no motion, the penetration will be entirely determined by the impedance
-   while the reference has no effect. Now imagine that the body is dropped onto the plane. Upon impact the constraint
-   will generate a normal force which attempts to rectify the penetration using a particular motion; this motion is
-   the reference acceleration.
+   The *reference acceleration* :math:`\ar` determines the **motion that constraint is trying to achieve** in order to
+   rectify violation. Imagine a body dropped onto the plane. Upon impact the constraint will generate a normal force
+   which attempts to rectify the penetration using a particular motion; this motion is the reference acceleration.
 
    Another way of understanding the reference acceleration is to think of the unmodeled deformation variables
    described in the :ref:`Computation chapter<soPrimal>`. Imagine two bodies pressed together, leading to deformation at
@@ -393,7 +391,12 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
    can go unstable. This is enforced internally, unless the :ref:`refsafe<option-flag-refsafe>` attribute of :ref:`flag
    <option-flag>` is set to false. The :math:`\text{dampratio}` parameter would normally be set to 1, corresponding to
    critical damping. Smaller values result in under-damped or bouncy constraints, while larger values result in
-   over-damped constraints.
+   over-damped constraints. Combining the above formula with :eq:`eq:constraint`, we can derive the following result.
+   If the reference acceleration is given using the positive number format and the impedance is constant
+   :math:`d = d_0 = d_\text{width}`, then the penetration depth at rest is
+
+   .. math::
+      r = \au \cdot (1 - d) \cdot \text{timeconst}^2 \cdot \text{dampratio}^2
 
    Next we describe the direct format where the two numbers are :math:`(-\text{stiffness}, -\text{damping})`. This
    allows direct control over restitution in particular. We still apply some scaling so that the same numbers can be
@@ -406,6 +409,12 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
       k &= \text{stiffness} \cdot d(r) / d_\text{width}^2 \\
       \end{aligned}
 
+   Similarly to the above derivation, if the reference acceleration is given using the negative number format and the
+   impedance is constant, then the penetration depth at rest is
+
+   .. math::
+      r = \au \cdot (1 - d) \cdot \text{stiffness}
+
 .. tip::
    In the positive-value default format, the :math:`\text{timeconst}` parameter controls constraint **softness**.
    It is specified in units of time and means "how quickly is the constraint trying to resolve the violation". Larger
diff --git a/test/engine/engine_core_constraint_test.cc b/test/engine/engine_core_constraint_test.cc
index 6f62a739..6a7d3159 100644
--- a/test/engine/engine_core_constraint_test.cc
+++ b/test/engine/engine_core_constraint_test.cc
@@ -161,6 +161,62 @@ TEST_F(CoreConstraintTest, WeldRotJacobian) {
   mj_deleteModel(model);
 }
 
+// test formulas for penetration at rest
+TEST_F(CoreConstraintTest, RestPenetration) {
+  constexpr char xml[] = R"(
+  <mujoco>
+    <worldbody>
+      <geom type="plane" size="1 1 1"/>
+      <body pos="0 0 .2">
+        <joint type="slide" axis="0 0 1"/>
+        <geom size=".1"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  mjModel* model = LoadModelFromString(xml);
+  ASSERT_THAT(model, testing::NotNull());
+  mjtNum gravity = -model->opt.gravity[2];
+  mjtNum damping_ratio = 0.8;
+  mjData* data = mj_makeData(model);
+
+  for (const mjtNum reference : {-100.0, -10.0, 0.1, 0.01}) {
+    for (const mjtNum impedance : {0.3, 0.9, 0.99}) {
+      // set solimp
+      for (int i=0; i < model->ngeom; i++) {
+        model->geom_solimp[i*mjNIMP + 0] = impedance;
+        model->geom_solimp[i*mjNIMP + 1] = impedance;
+      }
+
+      // set solref
+      for (int i=0; i < model->ngeom; i++) {
+        model->geom_solref[i*mjNREF + 0] = reference;
+        model->geom_solref[i*mjNREF + 1] = reference < 0 ? -10 : damping_ratio;
+      }
+
+      // simulate for 50 seconds
+      mj_resetData(model, data);
+      while (data->time < 50) {
+        mj_step(model, data);
+      }
+
+      mjtNum depth = -data->contact[0].dist;
+      mjtNum expected_depth;
+      if (reference < 0) {
+        expected_depth = gravity * (1 - impedance) / -reference;
+      } else {
+        mjtNum tc_dr = reference * damping_ratio;
+        expected_depth = gravity * (1 - impedance) * tc_dr * tc_dr;
+      }
+
+      EXPECT_THAT(depth, DoubleNear(expected_depth, 1e-10));
+    }
+  }
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
 static const char* const kDoflessContactPath =
     "engine/testdata/core_constraint/dofless_contact.xml";
 static const char* const kDoflessTendonFrictionalPath =

From 721e2d5589d3fdafd440009374a31521214088b7 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Thu, 4 Jan 2024 10:44:00 -0800
Subject: [PATCH 097/121] Update tutorial notebook.

PiperOrigin-RevId: 595746621
Change-Id: Ie0a4ea01d4f50491b14713f12ea8a4fe6877f890
---
 mjx/tutorial.ipynb | 916 ++++++++++++++++++++++++---------------------
 1 file changed, 481 insertions(+), 435 deletions(-)

diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index f27461c6..8644de41 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -157,20 +157,25 @@
       "source": [
         "#@title Import MuJoCo, MJX, and Brax\n",
         "\n",
+        "\n",
         "from datetime import datetime\n",
         "import functools\n",
+        "from IPython.display import HTML\n",
         "import jax\n",
         "from jax import numpy as jp\n",
         "import numpy as np\n",
-        "from typing import Any, Dict, Tuple, Union\n",
+        "from typing import Any, Dict, Sequence, Tuple, Union\n",
         "\n",
+        "from brax import base\n",
         "from brax import envs\n",
         "from brax import math\n",
         "from brax.base import Base, Motion, Transform\n",
-        "from brax.envs.base import Env, State\n",
+        "from brax.envs.base import Env, MjxEnv, State\n",
+        "from brax.mjx.base import State as MjxState\n",
         "from brax.training.agents.ppo import train as ppo\n",
         "from brax.training.agents.ppo import networks as ppo_networks\n",
-        "from brax.io import model\n",
+        "from brax.io import html, mjcf, model\n",
+        "\n",
         "from etils import epath\n",
         "from flax import struct\n",
         "from matplotlib import pyplot as plt\n",
@@ -180,6 +185,211 @@
         "from mujoco import mjx\n"
       ]
     },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "Nj4-Xmx4DFaq"
+      },
+      "source": [
+        "# Introduction to MJX\n",
+        "\n",
+        "MJX is an implementation of MuJoCo written in [JAX](https://jax.readthedocs.io/en/latest/index.html), enabling large batch training on GPU/TPU. In this notebook, we will demonstrate how to train RL policies with MJX.\n",
+        "\n",
+        "Before we get into hefty RL workloads, let's get started with a simpler example! The entrypoint into MJX is through MuJoCo, so first we load a MuJoCo model:"
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "bNus3mbbDz6a"
+      },
+      "outputs": [],
+      "source": [
+        "xml = \"\"\"\n",
+        "\u003cmujoco\u003e\n",
+        "  \u003cworldbody\u003e\n",
+        "    \u003clight name=\"top\" pos=\"0 0 1\"/\u003e\n",
+        "    \u003cbody name=\"box_and_sphere\" euler=\"0 0 -30\"\u003e\n",
+        "      \u003cjoint name=\"swing\" type=\"hinge\" axis=\"1 -1 0\" pos=\"-.2 -.2 -.2\"/\u003e\n",
+        "      \u003cgeom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/\u003e\n",
+        "      \u003cgeom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/\u003e\n",
+        "    \u003c/body\u003e\n",
+        "  \u003c/worldbody\u003e\n",
+        "\u003c/mujoco\u003e\n",
+        "\"\"\"\n",
+        "\n",
+        "# Make model, data, and renderer\n",
+        "mj_model = mujoco.MjModel.from_xml_string(xml)\n",
+        "mj_data = mujoco.MjData(mj_model)\n",
+        "renderer = mujoco.Renderer(mj_model)"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "Po5oykJbFQbj"
+      },
+      "source": [
+        "Next we take the MuJoCo model and data, and place them on the GPU device using MJX."
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "TSpoOWqeEC3P"
+      },
+      "outputs": [],
+      "source": [
+        "mjx_model = mjx.put_model(mj_model)\n",
+        "mjx_data = mjx.put_data(mj_model, mj_data)"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "6rxMMSs4OJJf"
+      },
+      "source": [
+        "Below, we print the `qpos` from MuJoCo and MJX. Notice that the `qpos` for the mjData is a numpy array living on the CPU, while the `qpos` for `mjx.Data` is a JAX Array living on the GPU device."
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "ZOD582pfOLP-"
+      },
+      "outputs": [],
+      "source": [
+        "print(mj_data.qpos, type(mj_data.qpos))\n",
+        "print(mjx_data.qpos, type(mjx_data.qpos), mjx_data.qpos.devices())"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "ZShF9-o_JLm3"
+      },
+      "source": [
+        "Let's run the simulation in MuJoCo and render the trajectory. This example is taken from the [MuJoCo tutorial](https://colab.sandbox.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)."
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "HDlPlX05I3m-"
+      },
+      "outputs": [],
+      "source": [
+        "# enable joint visualization option:\n",
+        "scene_option = mujoco.MjvOption()\n",
+        "scene_option.flags[mujoco.mjtVisFlag.mjVIS_JOINT] = True\n",
+        "\n",
+        "duration = 3.8  # (seconds)\n",
+        "framerate = 60  # (Hz)\n",
+        "\n",
+        "frames = []\n",
+        "mujoco.mj_resetData(mj_model, mj_data)\n",
+        "while mj_data.time \u003c duration:\n",
+        "  mujoco.mj_step(mj_model, mj_data)\n",
+        "  if len(frames) \u003c mj_data.time * framerate:\n",
+        "    renderer.update_scene(mj_data, scene_option=scene_option)\n",
+        "    pixels = renderer.render()\n",
+        "    frames.append(pixels)\n",
+        "\n",
+        "# Simulate and display video.\n",
+        "media.show_video(frames, fps=framerate)"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "m70b_RxBJOyd"
+      },
+      "source": [
+        "Now let's run the same exact simulation on the GPU device using MJX!\n",
+        "\n",
+        "In the example below, we use `mjx.step` instead of `mujoco.mj_step`, and we also [`jax.jit`](https://jax.readthedocs.io/en/latest/jax-101/02-jitting.html) the `mjx.step` so that it runs efficiently on the GPU. After each step, we convert the `mjx.Data` back to `mjData` so that we can use the MuJoCo renderer.\n"
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "Pr29xq0-JRQv"
+      },
+      "outputs": [],
+      "source": [
+        "\n",
+        "jit_step = jax.jit(mjx.step)\n",
+        "\n",
+        "frames = []\n",
+        "mujoco.mj_resetData(mj_model, mj_data)\n",
+        "mjx_data = mjx.put_data(mj_model, mj_data)\n",
+        "while mjx_data.time \u003c duration:\n",
+        "  mjx_data = jit_step(mjx_model, mjx_data)\n",
+        "  if len(frames) \u003c mjx_data.time * framerate:\n",
+        "    mj_data = mjx.get_data(mj_model, mjx_data)\n",
+        "    renderer.update_scene(mj_data, scene_option=scene_option)\n",
+        "    pixels = renderer.render()\n",
+        "    frames.append(pixels)\n",
+        "\n",
+        "media.show_video(frames, fps=framerate)"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "wXsQ4qO2KO3Q"
+      },
+      "source": [
+        "Running single threaded physics simulation on the GPU is not very [efficient](https://mujoco.readthedocs.io/en/stable/mjx.html#mjx-the-sharp-bits). The advantage with MJX is that we can run environments in parallel on a hardware accelerated device. Let's try it out!\n",
+        "\n",
+        "In the example below, we create 4096 copies of the `mjx.Data` and we run the `mjx.step` over the batched data. Since MJX is implemented in JAX, we take advantage of [`jax.vmap`](https://jax.readthedocs.io/en/latest/_autosummary/jax.vmap.html) to run the `mjx.step` in parallel over all `mjx.Data`."
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "rrdrcKRVK6w9"
+      },
+      "outputs": [],
+      "source": [
+        "rng = jax.random.PRNGKey(0)\n",
+        "rng = jax.random.split(rng, 4096)\n",
+        "batch = jax.vmap(lambda rng: mjx_data.replace(qpos=jax.random.uniform(rng, (1,))))(rng)\n",
+        "\n",
+        "jit_step = jax.vmap(mjx.step, in_axes=(None, 0))\n",
+        "batch = jit_step(mjx_model, batch)\n",
+        "\n",
+        "print(batch.qpos)"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "x4lL220cOj0q"
+      },
+      "source": [
+        "We can copy the batched `mjx.Data` back to MuJoCo like we did before:"
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "Jtz7j1PDOnw5"
+      },
+      "outputs": [],
+      "source": [
+        "batched_mj_data = mjx.get_data(mj_model, batch)\n",
+        "print([d.qpos for d in batched_mj_data])"
+      ]
+    },
     {
       "cell_type": "markdown",
       "metadata": {
@@ -187,145 +397,10 @@
       },
       "source": [
         "# Training a Policy with MJX\n",
-        "MJX is an implementation of MuJoCo written in [JAX](https://jax.readthedocs.io/en/latest/index.html), enabling large batch training on GPU/TPU. In this notebook, we demonstrate how to train RL policies with MJX.\n",
         "\n",
-        "First, we implement an environment `State` so that we can plug into the [Brax](https://github.com/google/brax) environment API. `State` holds the observation, reward, metrics, and environment info. Notably `State.pipeline_state` holds a `mjx.Data` object, which is analogous to `mjData` in MuJoCo.\n"
-      ]
-    },
-    {
-      "cell_type": "code",
-      "execution_count": null,
-      "metadata": {
-        "id": "7DQ_rW4CkIB_"
-      },
-      "outputs": [],
-      "source": [
-        "#@title State\n",
+        "Running large batch physics simulation is useful for training RL policies. Here we demonstrate training RL policies with MJX using the RL library from [Brax](https://github.com/google/brax).\n",
         "\n",
-        "@struct.dataclass\n",
-        "class State(Base):\n",
-        "  \"\"\"Environment state for training and inference with brax.\n",
-        "\n",
-        "  Args:\n",
-        "    pipeline_state: the physics state, mjx.Data\n",
-        "    obs: environment observations\n",
-        "    reward: environment reward\n",
-        "    done: boolean, True if the current episode has terminated\n",
-        "    metrics: metrics that get tracked per environment step\n",
-        "    info: environment variables defined and updated by the environment reset\n",
-        "      and step functions\n",
-        "  \"\"\"\n",
-        "\n",
-        "  pipeline_state: mjx.Data\n",
-        "  obs: jax.Array\n",
-        "  reward: jax.Array\n",
-        "  done: jax.Array\n",
-        "  metrics: Dict[str, jax.Array] = struct.field(default_factory=dict)\n",
-        "  info: Dict[str, Any] = struct.field(default_factory=dict)\n"
-      ]
-    },
-    {
-      "cell_type": "markdown",
-      "metadata": {
-        "id": "acpXtDLNXLV9"
-      },
-      "source": [
-        "\n",
-        "Next, we implement `MjxEnv`, an environment class we'll use through the notebook. `MjxEnv` initializes a `mjx.Model` and `mjx.Data` object. Notice that `MjxEnv` calls `mjx.step` for every `pipeline_step`, which is analgous to `mujoco.mj_step`.\n",
-        "\n",
-        "`MjxEnv` also inherits from `brax.envs.base.Env` which allows us to use the training agents implemented in brax."
-      ]
-    },
-    {
-      "cell_type": "code",
-      "execution_count": null,
-      "metadata": {
-        "id": "ccujYeJ5XOhx"
-      },
-      "outputs": [],
-      "source": [
-        "#@title MjxEnv\n",
-        "\n",
-        "class MjxEnv(Env):\n",
-        "  \"\"\"API for driving an MJX system for training and inference in brax.\"\"\"\n",
-        "\n",
-        "  def __init__(\n",
-        "      self,\n",
-        "      mj_model: mujoco.MjModel,\n",
-        "      physics_steps_per_control_step: int = 1,\n",
-        "  ):\n",
-        "    \"\"\"Initializes MjxEnv.\n",
-        "\n",
-        "    Args:\n",
-        "      mj_model: mujoco.MjModel\n",
-        "      physics_steps_per_control_step: the number of times to step the physics\n",
-        "        pipeline for each environment step\n",
-        "    \"\"\"\n",
-        "    self.model = mj_model\n",
-        "    self.data = mujoco.MjData(mj_model)\n",
-        "    self.sys = mjx.device_put(mj_model)\n",
-        "    self._physics_steps_per_control_step = physics_steps_per_control_step\n",
-        "\n",
-        "  def pipeline_init(\n",
-        "      self, qpos: jax.Array, qvel: jax.Array\n",
-        "  ) -\u003e mjx.Data:\n",
-        "    \"\"\"Initializes the physics state.\"\"\"\n",
-        "    data = mjx.device_put(self.data)\n",
-        "    data = data.replace(qpos=qpos, qvel=qvel, ctrl=jp.zeros(self.sys.nu))\n",
-        "    data = mjx.forward(self.sys, data)\n",
-        "    return data\n",
-        "\n",
-        "  def pipeline_step(\n",
-        "      self, data: mjx.Data, ctrl: jax.Array\n",
-        "  ) -\u003e mjx.Data:\n",
-        "    \"\"\"Takes a physics step using the physics pipeline.\"\"\"\n",
-        "    def f(data, _):\n",
-        "      data = data.replace(ctrl=ctrl)\n",
-        "      return (\n",
-        "          mjx.step(self.sys, data),\n",
-        "          None,\n",
-        "      )\n",
-        "    data, _ = jax.lax.scan(f, data, (), self._physics_steps_per_control_step)\n",
-        "    return data\n",
-        "\n",
-        "  @property\n",
-        "  def dt(self) -\u003e jax.Array:\n",
-        "    \"\"\"The timestep used for each env step.\"\"\"\n",
-        "    return self.sys.opt.timestep * self._physics_steps_per_control_step\n",
-        "\n",
-        "  @property\n",
-        "  def observation_size(self) -\u003e int:\n",
-        "    rng = jax.random.PRNGKey(0)\n",
-        "    reset_state = self.unwrapped.reset(rng)\n",
-        "    return reset_state.obs.shape[-1]\n",
-        "\n",
-        "  @property\n",
-        "  def action_size(self) -\u003e int:\n",
-        "    return self.sys.nu\n",
-        "\n",
-        "  @property\n",
-        "  def backend(self) -\u003e str:\n",
-        "    return 'mjx'\n",
-        "\n",
-        "  def _pos_vel(\n",
-        "      self, data: mjx.Data\n",
-        "      ) -\u003e Tuple[Transform, Motion]:\n",
-        "    \"\"\"Returns 6d spatial transform and 6d velocity for all bodies.\"\"\"\n",
-        "    x = Transform(pos=data.xpos[1:, :], rot=data.xquat[1:, :])\n",
-        "    cvel = Motion(vel=data.cvel[1:, 3:], ang=data.cvel[1:, :3])\n",
-        "    offset = data.xpos[1:, :] - data.subtree_com[\n",
-        "        self.model.body_rootid[np.arange(1, self.model.nbody)]]\n",
-        "    xd = Transform.create(pos=offset).vmap().do(cvel)\n",
-        "    return x, xd\n"
-      ]
-    },
-    {
-      "cell_type": "markdown",
-      "metadata": {
-        "id": "iPlFu4CiIgBN"
-      },
-      "source": [
-        "Finally we can implement a real environment. We choose to first implement the Humanoid environment. Notice that `reset` initializes a `State`, and `step` steps through the physics step and reward logic. The reward and stepping logic train the Humanoid to run forwards."
+        "Below, we implement the classic Humanoid environment using MJX and Brax. We inherit from the `MjxEnv` implementation in Brax so that we can step the physics with MJX while training with Brax RL implementations.\n"
       ]
     },
     {
@@ -361,10 +436,10 @@
         "    mj_model.opt.ls_iterations = 6\n",
         "\n",
         "    physics_steps_per_control_step = 5\n",
-        "    kwargs['physics_steps_per_control_step'] = kwargs.get(\n",
-        "        'physics_steps_per_control_step', physics_steps_per_control_step)\n",
+        "    kwargs['n_frames'] = kwargs.get(\n",
+        "        'n_frames', physics_steps_per_control_step)\n",
         "\n",
-        "    super().__init__(mj_model=mj_model, **kwargs)\n",
+        "    super().__init__(model=mj_model, **kwargs)\n",
         "\n",
         "    self._forward_reward_weight = forward_reward_weight\n",
         "    self._ctrl_cost_weight = ctrl_cost_weight\n",
@@ -390,7 +465,7 @@
         "\n",
         "    data = self.pipeline_init(qpos, qvel)\n",
         "\n",
-        "    obs = self._get_obs(data, jp.zeros(self.sys.nu))\n",
+        "    obs = self._get_obs(data.data, jp.zeros(self.sys.nu))\n",
         "    reward, done, zero = jp.zeros(3)\n",
         "    metrics = {\n",
         "        'forward_reward': zero,\n",
@@ -410,14 +485,14 @@
         "    data0 = state.pipeline_state\n",
         "    data = self.pipeline_step(data0, action)\n",
         "\n",
-        "    com_before = data0.subtree_com[1]\n",
-        "    com_after = data.subtree_com[1]\n",
+        "    com_before = data0.data.subtree_com[1]\n",
+        "    com_after = data.data.subtree_com[1]\n",
         "    velocity = (com_after - com_before) / self.dt\n",
         "    forward_reward = self._forward_reward_weight * velocity[0]\n",
         "\n",
         "    min_z, max_z = self._healthy_z_range\n",
-        "    is_healthy = jp.where(data.qpos[2] \u003c min_z, 0.0, 1.0)\n",
-        "    is_healthy = jp.where(data.qpos[2] \u003e max_z, 0.0, is_healthy)\n",
+        "    is_healthy = jp.where(data.q[2] \u003c min_z, 0.0, 1.0)\n",
+        "    is_healthy = jp.where(data.q[2] \u003e max_z, 0.0, is_healthy)\n",
         "    if self._terminate_when_unhealthy:\n",
         "      healthy_reward = self._healthy_reward\n",
         "    else:\n",
@@ -425,7 +500,7 @@
         "\n",
         "    ctrl_cost = self._ctrl_cost_weight * jp.sum(jp.square(action))\n",
         "\n",
-        "    obs = self._get_obs(data, action)\n",
+        "    obs = self._get_obs(data.data, action)\n",
         "    reward = forward_reward + healthy_reward - ctrl_cost\n",
         "    done = 1.0 - is_healthy if self._terminate_when_unhealthy else 0.0\n",
         "    state.metrics.update(\n",
@@ -492,31 +567,7 @@
         "\n",
         "# define the jit reset/step functions\n",
         "jit_reset = jax.jit(env.reset)\n",
-        "jit_step = jax.jit(env.step)\n",
-        "\n",
-        "# instantiate the renderer\n",
-        "renderer = mujoco.Renderer(env.model)"
-      ]
-    },
-    {
-      "cell_type": "code",
-      "execution_count": null,
-      "metadata": {
-        "id": "9f2ME2WbA5Ip"
-      },
-      "outputs": [],
-      "source": [
-        "#@title Define a render utility function\n",
-        "\n",
-        "def get_image(state: State, camera: str) -\u003e np.ndarray:\n",
-        "  \"\"\"Renders the environment state.\"\"\"\n",
-        "  d = mujoco.MjData(env.model)\n",
-        "  # write the mjx.Data into an mjData object\n",
-        "  mjx.device_get_into(d, state.pipeline_state)\n",
-        "  mujoco.mj_forward(env.model, d)\n",
-        "  # use the mjData object to update the renderer\n",
-        "  renderer.update_scene(d, camera=camera)\n",
-        "  return renderer.render()\n"
+        "jit_step = jax.jit(env.step)\n"
       ]
     },
     {
@@ -529,17 +580,15 @@
       "source": [
         "# initialize the state\n",
         "state = jit_reset(jax.random.PRNGKey(0))\n",
-        "rollout = [state]\n",
-        "images = [get_image(state, camera='side')]\n",
+        "rollout = [state.pipeline_state]\n",
         "\n",
         "# grab a trajectory\n",
         "for i in range(10):\n",
         "  ctrl = -0.1 * jp.ones(env.sys.nu)\n",
         "  state = jit_step(state, ctrl)\n",
-        "  rollout.append(state)\n",
-        "  images.append(get_image(state, camera='side'))\n",
+        "  rollout.append(state.pipeline_state)\n",
         "\n",
-        "media.show_video(images, fps=1.0 / env.dt)"
+        "media.show_video(env.render(rollout, camera='side'), fps=1.0 / env.dt)"
       ]
     },
     {
@@ -550,7 +599,7 @@
       "source": [
         "## Train Humanoid Policy\n",
         "\n",
-        "Let's finally train a policy with PPO to make the Humanoid run forwards. Training takes about 13-14 minutes on a Tesla V100 GPU."
+        "Let's now train a policy with PPO to make the Humanoid run forwards. Training takes about 9-10 minutes on a Tesla A100 GPU."
       ]
     },
     {
@@ -604,7 +653,7 @@
         "id": "YYIch0HEApBx"
       },
       "source": [
-        "## Save and Load Policy\n",
+        "\u003c!-- ## Save and Load Policy --\u003e\n",
         "\n",
         "We can save and load the policy using the brax model API."
       ]
@@ -673,8 +722,7 @@
         "# initialize the state\n",
         "rng = jax.random.PRNGKey(0)\n",
         "state = jit_reset(rng)\n",
-        "rollout = [state]\n",
-        "images = [get_image(state, camera='side')]\n",
+        "rollout = [state.pipeline_state]\n",
         "\n",
         "# grab a trajectory\n",
         "n_steps = 500\n",
@@ -684,14 +732,12 @@
         "  act_rng, rng = jax.random.split(rng)\n",
         "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",
         "  state = jit_step(state, ctrl)\n",
-        "  rollout.append(state)\n",
-        "  if i % render_every == 0:\n",
-        "    images.append(get_image(state, camera='side'))\n",
+        "  rollout.append(state.pipeline_state)\n",
         "\n",
         "  if state.done:\n",
         "    break\n",
         "\n",
-        "media.show_video(images, fps=1.0 / eval_env.dt / render_every)"
+        "media.show_video(env.render(rollout[::render_every], camera='side'), fps=1.0 / env.dt / render_every)"
       ]
     },
     {
@@ -702,7 +748,7 @@
       "source": [
         "# MJX Policy in MuJoCo\n",
         "\n",
-        "Note that we can also perform the physics step using the original MuJoCo python bindings to show that the policy trained in MJX works in MuJoCo."
+        "We can also perform the physics step using the original MuJoCo python bindings to show that the policy trained in MJX works in MuJoCo."
       ]
     },
     {
@@ -713,7 +759,7 @@
       },
       "outputs": [],
       "source": [
-        "mj_model = eval_env.model\n",
+        "mj_model = eval_env._model\n",
         "mj_data = mujoco.MjData(mj_model)\n",
         "\n",
         "renderer = mujoco.Renderer(mj_model)\n",
@@ -723,11 +769,11 @@
         "for i in range(n_steps):\n",
         "  act_rng, rng = jax.random.split(rng)\n",
         "\n",
-        "  obs = eval_env._get_obs(mjx.device_put(mj_data), ctrl)\n",
+        "  obs = eval_env._get_obs(mjx.put_data(mj_model, mj_data), ctrl)\n",
         "  ctrl, _ = jit_inference_fn(obs, act_rng)\n",
         "\n",
         "  mj_data.ctrl = ctrl\n",
-        "  for _ in range(eval_env._physics_steps_per_control_step):\n",
+        "  for _ in range(eval_env._n_frames):\n",
         "    mujoco.mj_step(mj_model, mj_data)  # Physics step using MuJoCo mj_step.\n",
         "\n",
         "  if i % render_every == 0:\n",
@@ -743,7 +789,7 @@
         "id": "65mIPj6DQNNa"
       },
       "source": [
-        "# Domain Randomization\n",
+        "# Training a Policy with Domain Randomization\n",
         "\n",
         "We might also want to include randomization over certain `mjModel` parameters while training a policy. In MJX, we can easily create a batch of environments with randomized values populated in `mjx.Model`. Below, we show a function that randomizes friction and actuator gain/bias."
       ]
@@ -766,7 +812,7 @@
         "    friction = sys.geom_friction.at[:, 0].set(friction)\n",
         "    # actuator\n",
         "    _, key = jax.random.split(key, 2)\n",
-        "    gain_range = (-10, -5)\n",
+        "    gain_range = (-5, 5)\n",
         "    param = jax.random.uniform(\n",
         "        key, (1,), minval=gain_range[0], maxval=gain_range[1]\n",
         "    ) + sys.actuator_gainprm[:, 0]\n",
@@ -798,7 +844,7 @@
         "id": "gnsZo-GWSYYj"
       },
       "source": [
-        "If we wanted 10 environments with randomized friction and actuator params, we can call `domain_randomize`, which returns a batched `mjModel` along with a dictionary specifying the axes that are batched."
+        "If we wanted 10 environments with randomized friction and actuator params, we can call `domain_randomize`, which returns a batched `mjx.Model` along with a dictionary specifying the axes that are batched."
       ]
     },
     {
@@ -828,7 +874,18 @@
       "source": [
         "## Quadruped Env\n",
         "\n",
-        "Let's define a quadruped environment that takes advantage of the domain randomization function. Here we use the [Barkour v0 Quadruped](https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_v0) and an environment that trains a joystick policy."
+        "Let's define a quadruped environment that takes advantage of the domain randomization function. Here we use the [Barkour vb Quadruped](https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_vb) from [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie). We implement an environment that trains a joystick policy with Brax."
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "VfyK73gtRXid"
+      },
+      "outputs": [],
+      "source": [
+        "!git clone https://github.com/google-deepmind/mujoco_menagerie"
       ]
     },
     {
@@ -839,7 +896,7 @@
       },
       "outputs": [],
       "source": [
-        "#@title Barkour v0 Quadruped Env\n",
+        "#@title Barkour vb Quadruped Env\n",
         "\n",
         "def get_config():\n",
         "  \"\"\"Returns reward config for barkour quadruped environment.\"\"\"\n",
@@ -869,11 +926,10 @@
         "                    # Penalize non-zero roll and pitch angles. L2 penalty.\n",
         "                    orientation=-5.0,\n",
         "                    # L2 regularization of joint torques, |tau|^2.\n",
-        "                    # torques=-0.0002,\n",
-        "                    torques=-0.002,\n",
+        "                    torques=-0.0002,\n",
         "                    # Penalize the change in the action and encourage smooth\n",
         "                    # actions. L2 regularization |action - last_action|^2\n",
-        "                    action_rate=-0.1,\n",
+        "                    action_rate=-0.01,\n",
         "                    # Encourage long swing steps.  However, it does not\n",
         "                    # encourage high clearances.\n",
         "                    feet_air_time=0.2,\n",
@@ -893,7 +949,10 @@
         "    return default_config\n",
         "\n",
         "  default_config = config_dict.ConfigDict(\n",
-        "      dict(rewards=get_default_rewards_config(),))\n",
+        "      dict(\n",
+        "          rewards=get_default_rewards_config(),\n",
+        "      )\n",
+        "  )\n",
         "\n",
         "  return default_config\n",
         "\n",
@@ -904,46 +963,69 @@
         "  def __init__(\n",
         "      self,\n",
         "      obs_noise: float = 0.05,\n",
-        "      action_scale: float=0.3,\n",
+        "      action_scale: float = 0.3,\n",
+        "      kick_vel: float = 0.05,\n",
         "      **kwargs,\n",
         "  ):\n",
-        "    path = epath.Path(epath.resource_path('mujoco')) / (\n",
-        "        'mjx/benchmark/model/barkour_v0/assets'\n",
-        "    )\n",
-        "    mj_model = mujoco.MjModel.from_xml_path(\n",
-        "        (path / 'barkour_v0_mjx.xml').as_posix())\n",
-        "    mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
-        "    mj_model.opt.iterations = 4\n",
-        "    mj_model.opt.ls_iterations = 6\n",
+        "    path = epath.Path('mujoco_menagerie/google_barkour_vb/scene_mjx.xml')\n",
+        "    self._dt = 0.02  # this environment is 50 fps\n",
+        "    self.brax_sys = mjcf.load(path).replace(dt=self._dt)\n",
+        "    model = self.brax_sys.get_model()\n",
+        "    model.opt.timestep = 0.004\n",
         "\n",
-        "    physics_steps_per_control_step = 10\n",
-        "    kwargs['physics_steps_per_control_step'] = kwargs.get(\n",
-        "        'physics_steps_per_control_step', physics_steps_per_control_step)\n",
-        "    super().__init__(mj_model=mj_model, **kwargs)\n",
+        "    # override menagerie params for smoother policy\n",
+        "    model.dof_damping[6:] = 0.5239\n",
+        "    model.actuator_gainprm[:, 0] = 35.0\n",
+        "    model.actuator_biasprm[:, 1] = -35.0\n",
         "\n",
-        "    self.torso_idx = mujoco.mj_name2id(\n",
-        "        mj_model, mujoco.mjtObj.mjOBJ_BODY.value, 'torso'\n",
+        "    n_frames = kwargs.pop('n_frames', int(self._dt / model.opt.timestep))\n",
+        "    super().__init__(model=model, n_frames=n_frames)\n",
+        "\n",
+        "    self.reward_config = get_config()\n",
+        "    # set custom from kwargs\n",
+        "    for k, v in kwargs.items():\n",
+        "      if k.endswith('_scale'):\n",
+        "        self.reward_config.rewards.scales[k[:-6]] = v\n",
+        "\n",
+        "    self._torso_idx = mujoco.mj_name2id(\n",
+        "        model, mujoco.mjtObj.mjOBJ_BODY.value, 'torso'\n",
         "    )\n",
         "    self._action_scale = action_scale\n",
         "    self._obs_noise = obs_noise\n",
-        "    self._reset_horizon = 500\n",
-        "    self._feet_index = jp.array([3, 6, 9, 12])\n",
-        "    # local positions for each foot\n",
-        "    self._feet_pos = jp.array([\n",
-        "        [-0.191284, -0.0191638, 0.013],\n",
-        "        [-0.191284, -0.0191638, -0.013],\n",
-        "        [-0.191284, -0.0191638, 0.013],\n",
-        "        [-0.191284, -0.0191638, -0.013],\n",
-        "    ])\n",
-        "    self._init_q = mj_model.keyframe('standing').qpos\n",
-        "    self._default_ap_pose = mj_model.keyframe('standing').qpos[7:]\n",
-        "    self.reward_config = get_config()\n",
-        "    self.lowers = self._default_ap_pose - jp.array([0.2, 0.8, 0.8] * 4)\n",
-        "    self.uppers = self._default_ap_pose + jp.array([0.2, 0.8, 0.8] * 4)\n",
-        "    self._foot_radius = 0.014\n",
+        "    self._kick_vel = kick_vel\n",
+        "    self._init_q = jp.array(model.keyframe('home').qpos)\n",
+        "    self._default_pose = model.keyframe('home').qpos[7:]\n",
+        "    self.lowers = jp.array([-0.7, -1.0, 0.05] * 4)\n",
+        "    self.uppers = jp.array([0.52, 2.1, 2.1] * 4)\n",
+        "    feet_site = [\n",
+        "        'foot_front_left',\n",
+        "        'foot_hind_left',\n",
+        "        'foot_front_right',\n",
+        "        'foot_hind_right',\n",
+        "    ]\n",
+        "    feet_site_id = [\n",
+        "        mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SITE.value, f)\n",
+        "        for f in feet_site\n",
+        "    ]\n",
+        "    assert not any(id_ == -1 for id_ in feet_site_id), 'Site not found.'\n",
+        "    self._feet_site_id = np.array(feet_site_id)\n",
+        "    lower_leg_body = [\n",
+        "        'lower_leg_front_left',\n",
+        "        'lower_leg_hind_left',\n",
+        "        'lower_leg_front_right',\n",
+        "        'lower_leg_hind_right',\n",
+        "    ]\n",
+        "    lower_leg_body_id = [\n",
+        "        mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY.value, l)\n",
+        "        for l in lower_leg_body\n",
+        "    ]\n",
+        "    assert not any(id_ == -1 for id_ in lower_leg_body_id), 'Body not found.'\n",
+        "    self._lower_leg_body_id = np.array(lower_leg_body_id)\n",
+        "    self._foot_radius = 0.0175\n",
+        "    self._nv = model.nv\n",
         "\n",
         "  def sample_command(self, rng: jax.Array) -\u003e jax.Array:\n",
-        "    lin_vel_x = [-0.6, 1.0]  # min max [m/s]\n",
+        "    lin_vel_x = [-0.6, 1.5]  # min max [m/s]\n",
         "    lin_vel_y = [-0.8, 0.8]  # min max [m/s]\n",
         "    ang_vel_yaw = [-0.7, 0.7]  # min max [rad/s]\n",
         "\n",
@@ -960,216 +1042,156 @@
         "    new_cmd = jp.array([lin_vel_x[0], lin_vel_y[0], ang_vel_yaw[0]])\n",
         "    return new_cmd\n",
         "\n",
-        "  def reset(self, rng: jax.Array) -\u003e State:\n",
+        "  def reset(self, rng: jax.Array) -\u003e State:  # pytype: disable=signature-mismatch\n",
         "    rng, key = jax.random.split(rng)\n",
         "\n",
-        "    qpos = jp.array(self._init_q)\n",
-        "    qvel = jp.zeros(self.model.nv)\n",
-        "    new_cmd = self.sample_command(key)\n",
-        "    data = self.pipeline_init(qpos, qvel)\n",
+        "    pipeline_state = self.pipeline_init(self._init_q, jp.zeros(self._nv))\n",
         "\n",
         "    state_info = {\n",
         "        'rng': rng,\n",
         "        'last_act': jp.zeros(12),\n",
         "        'last_vel': jp.zeros(12),\n",
-        "        'last_contact_buffer': jp.zeros((20, 4), dtype=bool),\n",
-        "        'command': new_cmd,\n",
+        "        'command': self.sample_command(key),\n",
         "        'last_contact': jp.zeros(4, dtype=bool),\n",
         "        'feet_air_time': jp.zeros(4),\n",
-        "        'obs_history': jp.zeros(15 * 31),\n",
-        "        'reward_tuple': {\n",
-        "            'tracking_lin_vel': 0.0,\n",
-        "            'tracking_ang_vel': 0.0,\n",
-        "            'lin_vel_z': 0.0,\n",
-        "            'ang_vel_xy': 0.0,\n",
-        "            'orientation': 0.0,\n",
-        "            'torque': 0.0,\n",
-        "            'action_rate': 0.0,\n",
-        "            'stand_still': 0.0,\n",
-        "            'feet_air_time': 0.0,\n",
-        "            'foot_slip': 0.0,\n",
-        "        },\n",
+        "        'rewards': {k: 0.0 for k in self.reward_config.rewards.scales.keys()},\n",
+        "        'kick': jp.array([0.0, 0.0]),\n",
         "        'step': 0,\n",
         "    }\n",
         "\n",
-        "    x, xd = self._pos_vel(data)\n",
-        "    obs = self._get_obs(data.qpos, x, xd, state_info)\n",
+        "    obs_history = jp.zeros(15 * 31)  # store 15 steps of history\n",
+        "    obs = self._get_obs(pipeline_state, state_info, obs_history)\n",
         "    reward, done = jp.zeros(2)\n",
         "    metrics = {'total_dist': 0.0}\n",
-        "    for k in state_info['reward_tuple']:\n",
-        "      metrics[k] = state_info['reward_tuple'][k]\n",
-        "    state = State(data, obs, reward, done, metrics, state_info)\n",
+        "    for k in state_info['rewards']:\n",
+        "      metrics[k] = state_info['rewards'][k]\n",
+        "    state = State(pipeline_state, obs, reward, done, metrics, state_info)  # pytype: disable=wrong-arg-types\n",
         "    return state\n",
         "\n",
-        "  def step(self, state: State, action: jax.Array) -\u003e State:\n",
-        "    rng, rng_noise, cmd_rng = jax.random.split(\n",
-        "        state.info['rng'], 3\n",
-        "    )\n",
+        "  def step(self, state: State, action: jax.Array) -\u003e State:  # pytype: disable=signature-mismatch\n",
+        "    rng, cmd_rng, kick_noise_2 = jax.random.split(state.info['rng'], 3)\n",
+        "\n",
+        "    # kick\n",
+        "    push_interval = 10\n",
+        "    kick_theta = jax.random.uniform(kick_noise_2, maxval=2 * jp.pi)\n",
+        "    kick = jp.array([jp.cos(kick_theta), jp.sin(kick_theta)])\n",
+        "    kick *= jp.mod(state.info['step'], push_interval) == 0\n",
+        "    qvel = state.pipeline_state.data.qvel  # pytype: disable=attribute-error\n",
+        "    qvel = qvel.at[:2].set(kick * self._kick_vel + qvel[:2])\n",
+        "    state = state.tree_replace({'pipeline_state.data.qvel': qvel})\n",
         "\n",
         "    # physics step\n",
-        "    cur_action = jp.array(action)\n",
-        "    action = action[:12] * self._action_scale\n",
-        "    motor_targets = jp.clip(\n",
-        "        action + self._default_ap_pose, self.lowers, self.uppers\n",
-        "    )\n",
-        "    data = self.pipeline_step(state.pipeline_state, motor_targets)\n",
+        "    motor_targets = self._default_pose + action * self._action_scale\n",
+        "    motor_targets = jp.clip(motor_targets, self.lowers, self.uppers)\n",
+        "    pipeline_state = self.pipeline_step(state.pipeline_state, motor_targets)\n",
+        "    x, xd = pipeline_state.x, pipeline_state.xd\n",
         "\n",
         "    # observation data\n",
-        "    x, xd = self._pos_vel(data)\n",
-        "    obs = self._get_obs(data.qpos, x, xd, state.info)\n",
-        "    obs_noise = self._obs_noise * jax.random.uniform(\n",
-        "        rng_noise, obs.shape, minval=-1, maxval=1)\n",
-        "    qpos, qvel = data.qpos, data.qvel\n",
-        "    joint_angles = qpos[7:]\n",
-        "    joint_vel = qvel[6:]\n",
+        "    obs = self._get_obs(pipeline_state, state.info, state.obs)\n",
+        "    joint_angles = pipeline_state.q[7:]\n",
+        "    joint_vel = pipeline_state.qd[6:]\n",
         "\n",
         "    # foot contact data based on z-position\n",
-        "    foot_contact_pos = (\n",
-        "        self._get_feet_pos_vel(x, xd)[0][:, 2]\n",
-        "        - self._foot_radius\n",
-        "    )\n",
-        "    contact = foot_contact_pos \u003c 1e-3  # a mm or less off the floor\n",
-        "    contact_filt_mm = jp.logical_or(contact, state.info['last_contact'])\n",
-        "    contact_filt_cm = jp.logical_or(\n",
-        "        foot_contact_pos \u003c 3e-2, state.info['last_contact']\n",
-        "    )  # 3cm or less off the floor\n",
-        "    first_contact = (state.info['feet_air_time'] \u003e 0) * (contact_filt_mm)\n",
+        "    foot_pos = pipeline_state.data.site_xpos[self._feet_site_id]  # pytype: disable=attribute-error\n",
+        "    foot_contact_z = foot_pos[:, 2] - self._foot_radius\n",
+        "    contact = foot_contact_z \u003c 1e-3  # a mm or less off the floor\n",
+        "    contact_filt_mm = contact | state.info['last_contact']\n",
+        "    contact_filt_cm = (foot_contact_z \u003c 3e-2) | state.info['last_contact']\n",
+        "    first_contact = (state.info['feet_air_time'] \u003e 0) * contact_filt_mm\n",
         "    state.info['feet_air_time'] += self.dt\n",
         "\n",
+        "    # done if joint limits are reached or robot is falling\n",
+        "    up = jp.array([0.0, 0.0, 1.0])\n",
+        "    done = jp.dot(math.rotate(up, x.rot[self._torso_idx - 1]), up) \u003c 0\n",
+        "    done |= jp.any(joint_angles \u003c self.lowers)\n",
+        "    done |= jp.any(joint_angles \u003e self.uppers)\n",
+        "    done |= pipeline_state.x.pos[self._torso_idx - 1, 2] \u003c 0.18\n",
+        "\n",
         "    # reward\n",
-        "    reward_tuple = {\n",
+        "    rewards = {\n",
         "        'tracking_lin_vel': (\n",
         "            self._reward_tracking_lin_vel(state.info['command'], x, xd)\n",
-        "            * self.reward_config.rewards.scales.tracking_lin_vel\n",
         "        ),\n",
         "        'tracking_ang_vel': (\n",
         "            self._reward_tracking_ang_vel(state.info['command'], x, xd)\n",
-        "            * self.reward_config.rewards.scales.tracking_ang_vel\n",
         "        ),\n",
-        "        'lin_vel_z': (\n",
-        "            self._reward_lin_vel_z(xd)\n",
-        "            * self.reward_config.rewards.scales.lin_vel_z\n",
+        "        'lin_vel_z': self._reward_lin_vel_z(xd),\n",
+        "        'ang_vel_xy': self._reward_ang_vel_xy(xd),\n",
+        "        'orientation': self._reward_orientation(x),\n",
+        "        'torques': self._reward_torques(pipeline_state.data.qfrc_actuator),  # pytype: disable=attribute-error\n",
+        "        'action_rate': self._reward_action_rate(action, state.info['last_act']),\n",
+        "        'stand_still': self._reward_stand_still(\n",
+        "            state.info['command'], joint_angles,\n",
         "        ),\n",
-        "        'ang_vel_xy': (\n",
-        "            self._reward_ang_vel_xy(xd)\n",
-        "            * self.reward_config.rewards.scales.ang_vel_xy\n",
-        "        ),\n",
-        "        'orientation': (\n",
-        "            self._reward_orientation(x)\n",
-        "            * self.reward_config.rewards.scales.orientation\n",
-        "        ),\n",
-        "        'torque': (\n",
-        "            self._reward_torques(data.qfrc_actuator)\n",
-        "            * self.reward_config.rewards.scales.torques\n",
-        "        ),\n",
-        "        'action_rate': (\n",
-        "            self._reward_action_rate(cur_action, state.info['last_act'])\n",
-        "            * self.reward_config.rewards.scales.action_rate\n",
-        "        ),\n",
-        "        'stand_still': (\n",
-        "            self._reward_stand_still(\n",
-        "                state.info['command'], joint_angles, self._default_ap_pose\n",
-        "            )\n",
-        "            * self.reward_config.rewards.scales.stand_still\n",
-        "        ),\n",
-        "        'feet_air_time': (\n",
-        "            self._reward_feet_air_time(\n",
-        "                state.info['feet_air_time'],\n",
-        "                first_contact,\n",
-        "                state.info['command'],\n",
-        "            )\n",
-        "            * self.reward_config.rewards.scales.feet_air_time\n",
-        "        ),\n",
-        "        'foot_slip': (\n",
-        "            self._reward_foot_slip(x, xd, contact_filt_cm)\n",
-        "            * self.reward_config.rewards.scales.foot_slip\n",
+        "        'feet_air_time': self._reward_feet_air_time(\n",
+        "            state.info['feet_air_time'],\n",
+        "            first_contact,\n",
+        "            state.info['command'],\n",
         "        ),\n",
+        "        'foot_slip': self._reward_foot_slip(pipeline_state, contact_filt_cm),\n",
+        "        'termination': self._reward_termination(done, state.info['step']),\n",
         "    }\n",
-        "    reward = sum(reward_tuple.values())\n",
-        "    reward = jp.clip(reward * self.dt, 0.0, 10000.0)\n",
+        "    rewards = {\n",
+        "        k: v * self.reward_config.rewards.scales[k] for k, v in rewards.items()\n",
+        "    }\n",
+        "    reward = jp.clip(sum(rewards.values()) * self.dt, 0.0, 10000.0)\n",
         "\n",
         "    # state management\n",
-        "    state.info['last_act'] = cur_action\n",
+        "    state.info['kick'] = kick\n",
+        "    state.info['last_act'] = action\n",
         "    state.info['last_vel'] = joint_vel\n",
         "    state.info['feet_air_time'] *= ~contact_filt_mm\n",
         "    state.info['last_contact'] = contact\n",
-        "    state.info['last_contact_buffer'] = jp.roll(\n",
-        "        state.info['last_contact_buffer'], 1, axis=0\n",
-        "    )\n",
-        "    state.info['last_contact_buffer'] = (\n",
-        "        state.info['last_contact_buffer'].at[0].set(contact)\n",
-        "    )\n",
-        "    state.info['reward_tuple'] = reward_tuple\n",
+        "    state.info['rewards'] = rewards\n",
         "    state.info['step'] += 1\n",
-        "    state.info.update(rng=rng)\n",
+        "    state.info['rng'] = rng\n",
         "\n",
-        "    # resetting logic if joint limits are reached or robot is falling\n",
-        "    up = jp.array([0.0, 0.0, 1.0])\n",
-        "    done = jp.dot(math.rotate(up, x.rot[0]), up) \u003c 0\n",
-        "    done |= jp.any(joint_angles \u003c 0.98 * self.lowers)\n",
-        "    done |= jp.any(joint_angles \u003e 0.98 * self.uppers)\n",
-        "    done |= x.pos[0, 2] \u003c 0.18\n",
-        "\n",
-        "    # termination reward\n",
-        "    reward += (\n",
-        "        done  * (state.info['step'] \u003c self._reset_horizon) *\n",
-        "        self.reward_config.rewards.scales.termination\n",
-        "    )\n",
-        "\n",
-        "    # when done, sample new command if more than _reset_horizon timesteps\n",
-        "    # achieved\n",
+        "    # sample new command if more than 500 timesteps achieved\n",
         "    state.info['command'] = jp.where(\n",
-        "        done \u0026 (state.info['step'] \u003e self._reset_horizon),\n",
-        "        self.sample_command(cmd_rng), state.info['command'])\n",
+        "        state.info['step'] \u003e 500,\n",
+        "        self.sample_command(cmd_rng),\n",
+        "        state.info['command'],\n",
+        "    )\n",
         "    # reset the step counter when done\n",
         "    state.info['step'] = jp.where(\n",
-        "        done | (state.info['step'] \u003e self._reset_horizon), 0,\n",
-        "        state.info['step']\n",
+        "        done | (state.info['step'] \u003e 500), 0, state.info['step']\n",
         "    )\n",
         "\n",
         "    # log total displacement as a proxy metric\n",
-        "    state.metrics['total_dist'] = math.normalize(x.pos[self.torso_idx])[1]\n",
-        "    for k in state.info['reward_tuple'].keys():\n",
-        "      state.metrics[k] = state.info['reward_tuple'][k]\n",
+        "    state.metrics['total_dist'] = math.normalize(x.pos[self._torso_idx - 1])[1]\n",
+        "    state.metrics.update(state.info['rewards'])\n",
         "\n",
+        "    done = jp.float32(done)\n",
         "    state = state.replace(\n",
-        "        pipeline_state=data, obs=obs + obs_noise, reward=reward,\n",
-        "        done=done * 1.0)\n",
+        "        pipeline_state=pipeline_state, obs=obs, reward=reward, done=done\n",
+        "    )\n",
         "    return state\n",
         "\n",
-        "  def _get_obs(self, qpos: jax.Array, x: Transform, xd: Motion,\n",
-        "               state_info: Dict[str, Any]) -\u003e jax.Array:\n",
-        "    # Get observations:\n",
-        "    # yaw_rate,  projected_gravity, command,  motor_angles, last_action\n",
+        "  def _get_obs(\n",
+        "      self,\n",
+        "      pipeline_state: base.State,\n",
+        "      state_info: dict[str, Any],\n",
+        "      obs_history: jax.Array,\n",
+        "  ) -\u003e jax.Array:\n",
+        "    inv_torso_rot = math.quat_inv(pipeline_state.x.rot[0])\n",
+        "    local_rpyrate = math.rotate(pipeline_state.xd.ang[0], inv_torso_rot)\n",
         "\n",
-        "    inv_base_orientation = math.quat_inv(x.rot[0])\n",
-        "    local_rpyrate = math.rotate(xd.ang[0], inv_base_orientation)\n",
-        "    cmd = state_info['command']\n",
+        "    obs = jp.concatenate([\n",
+        "        jp.array([local_rpyrate[2]]) * 0.25,                 # yaw rate\n",
+        "        math.rotate(jp.array([0, 0, -1]), inv_torso_rot),    # projected gravity\n",
+        "        state_info['command'] * jp.array([2.0, 2.0, 0.25]),  # command\n",
+        "        pipeline_state.q[7:] - self._default_pose,           # motor angles\n",
+        "        state_info['last_act'],                              # last action\n",
+        "    ])\n",
         "\n",
-        "    obs_list = []\n",
-        "    # yaw rate\n",
-        "    obs_list.append(jp.array([local_rpyrate[2]]) * 0.25)\n",
-        "    # projected gravity\n",
-        "    obs_list.append(\n",
-        "        math.rotate(jp.array([0.0, 0.0, -1.0]), inv_base_orientation))\n",
-        "    # command\n",
-        "    obs_list.append(cmd * jp.array([2.0, 2.0, 0.25]))\n",
-        "    # motor angles\n",
-        "    angles = qpos[7:19]\n",
-        "    obs_list.append(angles - self._default_ap_pose)\n",
-        "    # last action\n",
-        "    obs_list.append(state_info['last_act'])\n",
-        "\n",
-        "    obs = jp.clip(jp.concatenate(obs_list), -100.0, 100.0)\n",
-        "\n",
-        "    # stack observations through time\n",
-        "    single_obs_size = len(obs)\n",
-        "    state_info['obs_history'] = jp.roll(\n",
-        "        state_info['obs_history'], single_obs_size\n",
+        "    # clip, noise\n",
+        "    obs = jp.clip(obs, -100.0, 100.0) + self._obs_noise * jax.random.uniform(\n",
+        "        state_info['rng'], obs.shape, minval=-1, maxval=1\n",
         "    )\n",
-        "    state_info['obs_history'] = jp.array(\n",
-        "        state_info['obs_history']).at[:single_obs_size].set(obs)\n",
-        "    return state_info['obs_history']\n",
+        "    # stack observations through time\n",
+        "    obs = jp.roll(obs_history, obs.size).at[:obs.size].set(obs)\n",
+        "\n",
+        "    return obs\n",
         "\n",
         "  # ------------ reward functions----------------\n",
         "  def _reward_lin_vel_z(self, xd: Motion) -\u003e jax.Array:\n",
@@ -1191,12 +1213,14 @@
         "    return jp.sqrt(jp.sum(jp.square(torques))) + jp.sum(jp.abs(torques))\n",
         "\n",
         "  def _reward_action_rate(\n",
-        "      self, act: jax.Array, last_act: jax.Array) -\u003e jax.Array:\n",
+        "      self, act: jax.Array, last_act: jax.Array\n",
+        "  ) -\u003e jax.Array:\n",
         "    # Penalize changes in actions\n",
         "    return jp.sum(jp.square(act - last_act))\n",
         "\n",
         "  def _reward_tracking_lin_vel(\n",
-        "      self, commands: jax.Array, x: Transform, xd: Motion) -\u003e jax.Array:\n",
+        "      self, commands: jax.Array, x: Transform, xd: Motion\n",
+        "  ) -\u003e jax.Array:\n",
         "    # Tracking of linear velocity commands (xy axes)\n",
         "    local_vel = math.rotate(xd.vel[0], math.quat_inv(x.rot[0]))\n",
         "    lin_vel_error = jp.sum(jp.square(commands[:2] - local_vel[:2]))\n",
@@ -1206,15 +1230,16 @@
         "    return lin_vel_reward\n",
         "\n",
         "  def _reward_tracking_ang_vel(\n",
-        "      self, commands: jax.Array, x: Transform, xd: Motion) -\u003e jax.Array:\n",
+        "      self, commands: jax.Array, x: Transform, xd: Motion\n",
+        "  ) -\u003e jax.Array:\n",
         "    # Tracking of angular velocity commands (yaw)\n",
         "    base_ang_vel = math.rotate(xd.ang[0], math.quat_inv(x.rot[0]))\n",
         "    ang_vel_error = jp.square(commands[2] - base_ang_vel[2])\n",
-        "    return jp.exp(-ang_vel_error/self.reward_config.rewards.tracking_sigma)\n",
+        "    return jp.exp(-ang_vel_error / self.reward_config.rewards.tracking_sigma)\n",
         "\n",
         "  def _reward_feet_air_time(\n",
-        "      self, air_time: jax.Array, first_contact: jax.Array,\n",
-        "      commands: jax.Array) -\u003e jax.Array:\n",
+        "      self, air_time: jax.Array, first_contact: jax.Array, commands: jax.Array\n",
+        "  ) -\u003e jax.Array:\n",
         "    # Reward air time.\n",
         "    rew_air_time = jp.sum((air_time - 0.1) * first_contact)\n",
         "    rew_air_time *= (\n",
@@ -1223,30 +1248,38 @@
         "    return rew_air_time\n",
         "\n",
         "  def _reward_stand_still(\n",
-        "      self, commands: jax.Array, joint_angles: jax.Array,\n",
-        "      default_angles: jax.Array) -\u003e jax.Array:\n",
+        "      self,\n",
+        "      commands: jax.Array,\n",
+        "      joint_angles: jax.Array,\n",
+        "  ) -\u003e jax.Array:\n",
         "    # Penalize motion at zero commands\n",
-        "    return jp.sum(jp.abs(joint_angles - default_angles)) * (\n",
+        "    return jp.sum(jp.abs(joint_angles - self._default_pose)) * (\n",
         "        math.normalize(commands[:2])[1] \u003c 0.1\n",
         "    )\n",
         "\n",
-        "  def _get_feet_pos_vel(\n",
-        "      self, x: Transform, xd: Motion) -\u003e Tuple[jax.Array, jax.Array]:\n",
-        "    offset = Transform.create(pos=self._feet_pos)\n",
-        "    pos = x.take(self._feet_index).vmap().do(offset).pos\n",
-        "    world_offset = Transform.create(pos=pos - x.take(self._feet_index).pos)\n",
-        "    vel = world_offset.vmap().do(xd.take(self._feet_index)).vel\n",
-        "    return pos, vel\n",
-        "\n",
         "  def _reward_foot_slip(\n",
-        "      self, x: Transform, xd: Motion, contact_filt: jax.Array) -\u003e jax.Array:\n",
-        "    # Get feet velocities\n",
-        "    _, foot_world_vel = self._get_feet_pos_vel(x, xd)\n",
-        "    # Penalize large feet velocity for feet that are in contact with the ground.\n",
-        "    return jp.sum(\n",
-        "        jp.square(foot_world_vel[:, :2]) * contact_filt.reshape((-1, 1))\n",
-        "    )\n",
+        "      self, pipeline_state: base.State, contact_filt: jax.Array\n",
+        "  ) -\u003e jax.Array:\n",
+        "    # get velocities at feet which are offset from lower legs\n",
+        "    # pytype: disable=attribute-error\n",
+        "    pos = pipeline_state.data.site_xpos[self._feet_site_id]  # feet position\n",
+        "    feet_offset = pos - pipeline_state.data.xpos[self._lower_leg_body_id]\n",
+        "    # pytype: enable=attribute-error\n",
+        "    offset = base.Transform.create(pos=feet_offset)\n",
+        "    foot_indices = self._lower_leg_body_id - 1  # we got rid of the world body\n",
+        "    foot_vel = offset.vmap().do(pipeline_state.xd.take(foot_indices)).vel\n",
         "\n",
+        "    # Penalize large feet velocity for feet that are in contact with the ground.\n",
+        "    return jp.sum(jp.square(foot_vel[:, :2]) * contact_filt.reshape((-1, 1)))\n",
+        "\n",
+        "  def _reward_termination(self, done: jax.Array, step: jax.Array) -\u003e jax.Array:\n",
+        "    return done \u0026 (step \u003c 500)\n",
+        "\n",
+        "  def render(\n",
+        "      self, trajectory: List[base.State], camera: str | None = None\n",
+        "  ) -\u003e Sequence[np.ndarray]:\n",
+        "    camera = camera or 'track'\n",
+        "    return super().render(trajectory, camera)\n",
         "\n",
         "envs.register_environment('barkour', BarkourEnv)"
       ]
@@ -1260,10 +1293,7 @@
       "outputs": [],
       "source": [
         "env_name = 'barkour'\n",
-        "env = envs.get_environment(env_name)\n",
-        "\n",
-        "# re-instantiate the renderer\n",
-        "renderer = mujoco.Renderer(env.model)"
+        "env = envs.get_environment(env_name)"
       ]
     },
     {
@@ -1274,7 +1304,7 @@
       "source": [
         "## Train Policy\n",
         "\n",
-        "To train a policy with domain randomization, we pass in the domain randomization function into the brax train function; brax will call the domain randomization function when rolling out episodes. Training the quadruped takes about 14 minutes on a Tesla V100 GPU."
+        "To train a policy with domain randomization, we pass in the domain randomization function into the brax train function; brax will call the domain randomization function when rolling out episodes. Training the quadruped takes  8-9 minutes on a Tesla A100 GPU."
       ]
     },
     {
@@ -1289,22 +1319,19 @@
         "    ppo_networks.make_ppo_networks,\n",
         "        policy_hidden_layer_sizes=(128, 128, 128, 128))\n",
         "train_fn = functools.partial(\n",
-        "      ppo.train,\n",
-        "      num_timesteps=60_000_000, num_evals=3, reward_scaling=1,\n",
-        "      episode_length=1000, normalize_observations=True,\n",
-        "      action_repeat=1, unroll_length=20, num_minibatches=8, gae_lambda=0.95,\n",
-        "      num_updates_per_batch=4, discounting=0.99, learning_rate=3e-4,\n",
-        "      entropy_cost=1e-2, num_envs=8192, batch_size=1024,\n",
+        "      ppo.train, num_timesteps=100_000_000, num_evals=10,\n",
+        "      reward_scaling=1, episode_length=1000, normalize_observations=True,\n",
+        "      action_repeat=1, unroll_length=20, num_minibatches=32,\n",
+        "      num_updates_per_batch=4, discounting=0.97, learning_rate=3.0e-4,\n",
+        "      entropy_cost=1e-2, num_envs=8192, batch_size=256,\n",
         "      network_factory=make_networks_factory,\n",
-        "      num_resets_per_eval=10,\n",
         "      randomization_fn=domain_randomize, seed=0)\n",
         "\n",
-        "\n",
         "x_data = []\n",
         "y_data = []\n",
         "ydataerr = []\n",
         "times = [datetime.now()]\n",
-        "max_y, min_y = 30, 0\n",
+        "max_y, min_y = 40, 0\n",
         "\n",
         "# Reset environments since internals may be overwritten by tracers from the\n",
         "# domain randomization function.\n",
@@ -1368,7 +1395,6 @@
       },
       "outputs": [],
       "source": [
-        "\n",
         "# @markdown Commands **only used for Barkour Env**:\n",
         "x_vel = 1.0  #@param {type: \"number\"}\n",
         "y_vel = 0.0  #@param {type: \"number\"}\n",
@@ -1380,8 +1406,7 @@
         "rng = jax.random.PRNGKey(0)\n",
         "state = jit_reset(rng)\n",
         "state.info['command'] = the_command\n",
-        "rollout = [state]\n",
-        "images = [get_image(state, camera='track')]\n",
+        "rollout = [state.pipeline_state]\n",
         "\n",
         "# grab a trajectory\n",
         "n_steps = 500\n",
@@ -1391,11 +1416,31 @@
         "  act_rng, rng = jax.random.split(rng)\n",
         "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",
         "  state = jit_step(state, ctrl)\n",
-        "  rollout.append(state)\n",
-        "  if i % render_every == 0:\n",
-        "    images.append(get_image(state, camera='track'))\n",
+        "  rollout.append(state.pipeline_state)\n",
         "\n",
-        "media.show_video(images, fps=1.0 / eval_env.dt / render_every)"
+        "media.show_video(\n",
+        "    eval_env.render(rollout[::render_every], camera='track'),\n",
+        "    fps=1.0 / eval_env.dt / render_every)"
+      ]
+    },
+    {
+      "cell_type": "markdown",
+      "metadata": {
+        "id": "aD6H6WD0915X"
+      },
+      "source": [
+        "We can also render the rollout using the Brax renderer."
+      ]
+    },
+    {
+      "cell_type": "code",
+      "execution_count": null,
+      "metadata": {
+        "id": "V7jqv08X95u4"
+      },
+      "outputs": [],
+      "source": [
+        "HTML(html.render(eval_env.brax_sys, rollout))"
       ]
     }
   ],
@@ -1403,12 +1448,13 @@
     "accelerator": "GPU",
     "colab": {
       "gpuClass": "premium",
-      "gpuType": "V100",
+      "gpuType": "A100",
+      "machine_shape": "hm",
       "private_outputs": true,
       "provenance": [
         {
-          "file_id": "1QsuS7EJhdPEHxxAu9XwozvA7eb4ZnlAb",
-          "timestamp": 1701993737024
+          "file_id": "11cFRVCJ8Kn71tlQFbFcw4JzQZ00F8BRG",
+          "timestamp": 1704355889284
         }
       ],
       "toc_visible": true

From ca023a6f2855ab627f5f9a81e4ec011a3f6b1278 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Fri, 5 Jan 2024 06:49:51 -0800
Subject: [PATCH 098/121] Update EGL init code for Python 3.12.

Fixes google-deepmind/mujoco#1299.

PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
---
 python/mujoco/egl/__init__.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/python/mujoco/egl/__init__.py b/python/mujoco/egl/__init__.py
index d695ddc1..045b2aff 100644
--- a/python/mujoco/egl/__init__.py
+++ b/python/mujoco/egl/__init__.py
@@ -92,12 +92,13 @@ class GLContext:
     del max_width, max_height  # unused
     num_configs = ctypes.c_long()
     config_size = 1
-    config = EGL.EGLConfig()
+    # ctypes syntax for making an array of length config_size.
+    configs = (EGL.EGLConfig * config_size)()
     EGL.eglReleaseThread()
     EGL.eglChooseConfig(
         EGL_DISPLAY,
         EGL_ATTRIBUTES,
-        ctypes.byref(config),
+        configs,
         config_size,
         num_configs)
     if num_configs.value < 1:
@@ -106,7 +107,7 @@ class GLContext:
           'desired attributes: {}'.format(EGL_ATTRIBUTES))
     EGL.eglBindAPI(EGL.EGL_OPENGL_API)
     self._context = EGL.eglCreateContext(
-        EGL_DISPLAY, config, EGL.EGL_NO_CONTEXT, None)
+        EGL_DISPLAY, configs[0], EGL.EGL_NO_CONTEXT, None)
     if not self._context:
       raise RuntimeError('Cannot create an EGL context.')
 

From c59a33dd81bed232e06f6e927b3cfee7cc3199a6 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Fri, 5 Jan 2024 07:19:54 -0800
Subject: [PATCH 099/121] Use std::string_view instead of absl::string_view in
 fixture.cc.

Clean up some lint warnings.

Fixes #1306.

PiperOrigin-RevId: 595988916
Change-Id: I0e8584ff8704ea7294cf649664ab447cb1d4ff46
---
 test/CMakeLists.txt |  1 -
 test/fixture.cc     |  9 ++++++---
 test/fixture.h      | 12 +++++-------
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 3c70fce1..046bdadf 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -57,7 +57,6 @@ target_compile_definitions(fixture PUBLIC MJSTATIC)
 target_link_libraries(
   fixture
   PUBLIC absl::core_headers
-         absl::strings
          absl::synchronization
          gtest
          gmock
diff --git a/test/fixture.cc b/test/fixture.cc
index 4c451b65..4fdad189 100644
--- a/test/fixture.cc
+++ b/test/fixture.cc
@@ -14,11 +14,14 @@
 
 #include "test/fixture.h"
 
+#include <cstdio>
 #include <cstring>
 #include <filesystem>
 #include <fstream>
-#include <memory>
+#include <sstream>
+#include <string>
 #include <string_view>
+#include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -107,7 +110,7 @@ mjModel* LoadModelFromPath(const char* model_path) {
   return model;
 }
 
-const std::string GetFileContents(const char* path) {
+std::string GetFileContents(const char* path) {
   std::ifstream ifs;
   ifs.open(path, std::ifstream::in);
   EXPECT_FALSE(ifs.fail());
@@ -116,7 +119,7 @@ const std::string GetFileContents(const char* path) {
   return sstream.str();
 }
 
-const std::string SaveAndReadXml(const mjModel* model) {
+std::string SaveAndReadXml(const mjModel* model) {
   EXPECT_THAT(model, testing::NotNull());
 
   constexpr int kMaxPathLen = 1024;
diff --git a/test/fixture.h b/test/fixture.h
index cdf097ec..6091a2a5 100644
--- a/test/fixture.h
+++ b/test/fixture.h
@@ -17,13 +17,11 @@
 
 #include <csetjmp>
 #include <cstring>
-#include <optional>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <absl/strings/string_view.h>
-#include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
 
@@ -80,14 +78,14 @@ auto MjuErrorMessageFrom(Return (*func)(Args...)) {
 }
 
 // Returns a path to a data file, under the mujoco/test directory.
-const std::string GetTestDataFilePath(absl::string_view path);
+const std::string GetTestDataFilePath(std::string_view path);
 
 // Returns a path to a data file, under the mujoco/model directory.
-const std::string GetModelPath(absl::string_view path);
+const std::string GetModelPath(std::string_view path);
 
 // Returns a newly-allocated mjModel, loaded from the contents of xml.
 // On failure returns nullptr and populates the error array if present.
-mjModel* LoadModelFromString(absl::string_view xml, char* error = nullptr,
+mjModel* LoadModelFromString(std::string_view xml, char* error = nullptr,
                              int error_size = 0, mjVFS* vfs = nullptr);
 
 // Returns a newly-allocated mjModel, loaded from the contents in model_path.
@@ -95,7 +93,7 @@ mjModel* LoadModelFromString(absl::string_view xml, char* error = nullptr,
 mjModel* LoadModelFromPath(const char* model_path);
 
 // Returns a string loaded from first saving the model given an input.
-const std::string SaveAndReadXml(const mjModel* model);
+std::string SaveAndReadXml(const mjModel* model);
 
 // Adds control noise.
 std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,

From feb92bf535683004e85dbf10fa3427c30dbb29d3 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Fri, 5 Jan 2024 08:41:20 -0800
Subject: [PATCH 100/121] MJX ray for planes, spheres, capsules, and boxes.

PiperOrigin-RevId: 596004453
Change-Id: I6c15268f7ec6afc1aadd370a78ef225ab9c5fd04
---
 doc/changelog.rst                |   4 +-
 mjx/mujoco/mjx/__init__.py       |   1 +
 mjx/mujoco/mjx/_src/io.py        |   2 +-
 mjx/mujoco/mjx/_src/ray.py       | 180 +++++++++++++++++++++++++++++++
 mjx/mujoco/mjx/_src/ray_test.py  | 149 +++++++++++++++++++++++++
 mjx/mujoco/mjx/_src/test_util.py |   1 +
 mjx/mujoco/mjx/test_data/ray.xml |  16 +++
 7 files changed, 351 insertions(+), 2 deletions(-)
 create mode 100644 mjx/mujoco/mjx/_src/ray.py
 create mode 100644 mjx/mujoco/mjx/_src/ray_test.py
 create mode 100644 mjx/mujoco/mjx/test_data/ray.xml

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 0b89de4b..9665e7a5 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -9,10 +9,12 @@ MJX
 ^^^
 1. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
 2. Added :at:`site` transmission.
+3. Updated MJX colab tutorial with more stable quadruped environment.
+4. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, and boxes.
 
 Bug fixes
 ^^^^^^^^^
-3. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes :github:issue:`1270`.
+5. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes :github:issue:`1270`.
 
 
 Version 3.1.1 (December 18, 2023)
diff --git a/mjx/mujoco/mjx/__init__.py b/mjx/mujoco/mjx/__init__.py
index d8e3f437..f4953c60 100644
--- a/mjx/mujoco/mjx/__init__.py
+++ b/mjx/mujoco/mjx/__init__.py
@@ -33,6 +33,7 @@ from mujoco.mjx._src.io import make_data
 from mujoco.mjx._src.io import put_data
 from mujoco.mjx._src.io import put_model
 from mujoco.mjx._src.passive import passive
+from mujoco.mjx._src.ray import ray
 from mujoco.mjx._src.smooth import com_pos
 from mujoco.mjx._src.smooth import com_vel
 from mujoco.mjx._src.smooth import crb
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 788c3899..d7ae4a1d 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -333,7 +333,7 @@ def put_data(m: mujoco.MjModel, d: mujoco.MjData, device=None) -> types.Data:
         efc_j[i, d.efc_J_colind[rowadr + j]] = fields['efc_J'][rowadr + j]
     fields['efc_J'] = efc_j
   else:
-    fields['efc_J'] = fields['efc_J'].reshape((-1, m.nv))
+    fields['efc_J'] = fields['efc_J'].reshape((-1 if m.nv else 0, m.nv))
 
   for fname in ('efc_J', 'efc_frictionloss', 'efc_D', 'efc_aref', 'efc_force'):
     value = np.zeros((nefc, m.nv)) if fname == 'efc_J' else np.zeros(nefc)
diff --git a/mjx/mujoco/mjx/_src/ray.py b/mjx/mujoco/mjx/_src/ray.py
new file mode 100644
index 00000000..582d6e4f
--- /dev/null
+++ b/mjx/mujoco/mjx/_src/ray.py
@@ -0,0 +1,180 @@
+# 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.
+# ==============================================================================
+"""Functions for ray interesection testing."""
+
+from typing import Tuple
+
+import jax
+from jax import numpy as jp
+import mujoco
+# pylint: disable=g-importing-member
+from mujoco.mjx._src.types import Data
+from mujoco.mjx._src.types import GeomType
+from mujoco.mjx._src.types import Model
+# pylint: enable=g-importing-member
+import numpy as np
+
+
+def _ray_quad(
+    a: jax.Array, b: jax.Array, c: jax.Array
+) -> Tuple[jax.Array, jax.Array]:
+  """Returns two solutions for quadratic: a*x^2 + 2*b*x + c = 0."""
+  det = b * b - a * c
+  det_2 = jp.sqrt(det)
+
+  x0, x1 = (-b - det_2) / a, (-b + det_2) / a
+  x0 = jp.where((det < mujoco.mjMINVAL) | (x0 < 0), jp.inf, x0)
+  x1 = jp.where((det < mujoco.mjMINVAL) | (x1 < 0), jp.inf, x1)
+
+  return x0, x1
+
+
+def _ray_plane(
+    size: jax.Array,
+    pnt: jax.Array,
+    vec: jax.Array,
+) -> jax.Array:
+  """Returns the distance at which a ray intersects with a plane."""
+  x = -pnt[2] / vec[2]
+
+  valid = vec[2] <= -mujoco.mjMINVAL  # z-vec pointing towards front face
+  valid &= x >= 0
+  # only within rendered rectangle
+  p = pnt[0:2] + x * vec[0:2]
+  valid &= jp.all((size[0:2] <= 0) | (jp.abs(p) <= size[0:2]))
+
+  return jp.where(valid, x, jp.inf)
+
+
+def _ray_sphere(
+    size: jax.Array,
+    pnt: jax.Array,
+    vec: jax.Array,
+) -> jax.Array:
+  """Returns the distance at which a ray intersects with a sphere."""
+  x0, x1 = _ray_quad(vec @ vec, vec @ pnt, pnt @ pnt - size[0] * size[0])
+  x = jp.where(jp.isinf(x0), x1, x0)
+
+  return x
+
+
+def _ray_capsule(
+    size: jax.Array,
+    pnt: jax.Array,
+    vec: jax.Array,
+) -> jax.Array:
+  """Returns the distance at which a ray intersects with a capsule."""
+
+  # cylinder round side: (x*lvec+lpnt)'*(x*lvec+lpnt) = size[0]*size[0]
+  a = vec[0:2] @ vec[0:2]
+  b = vec[0:2] @ pnt[0:2]
+  c = pnt[0:2] @ pnt[0:2] - size[0] * size[0]
+
+  # solve a*x^2 + 2*b*x + c = 0
+  x0, x1 = _ray_quad(a, b, c)
+  x = jp.where(jp.isinf(x0), x1, x0)
+
+  # make sure round solution is between flat sides
+  x = jp.where(jp.abs(pnt[2] + x * vec[2]) <= size[1], x, jp.inf)
+
+  # top cap
+  dif = pnt - jp.array([0, 0, size[1]])
+  x0, x1 = _ray_quad(vec @ vec, vec @ dif, dif @ dif - size[0] * size[0])
+  # accept only top half of sphere
+  x = jp.where((pnt[2] + x0 * vec[2] >= size[1]) & (x0 < x), x0, x)
+  x = jp.where((pnt[2] + x1 * vec[2] >= size[1]) & (x1 < x), x1, x)
+
+  # bottom cap
+  dif = pnt + jp.array([0, 0, size[1]])
+  x0, x1 = _ray_quad(vec @ vec, vec @ dif, dif @ dif - size[0] * size[0])
+
+  # accept only bottom half of sphere
+  x = jp.where((pnt[2] + x0 * vec[2] <= -size[1]) & (x0 < x), x0, x)
+  x = jp.where((pnt[2] + x1 * vec[2] <= -size[1]) & (x1 < x), x1, x)
+
+  return x
+
+
+def _ray_box(
+    size: jax.Array,
+    pnt: jax.Array,
+    vec: jax.Array,
+) -> jax.Array:
+  """Returns the distance at which a ray intersects with a box."""
+
+  iface = jp.array([(1, 2), (0, 2), (0, 1), (1, 2), (0, 2), (0, 1)])
+
+  # side +1, -1
+  # solution of pnt[i] + x * vec[i] = side * size[i]
+  x = jp.concatenate([(size - pnt) / vec, (-size - pnt) / vec])
+
+  # intersection with face
+  p0 = pnt[iface[:, 0]] + x * vec[iface[:, 0]]
+  p1 = pnt[iface[:, 1]] + x * vec[iface[:, 1]]
+  valid = jp.abs(p0) <= size[iface[:, 0]]
+  valid &= jp.abs(p1) <= size[iface[:, 1]]
+
+  return jp.min(jp.where(valid, x, jp.inf))
+
+
+def _ray_mesh(
+    size: jax.Array,
+    pnt: jax.Array,
+    vec: jax.Array,
+) -> jax.Array:
+  """Returns the distance at which a ray intersects with a mesh."""
+  del size, pnt, vec
+  raise NotImplementedError("ray <> mesh not implemented yet")
+
+
+_RAY_FUNC = {
+    GeomType.PLANE: _ray_plane,
+    GeomType.SPHERE: _ray_sphere,
+    GeomType.CAPSULE: _ray_capsule,
+    GeomType.BOX: _ray_box,
+    # GeomType.MESH: _ray_mesh,
+}
+
+
+def ray(
+    m: Model, d: Data, pnt: jax.Array, vec: jax.Array
+) -> Tuple[jax.Array, jax.Array]:
+  """Returns the geom id and distance at which a ray intersects with a geom."""
+
+  ids = []
+  dists = []
+
+  # map ray to local geom frames
+  geom_pnts = jax.vmap(lambda x, y: x.T @ (pnt - y))(d.geom_xmat, d.geom_xpos)
+  geom_vecs = jax.vmap(lambda x: x.T @ vec)(d.geom_xmat)
+
+  for geom_type, fn in _RAY_FUNC.items():
+    if not np.any(m.geom_type == geom_type):
+      continue
+
+    geom_ids = jp.array(np.nonzero(m.geom_type == geom_type)[0])
+    geom_dists = jax.vmap(fn)(
+        m.geom_size[geom_ids], geom_pnts[geom_ids], geom_vecs[geom_ids]
+    )
+    ids.append(geom_ids)
+    dists.append(geom_dists)
+
+  ids = jp.concatenate(ids)
+  dists = jp.concatenate(dists)
+  min_id = jp.argmin(dists)
+  id_ = jp.where(jp.isinf(dists[min_id]), -1, ids[min_id])
+  dist = jp.where(jp.isinf(dists[min_id]), -1, dists[min_id])
+
+  return id_, dist
diff --git a/mjx/mujoco/mjx/_src/ray_test.py b/mjx/mujoco/mjx/_src/ray_test.py
new file mode 100644
index 00000000..712aca63
--- /dev/null
+++ b/mjx/mujoco/mjx/_src/ray_test.py
@@ -0,0 +1,149 @@
+# 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 ray functions."""
+
+from absl.testing import absltest
+import jax
+from jax import numpy as jp
+import mujoco
+from mujoco import mjx
+from mujoco.mjx._src import test_util
+import numpy as np
+
+# tolerance for difference between MuJoCo and MJX ray calculations - mostly
+# due to float precision
+_TOLERANCE = 5e-5
+
+
+def _assert_eq(a, b, name):
+  tol = _TOLERANCE * 10  # avoid test noise
+  err_msg = f'mismatch: {name}'
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
+
+
+class RayTest(absltest.TestCase):
+
+  def test_ray_nothing(self):
+    """Tests that MJX ray returns -1 when nothing is hit."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+
+    pnt, vec = jp.array([12.146, 1.865, 3.895]), jp.array([0, 0, -1.0])
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([-1]), 'geom_id')
+    _assert_eq(dist, jp.array([-1]), 'dist')
+
+  def test_ray_plane(self):
+    """Tests MJX ray<>plane matches MuJoCo."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+
+    # looking down at a slight angle
+    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([0]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+    # looking on wrong side of plane
+    pnt = jp.array([0, 0, -0.5])
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([-1]), 'geom_id')
+    _assert_eq(dist, jp.array([-1]), 'dist')
+
+  def test_ray_sphere(self):
+    """Tests MJX ray<>sphere matches MuJoCo."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+
+    # looking down at sphere at a slight angle
+    pnt, vec = jp.array([0, 0, 1.6]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([1]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+  def test_ray_capsule(self):
+    """Tests MJX ray<>capsule matches MuJoCo."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+
+    # looking down at capsule at a slight angle
+    pnt, vec = jp.array([0.5, 1, 1.6]), jp.array([0, 0.05, -1.0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([2]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+    # looking up at capsule from below
+    pnt, vec = jp.array([-0.5, 1, 0.05]), jp.array([0, 0.05, 1.0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([2]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+    # looking at cylinder of capsule from the side
+    pnt, vec = jp.array([0, 1, 0.75]), jp.array([1, 0, 0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([2]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+  def test_ray_box(self):
+    """Tests MJX ray<>box matches MuJoCo."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+
+    # looking down at box at a slight angle
+    pnt, vec = jp.array([1, 0, 1.6]), jp.array([0, 0.05, -1.0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([3]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+    # looking up at box from below
+    pnt, vec = jp.array([1, 0, 0.05]), jp.array([0, 0.05, 1.0])
+    vec /= jp.linalg.norm(vec)
+    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, jp.array([3]), 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+
+if __name__ == '__main__':
+  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
index ab27c2b1..d350c11a 100644
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ b/mjx/mujoco/mjx/_src/test_util.py
@@ -26,6 +26,7 @@ TEST_FILES: List[str] = [
     'constraints.xml',
     'convex.xml',
     'pendula.xml',
+    'ray.xml',
 ]
 
 _ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
diff --git a/mjx/mujoco/mjx/test_data/ray.xml b/mjx/mujoco/mjx/test_data/ray.xml
new file mode 100644
index 00000000..a6424ec4
--- /dev/null
+++ b/mjx/mujoco/mjx/test_data/ray.xml
@@ -0,0 +1,16 @@
+<mujoco model="ray">
+  <asset>
+      <mesh name="tetrahedron" file="meshes/tetrahedron.stl" scale="0.4 0.4 0.4" />
+      <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+      <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+  </asset>
+  <worldbody>
+    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
+
+    <geom name="plane" pos="0 0 0" quat="1 0 0 0" size="4 4 4" type="plane" rgba="0.1 0.1 0.1 1"/>
+    <geom name="sphere" pos="0 0 1" quat="1 0 0 0" size="0.5" type="sphere" rgba="1 0 0 1"/>
+    <geom name="capsule" pos="0 1 1" quat="0 0.3826834 0 0.9238795 " size="0.25 0.5" type="capsule" rgba="0 1 0 1"/>
+    <geom name="box" pos="1 0 1" quat="0 0.3826834 0 0.9238795" size="0.5 0.25 0.3" type="box" rgba="0 0 1 1"/>
+    <geom name="mesh" pos="1 1 1" quat="0 0 0.3826834 0.9238795" type="mesh" mesh="tetrahedron" rgba="1 1 0 1"/>
+  </worldbody>
+</mujoco>

From c79e1e5d01c4ee03055a57c0b51d6e219cfde272 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sat, 6 Jan 2024 14:01:27 -0800
Subject: [PATCH 101/121] Add documentation image variants compatible with dark
 mode. Fixes #587

PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
---
 doc/computation/fluid.rst                     |   8 +-
 doc/computation/index.rst                     |  20 +-
 doc/images/computation/contact_frame_dark.svg | 296 ++++++++++++++++++
 doc/images/computation/gPGS_dark.svg          | 102 ++++++
 .../computation/kutta_cond_plate_dark.svg     | 124 ++++++++
 doc/images/computation/softcontact_dark.png   | Bin 0 -> 60000 bytes
 doc/images/modeling/flexelem.png              | Bin 92767 -> 74718 bytes
 doc/images/modeling/impedance_dark.png        | Bin 0 -> 109383 bytes
 doc/images/modeling/musclemodel_dark.png      | Bin 0 -> 439053 bytes
 doc/images/modeling/musclerange_dark.png      | Bin 0 -> 30679 bytes
 doc/modeling.rst                              |  42 ++-
 11 files changed, 578 insertions(+), 14 deletions(-)
 create mode 100644 doc/images/computation/contact_frame_dark.svg
 create mode 100644 doc/images/computation/gPGS_dark.svg
 create mode 100644 doc/images/computation/kutta_cond_plate_dark.svg
 create mode 100644 doc/images/computation/softcontact_dark.png
 create mode 100644 doc/images/modeling/impedance_dark.png
 create mode 100644 doc/images/modeling/musclemodel_dark.png
 create mode 100644 doc/images/modeling/musclerange_dark.png

diff --git a/doc/computation/fluid.rst b/doc/computation/fluid.rst
index 070cb7b3..ea6f0569 100644
--- a/doc/computation/fluid.rst
+++ b/doc/computation/fluid.rst
@@ -520,8 +520,14 @@ in the surrounding flow a circulation of sufficient strength to hold the rear st
 This is the Kutta condition, a fluid dynamic phenomenon that can be observed for solid bodies with sharp corners, such
 as slender bodies or the trailing edges of airfoils.
 
-.. cssclass:: caption-small
 .. figure:: ../images/computation/kutta_cond_plate.svg
+   :class: only-light
+   :figwidth: 95%
+   :align: left
+
+.. cssclass:: caption-small
+.. figure:: ../images/computation/kutta_cond_plate_dark.svg
+   :class: only-dark
    :figwidth: 95%
    :align: left
 
diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index 190be5ac..9e7dcedc 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -966,6 +966,12 @@ is :math:`E f`. The matrix of basis vectors is constructed as follows.
 .. image:: ../images/computation/contact_frame.svg
    :width: 700px
    :align: center
+   :class: only-light
+
+.. image:: ../images/computation/contact_frame_dark.svg
+   :width: 700px
+   :align: center
+   :class: only-dark
 
 The figure illustrates the full basis set corresponding to the case :math:`n = 6`. Otherwise we use only the first
 :math:`n` or :math:`2(n-1)` columns depending on the cone type. Elliptic cones are easier to understand. Since the
@@ -1325,6 +1331,12 @@ representations of the constraint Jacobian and related matrices.
    .. image:: ../images/computation/gPGS.svg
       :width: 500px
       :align: center
+      :class: only-light
+
+   .. image:: ../images/computation/gPGS_dark.svg
+      :width: 500px
+      :align: center
+      :class: only-dark
 
    When using pyramidal friction cones, the problem involves box constraints to which PGS has traditionally been
    applied. If we applied PGS directly to the conic constraints resulting from elliptic friction cones, it would get
@@ -1424,12 +1436,18 @@ approximations, no matter how accurate the approximation is. The figure below il
 where the pyramid is not even an approximation, but represents the same constraint set as the elliptic cone. We plot the
 contours of the penalty/shadow for the pyramidal (red) and elliptic (dashed blue) cones, for different friction
 coefficients varying from left to right. Mathematically, the penalty in the pyramidal case is a quadratic spline, while
-the penalty in the elliptic case contains pieces that are quadratics minus square roots of quadratics - allowing
+the penalty in the elliptic case contains pieces that are quadratics minus square roots of quadratics -- allowing
 circular contours around the tip of the cone.
 
 .. image:: ../images/computation/softcontact.png
    :width: 600px
    :align: center
+   :class: only-light
+
+.. image:: ../images/computation/softcontact_dark.png
+   :width: 600px
+   :align: center
+   :class: only-dark
 
 In summary, elliptic and pyramidal friction cones define different soft-contact dynamics (although they are usually very
 close). The elliptic model is more principled and more consistent with physical intuition, and the corresponding solvers
diff --git a/doc/images/computation/contact_frame_dark.svg b/doc/images/computation/contact_frame_dark.svg
new file mode 100644
index 00000000..ea67cb4f
--- /dev/null
+++ b/doc/images/computation/contact_frame_dark.svg
@@ -0,0 +1,296 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg id="Layer_1" data-name="Layer 1" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 559.62 244.73">
+  <defs>
+    <style>
+      .cls-1 {
+        font-size: 12px;
+      }
+
+      .cls-1, .cls-2, .cls-3, .cls-4, .cls-5, .cls-6 {
+        fill: #fff;
+      }
+
+      .cls-1, .cls-3, .cls-4, .cls-5 {
+        font-family: ArialMT, Arial;
+      }
+
+      .cls-1, .cls-3, .cls-4, .cls-5, .cls-7 {
+        isolation: isolate;
+      }
+
+      .cls-8 {
+        stroke-width: 2px;
+      }
+
+      .cls-8, .cls-9 {
+        stroke: #4c4c4c;
+      }
+
+      .cls-8, .cls-9, .cls-10 {
+        fill: none;
+      }
+
+      .cls-2, .cls-10 {
+        stroke: #fff;
+      }
+
+      .cls-3 {
+        font-size: 8px;
+      }
+
+      .cls-9 {
+        stroke-dasharray: 0 0 5 5;
+      }
+
+      .cls-4 {
+        font-size: 24px;
+      }
+
+      .cls-5 {
+        font-size: 9px;
+      }
+
+      .cls-6 {
+        stroke-width: 0px;
+      }
+    </style>
+  </defs>
+  <line class="cls-8" x1="28.52" y1="139.62" x2="79.67" y2="174.04"/>
+  <line class="cls-8" x1="28.52" y1="139.62" x2="72.1" y2="113.9"/>
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diff --git a/doc/images/computation/gPGS_dark.svg b/doc/images/computation/gPGS_dark.svg
new file mode 100644
index 00000000..7a8cca57
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HcmV?d00001

diff --git a/doc/modeling.rst b/doc/modeling.rst
index b146407f..5cd4cbb6 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -318,7 +318,15 @@ of the function :math:`d(r)` is determined by the element-specific parameter vec
    units of :math:`\text{width}`. Note that when :math:`\text{power}` is 1, the function is linear regardless of the
    :math:`\text{midpoint}`.
 
-   |image0|
+   .. image:: images/modeling/impedance.png
+      :width: 600px
+      :align: center
+      :class: only-light
+
+   .. image:: images/modeling/impedance_dark.png
+      :width: 600px
+      :align: center
+      :class: only-dark
 
    These plots show the impedance :math:`d(r)` on the vertical axis, as a function of the constraint violation :math:`r`
    on the horizontal axis.
@@ -865,7 +873,15 @@ The advantage of the scaled quantities is that all muscles behave similarly in t
 captured by the Force-Length-Velocity (:math:`\text{\small FLV}`) function measured in many experimental papers. We
 approximate this function as follows:
 
-|image1|
+.. image:: images/modeling/musclemodel.png
+   :width: 650px
+   :align: center
+   :class: only-light
+
+.. image:: images/modeling/musclemodel_dark.png
+   :width: 650px
+   :align: center
+   :class: only-dark
 
 The function is in the form:
 
@@ -907,7 +923,15 @@ Before embarking on a mission to design more accurate :math:`\text{\small FLV}`
 operating range of the muscle has a bigger effect than the shape of the :math:`\text{\small FLV}` function, and in many
 cases this parameter is unknown. Below is a graphical illustration:
 
-|image2|
+.. image:: images/modeling/musclerange.png
+   :width: 500px
+   :align: center
+   :class: only-light
+
+.. image:: images/modeling/musclerange_dark.png
+   :width: 500px
+   :align: center
+   :class: only-dark
 
 This figure format is common in the biomechanics literature, showing the operating range of each muscle superimposed on
 the normalized :math:`\text{FL}` curve (ignore the vertical displacement). Our default range is shown in black. The blue
@@ -1311,7 +1335,9 @@ A flex is a collection of MuJoCo bodies that are connected with massless stretch
 capsules (1D flex), triangles (2D flex), or tetrahedra (3D flex). In all cases we allow a radius, which makes the
 elements smooth and also volumetric in 1D and 2D. The primitive elements are illustrated below:
 
-|flexelem|
+.. image:: images/modeling/flexelem.png
+   :width: 600px
+   :align: center
 
 Thus far these look like geoms. But the key difference is that they deform: as the bodies (vertices) move independently
 of each other, the shape of the elements changes in real time. Collisions and contact forces are now generalized to
@@ -1677,12 +1703,6 @@ in a visible way, and the energy fluctuates around the initial value instead of
    </worldbody>
 
 
-.. |image0| image:: images/modeling/impedance.png
-   :width: 600px
-.. |image1| image:: images/modeling/musclemodel.png
-   :width: 650px
-.. |image2| image:: images/modeling/musclerange.png
-   :width: 400px
 .. |image3| image:: images/modeling/tendonwraps.png
    :width: 500px
 .. |image4| image:: images/modeling/particle.png
@@ -1719,8 +1739,6 @@ in a visible way, and the energy fluctuates around the initial value instead of
    :height: 250px
 .. |particle| image:: images/models/particle.gif
    :width: 270px
-.. |flexelem| image:: images/modeling/flexelem.png
-   :width: 400px
 .. |bunny1| image:: images/modeling/bunny1.png
    :width: 300px
 .. |bunny2| image:: images/modeling/bunny2.png

From 5308b485dcb84b08dfd1d19916e344445ce814ad Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sun, 7 Jan 2024 01:22:09 -0800
Subject: [PATCH 102/121] Improve dark mode behavior of arrowhead matrix image.

PiperOrigin-RevId: 596341192
Change-Id: Id1f8cb500c6042d699dd5fd8ec55b61b17443e20
---
 doc/images/APIreference/arrowhead.svg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/images/APIreference/arrowhead.svg b/doc/images/APIreference/arrowhead.svg
index 6fa78ec0..5a98995c 100644
--- a/doc/images/APIreference/arrowhead.svg
+++ b/doc/images/APIreference/arrowhead.svg
@@ -1 +1 @@
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From baaaa1061269f7e7e145bbd213f18d3199e1af2a Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 9 Jan 2024 03:59:36 -0800
Subject: [PATCH 103/121] Fix typo in plugin docs.

PiperOrigin-RevId: 596884568
Change-Id: Ic0ba59fc73fbfd95361655e7761e49b2cb4985b0
---
 plugin/elasticity/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/plugin/elasticity/README.md b/plugin/elasticity/README.md
index ade722a6..96bb5283 100644
--- a/plugin/elasticity/README.md
+++ b/plugin/elasticity/README.md
@@ -16,7 +16,7 @@ Parameters:
 
    - `twist` [Pa]: twisting stiffness.
    - `bend` [Pa]: bending stiffness.
-   - `flat` [bool]: if true, the stress-equilibrium configuration is that of a straight cable; if true, it is the configuration defined in the XML.
+   - `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

From b643c08c0d43a5b06f1810c7b31b5657a94567f3 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 9 Jan 2024 06:44:29 -0800
Subject: [PATCH 104/121] Recommend CoACD for convex mesh decomposition in the
 docs.

PiperOrigin-RevId: 596917392
Change-Id: I3fa6d22b879bf6b4d16e037bb2b8896df8d682a2
---
 doc/computation/index.rst | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index 9e7dcedc..840835d8 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -1535,12 +1535,12 @@ convex hull implicitly, however pre-computing that hull can substantially improv
 model compiler does that by default, using the `qhull <http://www.qhull.org/>`__ library.
 
 In order to model a non-convex object other than a height field, the user must decompose it into a union of convex geoms
-(which can be primitive shapes or meshes) and attach them to the same body. Tools such as the
-`HACD <https://github.com/kmammou/v-hacd>`__ library can be used outside MuJoCo to automate this process. Finally, all
-built-in collision functions can be replaced with custom callbacks. This can be used to incorporate a general-purpose
-"triangle soup" collision detector for example. However we do not recommend such an approach. Pre-processing the
-geometry and representing it as a union of convex geoms takes some work, but it pays off at runtime and yields both
-faster and more stable simulation.
+(which can be primitive shapes or meshes) and attach them to the same body. Open tools like the `CoACD library
+<https://github.com/SarahWeiii/CoACD>`__ can be used outside MuJoCo to automate this process. Finally, all built-in
+collision functions can be replaced with custom callbacks. This can be used to incorporate a general-purpose "triangle
+soup" collision detector for example. However we do not recommend such an approach. Pre-processing the geometry and
+representing it as a union of convex geoms takes some work, but it pays off at runtime and yields both faster and more
+stable simulation.
 
 .. _Pipeline:
 

From 8247ddea0b1fe577b9f573f0764ce04d2e4bb41e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 9 Jan 2024 06:49:00 -0800
Subject: [PATCH 105/121] Recommend fTetWild for tetrahedral meshing in the
 docs.

PiperOrigin-RevId: 596918194
Change-Id: I0357739c8741a7b9fc4614c5ed7ea7fefc0fb42c
---
 doc/modeling.rst | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/doc/modeling.rst b/doc/modeling.rst
index 5cd4cbb6..b9cc9043 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -1400,7 +1400,8 @@ In case of 3D flexes made of tetrahedra, it may be useful to examine how the fle
 a special visualization mode that peels off the outer layers. Below is an example with the Stanford Bunny. Note how it
 has smaller tetrahedra on the outside and larger ones on the inside. This mesh design makes sense, because we want the
 collision surface to be accurate, but on the inside we just need soft material properties - which require less spatial
-resolution.
+resolution. In order to convert a surface mesh to a tetrahedral mesh, we recommend open tools like the
+`fTetWild library <https://github.com/wildmeshing/fTetWild>`__.
 
 |bunny1| |bunny2|
 

From 371da98d97e7bd8dbe46c6915dbe03e058013896 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Wed, 10 Jan 2024 03:19:47 -0800
Subject: [PATCH 106/121] Avoid dynamically generated strings from being used
 as format strings in mjCError and mjXError.

PiperOrigin-RevId: 597198372
Change-Id: I2f159436091c03c7454545877cd5f7e2383cd7c8
---
 src/user/user_model.cc       | 10 ++++++----
 src/user/user_objects.cc     |  2 +-
 src/xml/xml_native_reader.cc | 22 +++++++++++-----------
 3 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index a4f5a2dd..0b1e357a 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -17,6 +17,7 @@
 #include <algorithm>
 #include <csetjmp>
 #include <cstddef>
+#include <cstdint>
 #include <cstdlib>
 #include <cstring>
 #include <map>
@@ -27,6 +28,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmacro.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
 #include <mujoco/mjplugin.h>
 #include <mujoco/mjvisualize.h>
 #include "cc/array_safety.h"
@@ -1087,7 +1089,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
     char err[200];
     for (int i=0; i<m->nu; i++) {
       if (!mj_setLengthRange(m, data, i, &LRopt, err, 200)) {
-        throw mjCError(0, err);
+        throw mjCError(0, "%s", err);
       }
     }
   }
@@ -1150,7 +1152,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
     // report first error
     for (int i=0; i<nthread; i++) {
       if (err[i][0]) {
-        throw mjCError(0, err[i]);
+        throw mjCError(0, "%s", err[i]);
       }
     }
   }
@@ -2564,7 +2566,7 @@ static void processlist(mjListKeyMap& ids, vector<T*>& list,
       auto adjacent = std::adjacent_find(allnames.begin(), allnames.end());
       if (adjacent != allnames.end()) {
         string msg = "repeated name '" + *adjacent + "' in " + mju_type2Str(type);
-        throw mjCError(NULL, msg.c_str());
+        throw mjCError(NULL, "%s", msg.c_str());
       }
     }
   }
@@ -3052,7 +3054,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   if (validationerr) {  // SHOULD NOT OCCUR
     mj_deleteData(d);
     mj_deleteModel(m);
-    throw mjCError(0, validationerr);
+    throw mjCError(0, "%s", validationerr);
   }
 
   // delete partial mjData (no plugins), make a complete one
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 84a9c8c8..b503778f 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -4732,6 +4732,6 @@ void mjCPlugin::Compile(void) {
     std::string error =
         "unrecognized attribute 'plugin:" + config_attribs.begin()->first +
         "' for plugin " + std::string(plugin->name) + "'";
-    throw mjCError(parent, error.c_str());
+    throw mjCError(parent, "%s", error.c_str());
   }
 }
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 57671db9..7863afaa 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -57,7 +57,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
       mjXUtil::ReadAttrTxt(child, "key", key, /* required = */ true);
       if (config_attribs.find(key) != config_attribs.end()) {
         std::string err = "duplicate config key: " + key;
-        throw mjXError(child, err.c_str());
+        throw mjXError(child, "%s", err.c_str());
       }
       mjXUtil::ReadAttrTxt(child, "value", value, /* required = */ true);
       config_attribs[key] = value;
@@ -1117,7 +1117,7 @@ void mjXReader::Size(XMLElement* section, mjCModel* mod) {
         std::string trailing;
         strm >> trailing;
         if (!trailing.empty() || !strm.eof()) {
-          throw mjXError(section, err_msg);
+          throw mjXError(section, "%s", err_msg);
         }
 
         // allow explicit specification of the default "-1" value
@@ -1130,14 +1130,14 @@ void mjXReader::Size(XMLElement* section, mjCModel* mod) {
 
       // check that the number is not negative
       if (strm.peek() == '-') {
-        throw mjXError(section, err_msg);
+        throw mjXError(section, "%s", err_msg);
       }
 
       std::size_t base_size;
       strm >> base_size;
       if (strm.fail()) {
         // either not an integer or the number without the suffix is already bigger than size_t
-        throw mjXError(section, err_msg);
+        throw mjXError(section, "%s", err_msg);
       }
 
       // parse the multiplier suffix
@@ -1161,20 +1161,20 @@ void mjXReader::Size(XMLElement* section, mjCModel* mod) {
         // check for invalid suffix, or suffix longer than one character
         strm.get();
         if (!multiplier_bit || !strm.eof()) {
-          throw mjXError(section, err_msg);
+          throw mjXError(section, "%s", err_msg);
         }
       }
 
       // check that the specified suffix isn't bigger than size_t
       if (multiplier_bit + 1 > std::numeric_limits<std::size_t>::digits) {
-        throw mjXError(section, err_msg);
+        throw mjXError(section, "%s", err_msg);
       }
 
       // check that the suffix won't take the total size beyond size_t
       const std::size_t max_base_size =
           (std::numeric_limits<std::size_t>::max() << multiplier_bit) >> multiplier_bit;
       if (base_size > max_base_size) {
-        throw mjXError(section, err_msg);
+        throw mjXError(section, "%s", err_msg);
       }
 
       const std::size_t total_size = base_size << multiplier_bit;
@@ -1183,7 +1183,7 @@ void mjXReader::Size(XMLElement* section, mjCModel* mod) {
 
     if (memory.has_value()) {
       if (*memory / sizeof(mjtNum) > std::numeric_limits<int>::max()) {
-        throw mjXError(section, err_msg);
+        throw mjXError(section, "%s", err_msg);
       }
       mod->memory = *memory;
     }
@@ -2183,7 +2183,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
     if (comp.add[kind]) {
       char error[200];
       if (!comp.AddDefaultJoint(error, 200)) {
-        throw mjXError(elem, error);
+        throw mjXError(elem, "%s", error);
       }
     }
     comp.add[kind] = true;
@@ -2276,7 +2276,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
 
   // throw error
   if (!res) {
-    throw mjXError(elem, error);
+    throw mjXError(elem, "%s", error);
   }
 }
 
@@ -2408,7 +2408,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjCBody* pbody) {
 
   // throw error
   if (!res) {
-    throw mjXError(elem, error);
+    throw mjXError(elem, "%s", error);
   }
 }
 

From 42515033a7ffcc68f8cb45faba7714910e99ffee Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 10 Jan 2024 03:58:57 -0800
Subject: [PATCH 107/121] Fix linter issues in user_objects_test.

PiperOrigin-RevId: 597204770
Change-Id: I0b396d4c64684d845dc9baf205800e22c8fac314
---
 test/user/user_objects_test.cc | 42 +++++++++++++++++++++-------------
 1 file changed, 26 insertions(+), 16 deletions(-)

diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
index 75fc9422..a5c2be05 100644
--- a/test/user/user_objects_test.cc
+++ b/test/user/user_objects_test.cc
@@ -17,6 +17,8 @@
 #include <algorithm>
 #include <array>
 #include <cstddef>
+#include <cstring>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -25,7 +27,6 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtnum.h>
 #include <mujoco/mujoco.h>
-#include "src/cc/array_safety.h"
 #include "test/fixture.h"
 
 namespace mujoco {
@@ -67,7 +68,8 @@ TEST_F(VfsTest, HFieldPngWithVFS) {
   // should fallback to OS filesystem
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
 }
 
 TEST_F(VfsTest, HFieldCustomWithVFS) {
@@ -93,7 +95,8 @@ TEST_F(VfsTest, HFieldCustomWithVFS) {
   // should fallback to OS filesystem
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
 }
 
 TEST_F(VfsTest, TexturePngWithVFS) {
@@ -120,8 +123,9 @@ TEST_F(VfsTest, TexturePngWithVFS) {
   // should fallback to OS filesystem
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
- }
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
+}
 
 TEST_F(VfsTest, TextureCustomWithVFS) {
   static constexpr char xml[] = R"(
@@ -147,8 +151,9 @@ TEST_F(VfsTest, TextureCustomWithVFS) {
   // should fallback to OS filesystem
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
- }
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
+}
 
 // ------------------------ test content_type attribute ------------------------
 
@@ -178,7 +183,8 @@ TEST_F(ContentTypeTest, HFieldPngWithContentType) {
   // should try loading the file
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
 }
 
 TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
@@ -205,7 +211,8 @@ TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
   // should try loading the file
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
 }
 
 TEST_F(ContentTypeTest, HFieldWithContentTypeError) {
@@ -259,8 +266,9 @@ TEST_F(ContentTypeTest, TexturePngWithContentType) {
   // should try loading the file
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
- }
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
+}
 
 TEST_F(ContentTypeTest, TextureCustomWithContentType) {
   static constexpr char xml[] = R"(
@@ -287,8 +295,9 @@ TEST_F(ContentTypeTest, TextureCustomWithContentType) {
   // should try loading the file
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
- }
+  EXPECT_THAT(error,
+              HasSubstr("resource not found via provider or OS filesystem"));
+}
 
 TEST_F(ContentTypeTest, TextureWithContentTypeError) {
   static constexpr char xml[] = R"(
@@ -316,7 +325,7 @@ TEST_F(ContentTypeTest, TextureWithContentTypeError) {
   mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
   EXPECT_THAT(model, IsNull());
   EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
- }
+}
 
 TEST_F(ContentTypeTest, TextureLoadPng) {
   static constexpr char filename[] = "tiny";
@@ -366,7 +375,7 @@ TEST_F(ContentTypeTest, TextureLoadPng) {
 
   mj_deleteModel(model);
   mj_deleteFileVFS(vfs.get(), filename);
- }
+}
 
 // ------------------------ test keyframes -------------------------------------
 
@@ -980,7 +989,8 @@ TEST_F(ActRangeTest, ActRangeNoDyntype) {
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("actrange specified but dyntype is 'none'"));
+  EXPECT_THAT(error.data(),
+              HasSubstr("actrange specified but dyntype is 'none'"));
 }
 
 TEST_F(ActRangeTest, ActRangeDefaultsPropagate) {

From 889353dfa80388382ca0f98120131ad4d32defc7 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 10 Jan 2024 09:55:58 -0800
Subject: [PATCH 108/121] Replace `meshid` and `hfieldid` with `mjCMesh` and
 `mjCHField` pointers in `mjCGeom`.

PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
---
 src/user/user_model.cc       | 28 +++++++--------
 src/user/user_objects.cc     | 66 +++++++++++++++++-------------------
 src/user/user_objects.h      |  9 ++---
 src/xml/xml_native_reader.cc |  4 +--
 src/xml/xml_native_writer.cc |  6 ++--
 src/xml/xml_urdf.cc          |  2 +-
 6 files changed, 57 insertions(+), 58 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 0b1e357a..766650a4 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -667,22 +667,22 @@ void mjCModel::IndexAssets(void) {
     }
 
     // find mesh by name
-    if (!pgeom->mesh.empty()) {
-      mjCBase* m = FindObject(mjOBJ_MESH, pgeom->mesh);
+    if (!pgeom->meshname.empty()) {
+      mjCBase* m = FindObject(mjOBJ_MESH, pgeom->meshname);
       if (m) {
-        pgeom->meshid = m->id;
+        pgeom->mesh = (mjCMesh*)m;
       } else {
-        throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->mesh.c_str(), i);
+        throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->meshname.c_str(), i);
       }
     }
 
     // find hfield by name
-    if (!pgeom->hfield.empty()) {
-      mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfield);
+    if (!pgeom->hfieldname.empty()) {
+      mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfieldname);
       if (m) {
-        pgeom->hfieldid = m->id;
+        pgeom->hfield = (mjCHField*)m;
       } else {
-        throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfield.c_str(), i);
+        throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfieldname.c_str(), i);
       }
     }
   }
@@ -1515,10 +1515,10 @@ void mjCModel::CopyTree(mjModel* m) {
       m->geom_conaffinity[gid] = pg->conaffinity;
       m->geom_condim[gid] = pg->condim;
       m->geom_bodyid[gid] = pg->body->id;
-      if (pg->meshid>=0) {
-        m->geom_dataid[gid] = pg->meshid;
-      } else if (pg->hfieldid>=0) {
-        m->geom_dataid[gid] = pg->hfieldid;
+      if (pg->mesh) {
+        m->geom_dataid[gid] = pg->mesh->id;
+      } else if (pg->hfield) {
+        m->geom_dataid[gid] = pg->hfield->id;
       } else {
         m->geom_dataid[gid] = -1;
       }
@@ -2710,9 +2710,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
   // mark meshes that need convex hull
   for (int i=0; i<geoms.size(); i++) {
-    if (geoms[i]->meshid>=0 && geoms[i]->type==mjGEOM_MESH &&
+    if (geoms[i]->mesh && geoms[i]->type==mjGEOM_MESH &&
         (geoms[i]->contype || geoms[i]->conaffinity)) {
-      meshes[geoms[i]->meshid]->set_needhull(true);
+      geoms[i]->mesh->set_needhull(true);
     }
   }
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index b503778f..74f8825e 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1317,7 +1317,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
     fluid[i] = 0;
   }
   density = 1000;             // water density (1000 kg / m^3)
-  mesh.clear();
+  meshname.clear();
   fitscale = 1;
   material.clear();
   rgba[0] = rgba[1] = rgba[2] = 0.5f;
@@ -1333,8 +1333,8 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
   mjuu_setvec(inertia, 0, 0, 0);
   body = 0;
   matid = -1;
-  meshid = -1;
-  hfieldid = -1;
+  mesh = nullptr;
+  hfield = nullptr;
 
   // reset to default if given
   if (_def) {
@@ -1360,12 +1360,11 @@ double mjCGeom::GetVolume(void) {
 
   // get from mesh
   if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
-    if (meshid<0 || meshid>=(int)model->meshes.size()) {
-      throw mjCError(this, "invalid meshid in mesh geom '%s' (id = %d)", name.c_str(), id);
+    if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
+      throw mjCError(this, "invalid mesh id in mesh geom '%s' (id = %d)", name.c_str(), id);
     }
 
-    mjCMesh* pmesh = model->meshes[meshid];
-    return pmesh->GetVolumeRef(typeinertia);
+    return mesh->GetVolumeRef(typeinertia);
   }
 
   // compute from geom shape
@@ -1416,12 +1415,11 @@ void mjCGeom::SetInertia(void) {
 
   // get from mesh
   if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
-    if (meshid<0 || meshid>=(int)model->meshes.size()) {
-      throw mjCError(this, "invalid meshid in mesh geom '%s' (id = %d)", name.c_str(), id);
+    if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
+      throw mjCError(this, "invalid mesh id in mesh geom '%s' (id = %d)", name.c_str(), id);
     }
 
-    mjCMesh* pmesh = model->meshes[meshid];
-    double* boxsz = pmesh->GetInertiaBoxPtr(typeinertia);
+    double* boxsz = mesh->GetInertiaBoxPtr(typeinertia);
     inertia[0] = mass*(boxsz[1]*boxsz[1] + boxsz[2]*boxsz[2]) / 3;
     inertia[1] = mass*(boxsz[0]*boxsz[0] + boxsz[2]*boxsz[2]) / 3;
     inertia[2] = mass*(boxsz[0]*boxsz[0] + boxsz[1]*boxsz[1]) / 3;
@@ -1488,7 +1486,7 @@ double mjCGeom::GetRBound(void) {
 
   switch (type) {
   case mjGEOM_HFIELD:
-    hsize = model->hfields[hfieldid]->size;
+    hsize = hfield->size;
     return sqrt(hsize[0]*hsize[0] + hsize[1]*hsize[1] +
                 mjMAX(hsize[2]*hsize[2], hsize[3]*hsize[3]));
 
@@ -1509,7 +1507,7 @@ double mjCGeom::GetRBound(void) {
 
   case mjGEOM_MESH:
   case mjGEOM_SDF:
-    aamm = model->meshes[meshid]->aamm();
+    aamm = mesh->aamm();
     haabb[0] = mju_max(fabs(aamm[0]), fabs(aamm[3]));
     haabb[1] = mju_max(fabs(aamm[1]), fabs(aamm[4]));
     haabb[2] = mju_max(fabs(aamm[2]), fabs(aamm[5]));
@@ -1638,12 +1636,12 @@ void mjCGeom::ComputeAABB(void) {
   double aamm[6]; // axis-aligned bounding box in (min, max) format
   switch (type) {
   case mjGEOM_HFIELD:
-    aamm[0] = -model->hfields[hfieldid]->size[0];
-    aamm[1] = -model->hfields[hfieldid]->size[1];
-    aamm[2] = -model->hfields[hfieldid]->size[3];
-    aamm[3] = model->hfields[hfieldid]->size[0];
-    aamm[4] = model->hfields[hfieldid]->size[1];
-    aamm[5] = model->hfields[hfieldid]->size[2];
+    aamm[0] = -hfield->size[0];
+    aamm[1] = -hfield->size[1];
+    aamm[2] = -hfield->size[3];
+    aamm[3] = hfield->size[0];
+    aamm[4] = hfield->size[1];
+    aamm[5] = hfield->size[2];
     break;
 
   case mjGEOM_SPHERE:
@@ -1665,7 +1663,7 @@ void mjCGeom::ComputeAABB(void) {
 
   case mjGEOM_MESH:
   case mjGEOM_SDF:
-    mjuu_copyvec(aamm, model->meshes[meshid]->aamm(), 6);
+    mjuu_copyvec(aamm, mesh->aamm(), 6);
     break;
 
   case mjGEOM_PLANE:
@@ -1711,12 +1709,12 @@ void mjCGeom::Compile(void) {
   }
 
   // check mesh
-  if ((type==mjGEOM_MESH || type==mjGEOM_SDF) && meshid<0) {
+  if ((type==mjGEOM_MESH || type==mjGEOM_SDF) && !mesh) {
     throw mjCError(this, "mesh geom '%s' (id = %d) must have valid meshid", name.c_str(), id);
   }
 
   // check hfield
-  if ((type==mjGEOM_HFIELD && hfieldid<0) || (type!=mjGEOM_HFIELD && hfieldid>=0)) {
+  if ((type==mjGEOM_HFIELD && !hfield) || (type!=mjGEOM_HFIELD && hfield)) {
     throw mjCError(this, "hfield geom '%s' (id = %d) must have valid hfieldid", name.c_str(), id);
   }
 
@@ -1783,25 +1781,25 @@ void mjCGeom::Compile(void) {
   }
 
   // mesh: accumulate frame, fit geom if needed
-  if (meshid!=-1) {
+  if (mesh) {
     // check for inapplicable fromto
     if (mjuu_defined(fromto[0])) {
       throw mjCError(this, "fromto cannot be used with mesh geom '%s' (id = %d)", name.c_str(), id);
     }
 
-    // get associated mesh
-    mjCMesh* pmesh = model->meshes[meshid];
+    // save reference in case this is not an mjGEOM_MESH
+    mjCMesh* pmesh = mesh;
 
     // fit geom if type is not mjGEOM_MESH
     double meshpos[3];
     if (type!=mjGEOM_MESH && type!=mjGEOM_SDF) {
-      pmesh->FitGeom(this, meshpos);
+      mesh->FitGeom(this, meshpos);
 
       // remove reference to mesh
-      mesh.clear();
-      meshid = -1;
+      meshname.clear();
+      mesh = nullptr;
     } else {
-      mjuu_copyvec(meshpos, pmesh->GetPosPtr(typeinertia), 3);
+      mjuu_copyvec(meshpos, mesh->GetPosPtr(typeinertia), 3);
     }
 
     // apply geom pos/quat as offset
@@ -1815,12 +1813,12 @@ void mjCGeom::Compile(void) {
 
   // set hfield sizes in geom.size
   if (type==mjGEOM_HFIELD) {
-    size[0] = model->hfields[hfieldid]->size[0];
-    size[1] = model->hfields[hfieldid]->size[1];
-    size[2] = 0.5*(0.5*model->hfields[hfieldid]->size[2] +
-                   model->hfields[hfieldid]->size[3]);
+    size[0] = hfield->size[0];
+    size[1] = hfield->size[1];
+    size[2] = 0.5*(0.5*hfield->size[2] +
+                   hfield->size[3]);
   } else if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
-    const double* aamm = model->meshes[meshid]->aamm();
+    const double* aamm = mesh->aamm();
     size[0] = mju_max(fabs(aamm[0]), fabs(aamm[3]));
     size[1] = mju_max(fabs(aamm[1]), fabs(aamm[4]));
     size[2] = mju_max(fabs(aamm[2]), fabs(aamm[5]));
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 505e13f3..9641626c 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -36,6 +36,7 @@ class mjCGeom;
 class mjCSite;
 class mjCCamera;
 class mjCLight;
+class mjCHField;
 class mjCFlex;                        // defined in user_mesh
 class mjCMesh;                        // defined in user_mesh
 class mjCSkin;                        // defined in user_mesh
@@ -397,8 +398,8 @@ class mjCGeom : public mjCBase {
   mjtNum fluid_switch;            // whether ellipsoid-fluid model is active
   mjtNum fluid_coefs[5];          // tunable ellipsoid-fluid interaction coefs
   mjtNum fluid[mjNFLUID];         // compile-time fluid-interaction parameters
-  std::string hfield;             // hfield attached to geom
-  std::string mesh;               // mesh attached to geom
+  std::string hfieldname;         // hfield attached to geom
+  std::string meshname;           // mesh attached to geom
   double fitscale;                // scale mesh uniformly
   std::string material;           // name of material used for rendering
   std::vector<double> userdata;   // user data
@@ -423,8 +424,8 @@ class mjCGeom : public mjCBase {
   void ComputeAABB(void);             // compute axis-aligned bounding box
 
   int matid;                      // id of geom's material
-  int meshid;                     // id of geom's mesh (-1: none)
-  int hfieldid;                   // id of geom's hfield (-1: none)
+  mjCMesh* mesh;                  // geom's mesh
+  mjCHField* hfield;              // geom's hfield
   double mass;                    // mass
   double inertia[3];              // local diagonal inertia
   double aabb[6];                 // axis-aligned bounding box (center, size)
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 7863afaa..bd438c5e 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -1525,8 +1525,8 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
   ReadAttr(elem, "solimp", mjNIMP, pgeom->solimp, text, false, false);
   ReadAttr(elem, "margin", 1, &pgeom->margin, text);
   ReadAttr(elem, "gap", 1, &pgeom->gap, text);
-  ReadAttrTxt(elem, "hfield", pgeom->hfield);
-  ReadAttrTxt(elem, "mesh", pgeom->mesh);
+  ReadAttrTxt(elem, "hfield", pgeom->hfieldname);
+  ReadAttrTxt(elem, "mesh", pgeom->meshname);
   ReadAttr(elem, "fitscale", 1, &pgeom->fitscale, text);
   ReadAttrTxt(elem, "material", pgeom->material);
   ReadAttr(elem, "rgba", 4, pgeom->rgba, text);
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 63d22b72..0e7d281f 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -347,7 +347,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
 
     // mesh geom
     if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
-      mjCMesh* pmesh = model->meshes[pgeom->meshid];
+      mjCMesh* pmesh = pgeom->mesh;
 
       // write pos/quat if there is a difference
       if (!SameVector(pgeom->pos, pmesh->GetPosPtr(pgeom->typeinertia), 3) ||
@@ -403,10 +403,10 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
 
   // hfield and mesh attributes
   if (pgeom->type==mjGEOM_HFIELD) {
-    WriteAttrTxt(elem, "hfield", pgeom->hfield);
+    WriteAttrTxt(elem, "hfield", pgeom->hfieldname);
   }
   if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
-    WriteAttrTxt(elem, "mesh", pgeom->mesh);
+    WriteAttrTxt(elem, "mesh", pgeom->meshname);
   }
 
   // userdata
diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
index dab94fa8..74b7075b 100644
--- a/src/xml/xml_urdf.cc
+++ b/src/xml/xml_urdf.cc
@@ -573,7 +573,7 @@ mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjCBody* pbody, bool collision) {
     // set fields
     pmesh->set_file(meshfile);
     pmesh->name = meshname;
-    pgeom->mesh = meshname;
+    pgeom->meshname = meshname;
     pmesh->set_scale(meshscale);
   }
 

From 8a9b041388941e394ec0939294d6e0fd8b05bc4c Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 10 Jan 2024 10:19:44 -0800
Subject: [PATCH 109/121] Replace `objid` with `obj` pointers.

This in preparation of adding functions to remove/add elements after compilation.

PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
---
 src/user/user_model.cc       |  6 ++---
 src/user/user_objects.cc     | 52 +++++++++++++++---------------------
 src/user/user_objects.h      |  6 ++---
 src/xml/xml_native_writer.cc | 25 +++++++----------
 4 files changed, 37 insertions(+), 52 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 766650a4..ca4790f4 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2105,7 +2105,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     // set wraps
     for (int j=0; j<(int)pte->path.size(); j++) {
       m->wrap_type[adr+j] = pte->path[j]->type;
-      m->wrap_objid[adr+j] = pte->path[j]->objid;
+      m->wrap_objid[adr+j] = pte->path[j]->obj ? pte->path[j]->obj->id : -1;
       m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->prm;
       if (pte->path[j]->type==mjWRAP_SPHERE || pte->path[j]->type==mjWRAP_CYLINDER) {
         m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->sideid;
@@ -2160,7 +2160,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->sensor_datatype[i] = psen->datatype;
     m->sensor_needstage[i] = psen->needstage;
     m->sensor_objtype[i] = psen->objtype;
-    m->sensor_objid[i] = psen->objid;
+    m->sensor_objid[i] = psen->obj ? psen->obj->id : -1;
     m->sensor_reftype[i] = psen->reftype;
     m->sensor_refid[i] = psen->refid;
     m->sensor_dim[i] = psen->dim;
@@ -2219,7 +2219,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->tuple_size[i] = (int)ptu->objtype.size();
     for (int j=0; j<m->tuple_size[i]; j++) {
       m->tuple_objtype[adr+j] = (int)ptu->objtype[j];
-      m->tuple_objid[adr+j] = ptu->objid[j];
+      m->tuple_objid[adr+j] = ptu->obj[j]->id;
       m->tuple_objprm[adr+j] = (mjtNum)ptu->objprm[j];
     }
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 74f8825e..b1143c1e 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -3637,7 +3637,7 @@ void mjCTendon::Compile(void) {
         }
 
         // site cannot be repeated
-        if (i<sz-1 && path[i+1]->type==mjWRAP_SITE && path[i]->objid==path[i+1]->objid) {
+        if (i<sz-1 && path[i+1]->type==mjWRAP_SITE && path[i]->obj->id==path[i+1]->obj->id) {
           throw mjCError(this,
                          "tendon '%s' (id = %d): site %d is repeated",
                          name.c_str(), id, i);
@@ -3698,7 +3698,7 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
 
   // clear variables
   type = mjWRAP_NONE;
-  objid = -1;
+  obj = nullptr;
   sideid = -1;
   prm = 0;
   sidesite.clear();
@@ -3708,14 +3708,14 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
 
 // compiler
 void mjCWrap::Compile(void) {
-  mjCBase *ptr = 0, *pside;
+  mjCBase *pside;
 
   // handle wrap object types
   switch (type) {
   case mjWRAP_JOINT:                          // joint
     // find joint by name
-    ptr = model->FindObject(mjOBJ_JOINT, name);
-    if (!ptr) {
+    obj = model->FindObject(mjOBJ_JOINT, name);
+    if (!obj) {
       throw mjCError(this,
                      "joint '%s' not found in tendon %d, wrap %d",
                      name.c_str(), tendon->id, id);
@@ -3725,17 +3725,17 @@ void mjCWrap::Compile(void) {
 
   case mjWRAP_SPHERE:                         // geom (cylinder type set here)
     // find geom by name
-    ptr = model->FindObject(mjOBJ_GEOM, name);
-    if (!ptr) {
+    obj = model->FindObject(mjOBJ_GEOM, name);
+    if (!obj) {
       throw mjCError(this,
                      "geom '%s' not found in tendon %d, wrap %d",
                      name.c_str(), tendon->id, id);
     }
 
     // set/check geom type
-    if (((mjCGeom*)ptr)->type == mjGEOM_CYLINDER) {
+    if (((mjCGeom*)obj)->type == mjGEOM_CYLINDER) {
       type = mjWRAP_CYLINDER;
-    } else if (((mjCGeom*)ptr)->type != mjGEOM_SPHERE) {
+    } else if (((mjCGeom*)obj)->type != mjGEOM_SPHERE) {
       throw mjCError(this,
                      "geom '%s' in tendon %d, wrap %d is not sphere or cylinder",
                      name.c_str(), tendon->id, id);
@@ -3768,8 +3768,8 @@ void mjCWrap::Compile(void) {
 
   case mjWRAP_SITE:                           // site
     // find site by name
-    ptr = model->FindObject(mjOBJ_SITE, name);
-    if (!ptr) {
+    obj = model->FindObject(mjOBJ_SITE, name);
+    if (!obj) {
       throw mjCError(this, "site '%s' not found in wrap %d", name.c_str(), id);
     }
     break;
@@ -3777,11 +3777,6 @@ void mjCWrap::Compile(void) {
   default:                                    // SHOULD NOT OCCUR
     throw mjCError(this, "unknown wrap type in tendon %d, wrap %d", 0, tendon->id, id);
   }
-
-  // set object id
-  if (ptr) {
-    objid = ptr->id;
-  }
 }
 
 
@@ -4053,7 +4048,7 @@ mjCSensor::mjCSensor(mjCModel* _model) {
   dim = 0;
 
   // clear private variables
-  objid = -1;
+  obj = nullptr;
   refid = -1;
 
   plugin_instance = nullptr;
@@ -4065,8 +4060,6 @@ mjCSensor::mjCSensor(mjCModel* _model) {
 
 // compiler
 void mjCSensor::Compile(void) {
-  const mjCBase* pobj;
-
   // resize userdata
   if (userdata.size() > model->nuser_sensor) {
     throw mjCError(this, "user has more values than nuser_sensor in sensor '%s' (id = %d)",
@@ -4094,15 +4087,14 @@ void mjCSensor::Compile(void) {
     }
 
     // find name
-    pobj = model->FindObject(objtype, objname);
-    if (!pobj) {
+    obj = model->FindObject(objtype, objname);
+    if (!obj) {
       throw mjCError(this,
                      "unrecognized name of sensorized object in sensor '%s' (id = %d)",
                      name.c_str(), id);
     }
 
     // get sensorized object id
-    objid = pobj->id;
   } else if (type != mjSENS_CLOCK && type != mjSENS_PLUGIN && type != mjSENS_USER) {
     throw mjCError(this, "invalid type in sensor '%s' (id = %d)", name.c_str(), id);
   }
@@ -4195,7 +4187,7 @@ void mjCSensor::Compile(void) {
     }
 
     // make sure joint is slide or hinge
-    if (((mjCJoint*)pobj)->type!=mjJNT_SLIDE && ((mjCJoint*)pobj)->type!=mjJNT_HINGE) {
+    if (((mjCJoint*)obj)->type!=mjJNT_SLIDE && ((mjCJoint*)obj)->type!=mjJNT_HINGE) {
       throw mjCError(this,
                      "joint must be slide or hinge in sensor '%s' (id = %d)", name.c_str(), id);
     }
@@ -4260,7 +4252,7 @@ void mjCSensor::Compile(void) {
     }
 
     // make sure joint is ball
-    if (((mjCJoint*)pobj)->type!=mjJNT_BALL) {
+    if (((mjCJoint*)obj)->type!=mjJNT_BALL) {
       throw mjCError(this,
                      "joint must be ball in sensor '%s' (id = %d)", name.c_str(), id);
     }
@@ -4287,7 +4279,7 @@ void mjCSensor::Compile(void) {
     }
 
     // make sure joint has limit
-    if (!((mjCJoint*)pobj)->limited) {
+    if (!((mjCJoint*)obj)->limited) {
       throw mjCError(this, "joint must be limited in sensor '%s' (id = %d)", name.c_str(), id);
     }
 
@@ -4313,7 +4305,7 @@ void mjCSensor::Compile(void) {
     }
 
     // make sure tendon has limit
-    if (!((mjCTendon*)pobj)->limited) {
+    if (!((mjCTendon*)obj)->limited) {
       throw mjCError(this, "tendon must be limited in sensor '%s' (id = %d)", name.c_str(), id);
     }
 
@@ -4535,7 +4527,7 @@ mjCTuple::mjCTuple(mjCModel* _model) {
   objtype.clear();
   objname.clear();
   objprm.clear();
-  objid.clear();
+  obj.clear();
 }
 
 
@@ -4545,7 +4537,7 @@ mjCTuple::~mjCTuple() {
   objtype.clear();
   objname.clear();
   objprm.clear();
-  objid.clear();
+  obj.clear();
 }
 
 
@@ -4564,7 +4556,7 @@ void mjCTuple::Compile(void) {
   }
 
   // resize objid to correct size
-  objid.resize(objtype.size());
+  obj.resize(objtype.size());
 
   // find objects, fill in ids
   for (int i=0; i<objtype.size(); i++) {
@@ -4575,7 +4567,7 @@ void mjCTuple::Compile(void) {
     }
 
     // assign id
-    objid[i] = res->id;
+    obj[i] = res;
   }
 }
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 9641626c..75f7f5cf 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1069,7 +1069,7 @@ class mjCWrap : public mjCBase {
 
  public:
   mjtWrap type;                   // wrap object type
-  int objid;                      // wrap object id (in array corresponding to type)
+  mjCBase* obj;                   // wrap object pointer
   int sideid;                     // side site id; -1 if not applicable
   double prm;                     // parameter: divisor, coefficient
   std::string sidesite;           // name of side site
@@ -1179,7 +1179,7 @@ class mjCSensor : public mjCBase {
   mjCSensor(mjCModel*);           // constructor
   void Compile(void);             // compiler
 
-  int objid;                      // id of sensorized object
+  mjCBase* obj;                   // sensorized object
   int refid;                      // id of reference frame
 };
 
@@ -1239,7 +1239,7 @@ class mjCTuple : public mjCBase {
   ~mjCTuple();                    // destructor
   void Compile(void);             // compiler
 
-  std::vector<int> objid;         // object ids
+  std::vector<mjCBase*> obj;         // object pointers
 };
 
 
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 0e7d281f..926e7089 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -1648,34 +1648,27 @@ void mjXWriter::Tendon(XMLElement* root) {
     OneTendon(elem, pten, pten->def);
 
     // write wraps
-    mjCBase* pobj;
     XMLElement* wrap;
     for (int j=0; j<pten->NumWraps(); j++) {
       mjCWrap* pw = pten->GetWrap(j);
       switch (pw->type) {
       case mjWRAP_JOINT:
-        if ((pobj = model->GetObject(mjOBJ_JOINT, pw->objid))) {
-          wrap = InsertEnd(elem, "joint");
-          WriteAttrTxt(wrap, "joint", pobj->name);
-          WriteAttr(wrap, "coef", 1, &pw->prm);
-        }
+        wrap = InsertEnd(elem, "joint");
+        WriteAttrTxt(wrap, "joint", pw->obj->name);
+        WriteAttr(wrap, "coef", 1, &pw->prm);
         break;
 
       case mjWRAP_SITE:
-        if ((pobj = model->GetObject(mjOBJ_SITE, pw->objid))) {
-          wrap = InsertEnd(elem, "site");
-          WriteAttrTxt(wrap, "site", pobj->name);
-        }
+        wrap = InsertEnd(elem, "site");
+        WriteAttrTxt(wrap, "site", pw->obj->name);
         break;
 
       case mjWRAP_SPHERE:
       case mjWRAP_CYLINDER:
-        if ((pobj = model->GetObject(mjOBJ_GEOM, pw->objid))) {
-          wrap = InsertEnd(elem, "geom");
-          WriteAttrTxt(wrap, "geom", pobj->name);
-          if (!pw->sidesite.empty()) {
-            WriteAttrTxt(wrap, "sidesite", pw->sidesite);
-          }
+        wrap = InsertEnd(elem, "geom");
+        WriteAttrTxt(wrap, "geom", pw->obj->name);
+        if (!pw->sidesite.empty()) {
+          WriteAttrTxt(wrap, "sidesite", pw->sidesite);
         }
         break;
 

From 85ab6183bc76f2ff79538d48b88d1bcc4c313243 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Wed, 10 Jan 2024 11:57:53 -0800
Subject: [PATCH 110/121] Add ray filtering based on geom transparency and
 filter params.

PiperOrigin-RevId: 597316447
Change-Id: If9619320f0024c486bb7abe2c63e9a1ba1a631f0
---
 mjx/mujoco/mjx/_src/io.py       |   2 +
 mjx/mujoco/mjx/_src/ray.py      |  58 ++++++++++++-----
 mjx/mujoco/mjx/_src/ray_test.py | 111 ++++++++++++++++++++++++++------
 mjx/mujoco/mjx/_src/types.py    |  10 +++
 4 files changed, 146 insertions(+), 35 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index d7ae4a1d..5b406185 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -111,6 +111,8 @@ def put_model(m: mujoco.MjModel, device=None) -> types.Model:
       for f in types.Model.fields()
       if f.type in (int, bytes, np.ndarray)
   }
+  static_fields['geom_rgba'] = static_fields['geom_rgba'].reshape((-1, 4))
+  static_fields['mat_rgba'] = static_fields['mat_rgba'].reshape((-1, 4))
 
   device_fields = {
       f.name: copy.copy(getattr(m, f.name))  # copy because device_put is async
diff --git a/mjx/mujoco/mjx/_src/ray.py b/mjx/mujoco/mjx/_src/ray.py
index 582d6e4f..d093e926 100644
--- a/mjx/mujoco/mjx/_src/ray.py
+++ b/mjx/mujoco/mjx/_src/ray.py
@@ -14,7 +14,7 @@
 # ==============================================================================
 """Functions for ray interesection testing."""
 
-from typing import Tuple
+from typing import Sequence, Tuple
 
 import jax
 from jax import numpy as jp
@@ -149,32 +149,60 @@ _RAY_FUNC = {
 
 
 def ray(
-    m: Model, d: Data, pnt: jax.Array, vec: jax.Array
+    m: Model,
+    d: Data,
+    pnt: jax.Array,
+    vec: jax.Array,
+    geomgroup: Sequence[int] = (),
+    flg_static: bool = True,
+    bodyexclude: int = -1,
 ) -> Tuple[jax.Array, jax.Array]:
-  """Returns the geom id and distance at which a ray intersects with a geom."""
+  """Returns the geom id and distance at which a ray intersects with a geom.
 
-  ids = []
-  dists = []
+  Args:
+    m: MJX model
+    d: MJX data
+    pnt: ray origin point (3,)
+    vec: ray direction    (3,)
+    geomgroup: group inclusion/exclusion mask, or empty to ignore
+    flg_static: if True, allows rays to intersect with static geoms
+    bodyexclude: ignore geoms on specified body id
+
+  Returns:
+    dist: distance from ray origin to geom surface (or -1.0 for no intersection)
+    id: id of intersected geom (or -1 for no intersection)
+  """
+
+  dists, ids = [], []
+  geom_filter = m.geom_bodyid != bodyexclude
+  geom_filter &= (m.geom_matid != -1) | (m.geom_rgba[:, 3] != 0)
+  geom_filter &= (m.geom_matid == -1) | (m.mat_rgba[m.geom_matid, 3] != 0)
+  geom_filter &= flg_static | (m.body_weldid[m.geom_bodyid] != 0)
+  if geomgroup:
+    geomgroup = np.array(geomgroup, dtype=bool)
+    geom_filter &= geomgroup[np.clip(m.geom_group, 0, mujoco.mjNGROUP)]
 
   # map ray to local geom frames
   geom_pnts = jax.vmap(lambda x, y: x.T @ (pnt - y))(d.geom_xmat, d.geom_xpos)
   geom_vecs = jax.vmap(lambda x: x.T @ vec)(d.geom_xmat)
 
   for geom_type, fn in _RAY_FUNC.items():
-    if not np.any(m.geom_type == geom_type):
+    id_, = np.nonzero(geom_filter & (m.geom_type == geom_type))
+
+    if id_.size == 0:
       continue
 
-    geom_ids = jp.array(np.nonzero(m.geom_type == geom_type)[0])
-    geom_dists = jax.vmap(fn)(
-        m.geom_size[geom_ids], geom_pnts[geom_ids], geom_vecs[geom_ids]
-    )
-    ids.append(geom_ids)
-    dists.append(geom_dists)
+    size, pnt, vec = m.geom_size[id_], geom_pnts[id_], geom_vecs[id_]
+    dist = jax.vmap(fn)(size, pnt, vec)
+    dists, ids = dists + [dist], ids + [id_]
+
+  if not ids:
+    return jp.array(-1), jp.array(-1.0)
 
-  ids = jp.concatenate(ids)
   dists = jp.concatenate(dists)
+  ids = jp.concatenate(ids)
   min_id = jp.argmin(dists)
-  id_ = jp.where(jp.isinf(dists[min_id]), -1, ids[min_id])
   dist = jp.where(jp.isinf(dists[min_id]), -1, dists[min_id])
+  id_ = jp.where(jp.isinf(dists[min_id]), -1, ids[min_id])
 
-  return id_, dist
+  return dist, id_
diff --git a/mjx/mujoco/mjx/_src/ray_test.py b/mjx/mujoco/mjx/_src/ray_test.py
index 712aca63..0556c9a3 100644
--- a/mjx/mujoco/mjx/_src/ray_test.py
+++ b/mjx/mujoco/mjx/_src/ray_test.py
@@ -43,9 +43,9 @@ class RayTest(absltest.TestCase):
     mx, dx = mjx.put_model(m), mjx.put_data(m, d)
 
     pnt, vec = jp.array([12.146, 1.865, 3.895]), jp.array([0, 0, -1.0])
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([-1]), 'geom_id')
-    _assert_eq(dist, jp.array([-1]), 'dist')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, -1, 'geom_id')
+    _assert_eq(dist, -1, 'dist')
 
   def test_ray_plane(self):
     """Tests MJX ray<>plane matches MuJoCo."""
@@ -57,17 +57,17 @@ class RayTest(absltest.TestCase):
     # looking down at a slight angle
     pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([0]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 0, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
 
     # looking on wrong side of plane
     pnt = jp.array([0, 0, -0.5])
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([-1]), 'geom_id')
-    _assert_eq(dist, jp.array([-1]), 'dist')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, -1, 'geom_id')
+    _assert_eq(dist, -1, 'dist')
 
   def test_ray_sphere(self):
     """Tests MJX ray<>sphere matches MuJoCo."""
@@ -79,8 +79,8 @@ class RayTest(absltest.TestCase):
     # looking down at sphere at a slight angle
     pnt, vec = jp.array([0, 0, 1.6]), jp.array([0.1, 0.2, -1.0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([1]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 1, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
@@ -95,8 +95,8 @@ class RayTest(absltest.TestCase):
     # looking down at capsule at a slight angle
     pnt, vec = jp.array([0.5, 1, 1.6]), jp.array([0, 0.05, -1.0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([2]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 2, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
@@ -104,8 +104,8 @@ class RayTest(absltest.TestCase):
     # looking up at capsule from below
     pnt, vec = jp.array([-0.5, 1, 0.05]), jp.array([0, 0.05, 1.0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([2]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 2, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
@@ -113,8 +113,8 @@ class RayTest(absltest.TestCase):
     # looking at cylinder of capsule from the side
     pnt, vec = jp.array([0, 1, 0.75]), jp.array([1, 0, 0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([2]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 2, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
@@ -129,8 +129,8 @@ class RayTest(absltest.TestCase):
     # looking down at box at a slight angle
     pnt, vec = jp.array([1, 0, 1.6]), jp.array([0, 0.05, -1.0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([3]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 3, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
@@ -138,12 +138,83 @@ class RayTest(absltest.TestCase):
     # looking up at box from below
     pnt, vec = jp.array([1, 0, 0.05]), jp.array([0, 0.05, 1.0])
     vec /= jp.linalg.norm(vec)
-    geomid, dist = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, jp.array([3]), 'geom_id')
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, 3, 'geom_id')
     pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
     mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
     _assert_eq(dist, mj_dist, 'dist')
 
+  def test_ray_geomgroup(self):
+    """Tests ray geomgroup filter."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+    ray_fn = jax.jit(mjx.ray, static_argnums=(4,))
+
+    # hits plane with geom_group[0] = 1
+    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    geomgroup = (1, 0, 0, 0, 0, 0)
+    dist, geomid = ray_fn(mx, dx, pnt, vec, geomgroup)
+    _assert_eq(geomid, 0, 'geom_id')
+    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
+    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
+    _assert_eq(dist, mj_dist, 'dist')
+
+    # nothing hit with geom_group[0] = 0
+    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    geomgroup = (0, 0, 0, 0, 0, 0)
+    dist, geomid = ray_fn(mx, dx, pnt, vec, geomgroup)
+    _assert_eq(geomid, -1, 'geom_id')
+    _assert_eq(dist, -1, 'dist')
+
+  def test_ray_flg_static(self):
+    """Tests ray flg_static filter."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+    ray_fn = jax.jit(mjx.ray, static_argnames=('flg_static',))
+
+    # nothing hit with flg_static = False
+    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    dist, geomid = ray_fn(mx, dx, pnt, vec, flg_static=False)
+    _assert_eq(geomid, -1, 'geom_id')
+    _assert_eq(dist, -1, 'dist')
+
+  def test_ray_bodyexclude(self):
+    """Tests ray bodyexclude filter."""
+    m = test_util.load_test_file('ray.xml')
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+    ray_fn = jax.jit(mjx.ray, static_argnames=('bodyexclude',))
+
+    # nothing hit with bodyexclude = 0 (world body)
+    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    dist, geomid = ray_fn(mx, dx, pnt, vec, bodyexclude=0)
+    _assert_eq(geomid, -1, 'geom_id')
+    _assert_eq(dist, -1, 'dist')
+
+  def test_ray_invisible(self):
+    """Tests ray doesn't hit transparent geoms."""
+    m = test_util.load_test_file('ray.xml')
+    # nothing hit with transparent geoms:
+    m.geom_rgba = 0
+    d = mujoco.MjData(m)
+    mujoco.mj_forward(m, d)
+    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
+
+    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
+    vec /= jp.linalg.norm(vec)
+    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
+    _assert_eq(geomid, -1, 'geom_id')
+    _assert_eq(dist, -1, 'dist')
+
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 595d7f90..79cecaf5 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -264,6 +264,7 @@ class Model(PyTreeNode):
     ngeom: number of geoms
     nsite: number of sites
     nmesh: number of meshes
+    nmat: number of materials
     npair: number of predefined geom pairs
     nexclude: number of excluded geom pairs
     neq: number of equality constraints
@@ -320,6 +321,8 @@ class Model(PyTreeNode):
     geom_conaffinity: geom contact affinity                   (ngeom,)
     geom_condim: contact dimensionality (1, 3, 4, 6)          (ngeom,)
     geom_bodyid: id of geom's body                            (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)
@@ -330,9 +333,11 @@ class Model(PyTreeNode):
     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)
+    mat_rgba: rgba                                            (nmat, 4)
     geom_convex_face: vertex face data, MJX only              (ngeom,)
     geom_convex_vert: vertex data, MJX only                   (ngeom,)
     geom_convex_edge: unique edge data, MJX only              (ngeom,)
@@ -385,6 +390,7 @@ class Model(PyTreeNode):
   ngeom: int
   nsite: int
   nmesh: int
+  nmat: int
   npair: int
   nexclude: int
   neq: int
@@ -441,6 +447,8 @@ class Model(PyTreeNode):
   geom_conaffinity: np.ndarray
   geom_condim: np.ndarray
   geom_bodyid: np.ndarray
+  geom_group: np.ndarray
+  geom_matid: np.ndarray
   geom_priority: np.ndarray
   geom_solmix: jax.Array
   geom_solref: jax.Array
@@ -451,9 +459,11 @@ class Model(PyTreeNode):
   geom_friction: jax.Array
   geom_margin: jax.Array
   geom_gap: jax.Array
+  geom_rgba: np.ndarray
   site_bodyid: np.ndarray
   site_pos: jax.Array
   site_quat: jax.Array
+  mat_rgba: np.ndarray
   pair_dim: np.ndarray
   pair_geom1: np.ndarray
   pair_geom2: np.ndarray

From d4e8070a3f7d477a3ba2a7974cf17ccb75bf4602 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Wed, 10 Jan 2024 13:35:45 -0800
Subject: [PATCH 111/121] Update doc about MJX meshes, fixes #1325.

PiperOrigin-RevId: 597342387
Change-Id: Iccb47b4b57adf2392fa5c5a38b2a28e87ace1e3d
---
 doc/mjx.rst | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/doc/mjx.rst b/doc/mjx.rst
index c9263fa9..aafb7a86 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -288,6 +288,22 @@ Single scene simulation
   Simulating a single scene (1 instance of :ref:`mjData`), MJX can be **10x** slower than MuJoCo, which has been
   carefully optimized for CPU.  MJX works best when simulating thousands or tens of thousands of scenes in parallel.
 
+Collisions between large meshes
+  MJX supports collisions between convex mesh geometries. However the convex collision algorithms
+  in MJX are implemented differently than in MuJoCo. MJX uses a branchless version of the
+  `Separating Axis Test <https://ubm-twvideo01.s3.amazonaws.com/o1/vault/gdc2013/slides/822403Gregorius_Dirk_TheSeparatingAxisTest.pdf>`__
+  (SAT) to determine if geometries are colliding with convex meshes, while MuJoCo uses the Minkowski Portal Refinement (MPR)
+  algorithm as implemented in `libccd <https://github.com/danfis/libccd>`__.
+  SAT works well for smaller meshes but suffers in both runtime and memory for larger meshes.
+
+  For
+  collisions between convex meshes and primitives (spheres, capsules, planes), use **3000 vertices or less** for your convex meshes.
+  For collisions between convex meshes and other convex meshes, use **30 vertices or less**.
+  With careful
+  tuning, MJX can simulate scenes with mesh collisions -- see the MJX
+  `shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
+  config for an example. Speeding up mesh collision detection is an active area of development for MJX.
+
 Large, complex scenes with many contacts
   Accelerators exhibit poor performance for
   `branching code <https://aschrein.github.io/jekyll/update/2019/06/13/whatsup-with-my-branches-on-gpu.html#tldr>`__.
@@ -310,14 +326,6 @@ Large, complex scenes with many contacts
   **950K** and **2.7M** steps per second, respectively. Note that as we increase the number of humanoids (which
   increases the number of potential contacts in a scene), MJX throughput decreases more rapidly than MuJoCo.
 
-Scenes with collisions between meshes with many vertices
-  MJX supports mesh geometries and can determine if two meshes are colliding using branchless versions of
-  `mesh collision algorithms <https://ubm-twvideo01.s3.amazonaws.com/o1/vault/gdc2013/slides/822403Gregorius_Dirk_TheSeparatingAxisTest.pdf>`__.
-  These algorithms work well for smaller meshes (with hundreds of vertices) but suffer with large meshes. With careful
-  tuning, MJX can simulate scenes with mesh collisions well -- see the MJX
-  `shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
-  config for an example.
-
 .. _MjxPerformance:
 
 Performance tuning

From 60cd7248c2f95f4b5820517eb2fc1fa8fb24557a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 11 Jan 2024 03:18:35 -0800
Subject: [PATCH 112/121] Add zero vector shortcut to `mju_rotVecQuat`.

PiperOrigin-RevId: 597504456
Change-Id: I23580fc08571db97e984a87cba3f4d14e67d6b3a
---
 src/engine/engine_util_spatial.c | 17 ++++++++++++-----
 1 file changed, 12 insertions(+), 5 deletions(-)

diff --git a/src/engine/engine_util_spatial.c b/src/engine/engine_util_spatial.c
index 576d0274..023b9459 100644
--- a/src/engine/engine_util_spatial.c
+++ b/src/engine/engine_util_spatial.c
@@ -25,18 +25,25 @@
 
 // rotate vector by quaternion
 void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]) {
+  // zero vec: zero res
+  if (vec[0] == 0 && vec[1] == 0 && vec[2] == 0) {
+    mju_zero3(res);
+  }
+
   // null quat: copy vec
-  if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
+  else if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
     mju_copy3(res, vec);
   }
 
   // regular processing
   else {
-    mjtNum tmp[3];
     // tmp = q_w * v + cross(q_xyz, v)
-    tmp[0] = quat[0]*vec[0] + quat[2]*vec[2] - quat[3]*vec[1];
-    tmp[1] = quat[0]*vec[1] + quat[3]*vec[0] - quat[1]*vec[2];
-    tmp[2] = quat[0]*vec[2] + quat[1]*vec[1] - quat[2]*vec[0];
+    mjtNum tmp[3] = {
+      quat[0]*vec[0] + quat[2]*vec[2] - quat[3]*vec[1],
+      quat[0]*vec[1] + quat[3]*vec[0] - quat[1]*vec[2],
+      quat[0]*vec[2] + quat[1]*vec[1] - quat[2]*vec[0]
+    };
+
     // res = v + 2 * cross(q_xyz, t)
     res[0] = vec[0] + 2 * (quat[2]*tmp[2] - quat[3]*tmp[1]);
     res[1] = vec[1] + 2 * (quat[3]*tmp[0] - quat[1]*tmp[2]);

From 79bcfecba45b0a7e892380e87ed513e629083928 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 11 Jan 2024 07:58:55 -0800
Subject: [PATCH 113/121] Tidy up `mj_kinematics` implementation.

PiperOrigin-RevId: 597556619
Change-Id: Iaf108a6582e8135c7169dad07ed0654bdea8ee71
---
 src/engine/engine_core_smooth.c | 94 +++++++++++++++++----------------
 1 file changed, 49 insertions(+), 45 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index d86997a4..9b718448 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -35,9 +35,6 @@
 
 // forward kinematics
 void mj_kinematics(const mjModel* m, mjData* d) {
-  mjtNum pos[3], quat[4], *bodypos, *bodyquat;
-  mjtNum qloc[4], vec[3], vec1[3], xanchor[3], xaxis[3];
-
   // set world position and orientation
   mju_zero3(d->xpos);
   mju_unit4(d->xquat);
@@ -57,24 +54,22 @@ void mj_kinematics(const mjModel* m, mjData* d) {
 
   // compute global cartesian positions and orientations of all bodies
   for (int i=1; i < m->nbody; i++) {
+    mjtNum xpos[3], xquat[4];
+    int jntadr = m->body_jntadr[i];
+    int jntnum = m->body_jntnum[i];
+
     // free joint
-    if (m->body_jntnum[i] == 1 && m->jnt_type[m->body_jntadr[i]] == mjJNT_FREE) {
-      // get addresses
-      int jid = m->body_jntadr[i];
-      int qadr = m->jnt_qposadr[jid];
+    if (jntnum == 1 && m->jnt_type[jntadr] == mjJNT_FREE) {
+      // get qpos address
+      int qadr = m->jnt_qposadr[jntadr];
 
       // copy pos and quat from qpos
-      mju_copy3(pos, d->qpos+qadr);
-      mju_copy4(quat, d->qpos+qadr+3);
-
-      // set xanchor = 0, xaxis = (0,0,1)
-      mju_copy3(xanchor, pos);
-      xaxis[0] = xaxis[1] = 0;
-      xaxis[2] = 1;
+      mju_copy3(xpos, d->qpos+qadr);
+      mju_copy4(xquat, d->qpos+qadr+3);
 
       // assign xanchor and xaxis
-      mju_copy3(d->xanchor+3*jid, xanchor);
-      mju_copy3(d->xaxis+3*jid, xaxis);
+      mju_copy3(d->xanchor+3*jntadr, xpos);
+      mju_copy3(d->xaxis+3*jntadr, m->jnt_axis+3*jntadr);
     }
 
     // regular or no joint
@@ -82,6 +77,7 @@ void mj_kinematics(const mjModel* m, mjData* d) {
       int pid = m->body_parentid[i];
 
       // get body pos and quat: from model or mocap
+      mjtNum *bodypos, *bodyquat;
       if (m->body_mocapid[i] >= 0) {
         bodypos = d->mocap_pos + 3*m->body_mocapid[i];
         bodyquat = d->mocap_quat + 4*m->body_mocapid[i];
@@ -91,48 +87,56 @@ void mj_kinematics(const mjModel* m, mjData* d) {
       }
 
       // apply fixed translation and rotation relative to parent
-      mju_rotVecMat(vec, bodypos, d->xmat+9*pid);
-      mju_add3(pos, d->xpos+3*pid, vec);
-      mju_mulQuat(quat, d->xquat+4*pid, bodyquat);
+      if (pid) {
+        mju_rotVecMat(xpos, bodypos, d->xmat+9*pid);
+        mju_addTo3(xpos, d->xpos+3*pid);
+        mju_mulQuat(xquat, d->xquat+4*pid, bodyquat);
+      } else {
+        // parent is the world
+        mju_copy3(xpos, bodypos);
+        mju_copy4(xquat, bodyquat);
+      }
 
-      // accumulate joints, compute pos and quat for this body
-      for (int j=0; j < m->body_jntnum[i]; j++) {
+      // accumulate joints, compute xpos and xquat for this body
+      mjtNum xanchor[3], xaxis[3];
+      for (int j=0; j < jntnum; j++) {
         // get joint id, qpos address, joint type
-        int jid = m->body_jntadr[i] + j;
+        int jid = jntadr + j;
         int qadr = m->jnt_qposadr[jid];
         mjtJoint jtype = m->jnt_type[jid];
 
         // compute axis in global frame; ball jnt_axis is (0,0,1), set by compiler
-        mju_rotVecQuat(xaxis, m->jnt_axis+3*jid, quat);
+        mju_rotVecQuat(xaxis, m->jnt_axis+3*jid, xquat);
 
         // compute anchor in global frame
-        mju_rotVecQuat(xanchor, m->jnt_pos+3*jid, quat);
-        mju_addTo3(xanchor, pos);
+        mju_rotVecQuat(xanchor, m->jnt_pos+3*jid, xquat);
+        mju_addTo3(xanchor, xpos);
 
         // apply joint transformation
         switch (jtype) {
         case mjJNT_SLIDE:
-          mju_addToScl3(pos, xaxis, d->qpos[qadr] - m->qpos0[qadr]);
+          mju_addToScl3(xpos, xaxis, d->qpos[qadr] - m->qpos0[qadr]);
           break;
 
         case mjJNT_BALL:
         case mjJNT_HINGE:
-          // compute local quaternion rotation (qloc)
-          if (jtype == mjJNT_BALL) {
-            mju_copy4(qloc, d->qpos+qadr);
-          } else {
-            mju_axisAngle2Quat(qloc, m->jnt_axis+3*jid, d->qpos[qadr] - m->qpos0[qadr]);
+          {
+            // compute local quaternion rotation
+            mjtNum qloc[4];
+            if (jtype == mjJNT_BALL) {
+              mju_copy4(qloc, d->qpos+qadr);
+            } else {
+              mju_axisAngle2Quat(qloc, m->jnt_axis+3*jid, d->qpos[qadr] - m->qpos0[qadr]);
+            }
+
+            // apply rotation
+            mju_mulQuat(xquat, xquat, qloc);
+
+            // correct for off-center rotation
+            mjtNum vec[3];
+            mju_rotVecQuat(vec, m->jnt_pos+3*jid, xquat);
+            mju_sub3(xpos, xanchor, vec);
           }
-
-          // apply rotation
-          mju_mulQuat(quat, quat, qloc);
-
-          // correct for off-center rotation
-          mju_sub3(vec, xanchor, pos);
-          mju_rotVecQuat(vec1, m->jnt_pos+3*jid, quat);
-          pos[0] += (vec[0] - vec1[0]);
-          pos[1] += (vec[1] - vec1[1]);
-          pos[2] += (vec[2] - vec1[2]);
           break;
 
         default:
@@ -146,10 +150,10 @@ void mj_kinematics(const mjModel* m, mjData* d) {
     }
 
     // assign xquat and xpos, construct xmat
-    mju_normalize4(quat);
-    mju_copy4(d->xquat+4*i, quat);
-    mju_copy3(d->xpos+3*i, pos);
-    mju_quat2Mat(d->xmat+9*i, quat);
+    mju_normalize4(xquat);
+    mju_copy4(d->xquat+4*i, xquat);
+    mju_copy3(d->xpos+3*i, xpos);
+    mju_quat2Mat(d->xmat+9*i, xquat);
   }
 
   // compute/copy Cartesian positions and orientations of body inertial frames

From 56b30d9d15bcb5bba24230229c2edc057b35d613 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Thu, 11 Jan 2024 16:09:06 +0000
Subject: [PATCH 114/121] Check the autolimits attribute before assigning
 default values for joint limitedness

---
 unity/Runtime/Components/Joints/MjJointSettings.cs | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
index f2f3d72e..1b9e87e9 100644
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ b/unity/Runtime/Components/Joints/MjJointSettings.cs
@@ -164,7 +164,14 @@ namespace Mujoco {
       RefFriction.FromMjcf(mjcf, "solreffriction");
       ImpFriction.FromMjcf(mjcf, "solimpfriction");
       FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
-      Limited = mjcf.GetBoolAttribute("limited", false);
+
+      bool defaultLimited = false;
+      if (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
+              compilerElement || !compilerElement.GetBoolAttribute("autolimits").Equals("false")) {
+        defaultLimited = mjcf.HasAttribute("range");
+      }
+
+      Limited = mjcf.GetBoolAttribute("limited", defaultLimited);
       Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
     }
   }

From 3a00450d00579034e5bfd8b4d042ee3ea07e6966 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Thu, 11 Jan 2024 16:20:13 +0000
Subject: [PATCH 115/121] Rephrase condition for default limited definition so
 it's more intuitive

---
 unity/Runtime/Components/Joints/MjJointSettings.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
index 1b9e87e9..c45a6c1c 100644
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ b/unity/Runtime/Components/Joints/MjJointSettings.cs
@@ -167,7 +167,7 @@ namespace Mujoco {
 
       bool defaultLimited = false;
       if (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
-              compilerElement || !compilerElement.GetBoolAttribute("autolimits").Equals("false")) {
+              compilerElement || compilerElement.GetBoolAttribute("autolimits", true)) {
         defaultLimited = mjcf.HasAttribute("range");
       }
 

From 66a0cd3b0b5249ceb0b0d89aa1994ff39cd11e3d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Thu, 11 Jan 2024 16:29:08 +0000
Subject: [PATCH 116/121] Perform autolimit check on actuators

---
 unity/Runtime/Components/MjActuator.cs | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index 4bdffe87..a72ba30c 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -77,12 +77,17 @@ public class MjActuator : MjComponent {
     }
 
     public void FromMjcf(XmlElement mjcf) {
-      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited", defaultValue: false);
-      ForceLimited = mjcf.GetBoolAttribute("forcelimited", defaultValue: false);
       CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero);
       ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero);
       LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
       Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
+
+      bool autolimits = mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
+          compilerElement || compilerElement.GetBoolAttribute("autolimits", true);
+      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
+          defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
+      ForceLimited = mjcf.GetBoolAttribute("forcelimited",
+          defaultValue: autolimits ? ForceRange != Vector2.zero : false);
     }
   }
 

From 5d46c39529819d1b31249e249ca399f306a108ac Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 12 Jan 2024 07:53:09 -0800
Subject: [PATCH 117/121] Increased SdfLib bounding box by 10% to prevent
 querying outside it during collision detection.

In case a query outside is performed, add SDF gradient computation using finite differences.

For SDFs generated from meshes, when the query point lies outside of the bounding box, the gradient provided by SdfLib ignores the SDF and is equivalent to the gradient of the distance from the bounding box, causing local minima in the contact point optimization. This CL increased the size of the bounding boxes and replaces the SdfLib gradient with a finite difference approximation of the gradient if a point lies outside it.

PiperOrigin-RevId: 597839637
Change-Id: I79dfddbe25288eca7eb235db51781fc2bb2c3c5f
---
 plugin/sdf/sdflib.cc | 33 ++++++++++++++++++++++++++++-----
 1 file changed, 28 insertions(+), 5 deletions(-)

diff --git a/plugin/sdf/sdflib.cc b/plugin/sdf/sdflib.cc
index a1405eb7..3985ca5b 100644
--- a/plugin/sdf/sdflib.cc
+++ b/plugin/sdf/sdflib.cc
@@ -93,8 +93,12 @@ std::optional<SdfLib> SdfLib::Create(const mjModel* m, mjData* d,
 
 // plugin constructor
 SdfLib::SdfLib(sdflib::Mesh&& mesh) {
+  sdflib::BoundingBox box = mesh.getBoundingBox();
+  const glm::vec3 modelBBsize = box.getSize();
+  box.addMargin(
+      0.1f * glm::max(glm::max(modelBBsize.x, modelBBsize.y), modelBBsize.z));
   sdf_func_ =
-      sdflib::OctreeSdf(mesh, mesh.getBoundingBox(), 8, 3, 1e-3,
+      sdflib::OctreeSdf(mesh, box, 8, 3, 1e-3,
                         sdflib::OctreeSdf::InitAlgorithm::CONTINUITY, 1);
 }
 
@@ -125,10 +129,29 @@ mjtNum SdfLib::Distance(const mjtNum p[3]) const {
 void SdfLib::Gradient(mjtNum grad[3], const mjtNum point[3]) const {
   glm::vec3 gradient;
   glm::vec3 p(point[0], point[1], point[2]);
-  sdf_func_.getDistance(p, gradient);
-  grad[0] = gradient[0];
-  grad[1] = gradient[1];
-  grad[2] = gradient[2];
+
+  // analytic in the interior
+  if (boxProjection(p, sdf_func_.getGridBoundingBox()) <= 0) {
+    sdf_func_.getDistance(p, gradient);
+    grad[0] = gradient[0];
+    grad[1] = gradient[1];
+    grad[2] = gradient[2];
+    return;
+  }
+
+  // finite difference in the exterior
+  mjtNum eps = 1e-8;
+  mjtNum dist0 = Distance(point);
+  mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
+  mjtNum distX = Distance(pointX);
+  mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
+  mjtNum distY = Distance(pointY);
+  mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
+  mjtNum distZ = Distance(pointZ);
+
+  grad[0] = (distX - dist0) / eps;
+  grad[1] = (distY - dist0) / eps;
+  grad[2] = (distZ - dist0) / eps;
 }
 
 // plugin registration

From cab1c6bb39f979676d64dcca6c190b208babe177 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 15 Jan 2024 04:47:59 -0800
Subject: [PATCH 118/121] Preallocate mjCBoundingVolumeHierarchy and avoid
 copies during MakeBVH.

PiperOrigin-RevId: 598579741
Change-Id: Iac154affa6ee22994c571f2ec00ac602bfe7f4d6
---
 src/user/user_mesh.cc    | 41 ++++++++++---------
 src/user/user_objects.cc | 87 +++++++++++++++++++++++-----------------
 src/user/user_objects.h  | 15 ++++---
 3 files changed, 80 insertions(+), 63 deletions(-)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index edd36263..44ac6dec 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -587,8 +587,9 @@ void mjCMesh::Compile(const mjVFS* vfs) {
   // make bounding volume hierarchy
   if (tree_.bvh.empty()) {
     face_aabb_.assign(6*nface_, 0);
+    tree_.AllocateBoundingVolumes(nface_);
     for (int i=0; i<nface_; i++) {
-      tree_.AddBoundingVolume(GetBoundingVolume(i));
+      SetBoundingVolume(i);
     }
     tree_.CreateBVH();
   }
@@ -597,13 +598,13 @@ void mjCMesh::Compile(const mjVFS* vfs) {
 
 
 // get bounding volume
-mjCBoundingVolume mjCMesh::GetBoundingVolume(int faceid) {
-  mjCBoundingVolume node;
-  node.id = faceid;
-  node.conaffinity = 1;
-  node.contype = 1;
-  node.pos = center_ + 3*faceid;
-  node.quat = NULL;
+void mjCMesh::SetBoundingVolume(int faceid) {
+  mjCBoundingVolume* node = tree_.GetBoundingVolume(faceid);
+  node->id = faceid;
+  node->conaffinity = 1;
+  node->contype = 1;
+  node->pos = center_ + 3*faceid;
+  node->quat = NULL;
   mjtNum face_aamm[6] = {1E+10, 1E+10, 1E+10, -1E+10, -1E+10, -1E+10};
   for (int j=0; j<3; j++) {
     int vertid = face_[3*faceid+j];
@@ -620,8 +621,7 @@ mjCBoundingVolume mjCMesh::GetBoundingVolume(int faceid) {
   face_aabb_[6*faceid+3] = .5 * (face_aamm[3] - face_aamm[0]);
   face_aabb_[6*faceid+4] = .5 * (face_aamm[4] - face_aamm[1]);
   face_aabb_[6*faceid+5] = .5 * (face_aamm[5] - face_aamm[2]);
-  node.aabb = face_aabb_.data() + 6*faceid;
-  return node;
+  node->aabb = face_aabb_.data() + 6*faceid;
 }
 
 
@@ -2428,14 +2428,11 @@ void mjCFlex::Compile(const mjVFS* vfs) {
 
 // create flex BVH
 void mjCFlex::CreateBVH(void) {
-  // init bounding volume object
-  mjCBoundingVolume bv;
-  bv.contype = contype;
-  bv.conaffinity = conaffinity;
-  bv.quat = NULL;
+  int nbvh = 0;
 
   // allocate element bounding boxes
-  vector<mjtNum> elemaabb(6*nelem);
+  elemaabb.resize(6*nelem);
+  tree.AllocateBoundingVolumes(nelem);
 
   // construct element bounding boxes, add to hierarchy
   for (int e=0; e<nelem; e++) {
@@ -2466,13 +2463,17 @@ void mjCFlex::CreateBVH(void) {
     elemaabb[6*e+5] = 0.5*(xmax[2]-xmin[2]) + radius;
 
     // add bounding volume for this element
-    bv.id = e;
-    bv.aabb = elemaabb.data() + 6*e;
-    bv.pos = bv.aabb;
-    tree.AddBoundingVolume(bv);
+    mjCBoundingVolume* bv = tree.GetBoundingVolume(nbvh++);
+    bv->contype = contype;
+    bv->conaffinity = conaffinity;
+    bv->quat = NULL;
+    bv->id = e;
+    bv->aabb = elemaabb.data() + 6*e;
+    bv->pos = bv->aabb;
   }
 
   // create hierarchy
+  tree.RemoveInactiveVolumes(nbvh);
   tree.CreateBVH();
 }
 
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index b1143c1e..3a51d22d 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -282,20 +282,34 @@ void mjCBoundingVolumeHierarchy::Set(mjtNum ipos_element[3], mjtNum iquat_elemen
 }
 
 
-// add geom to bvh
-void mjCBoundingVolumeHierarchy::AddBoundingVolume(const mjCBoundingVolume& bv) {
-  bvh_.push_back(bv);
+
+void mjCBoundingVolumeHierarchy::AllocateBoundingVolumes(int nbvh) {
+  bvh_.resize(nbvh);
+}
+
+
+void mjCBoundingVolumeHierarchy::RemoveInactiveVolumes(int nmax) {
+  bvh_.erase(bvh_.begin() + nmax, bvh_.end());
+}
+
+
+mjCBoundingVolume* mjCBoundingVolumeHierarchy::GetBoundingVolume(int id) {
+  return bvh_.data() + id;
 }
 
 
 // create bounding volume hierarchy
 void mjCBoundingVolumeHierarchy::CreateBVH() {
-  MakeBVH(bvh_);
+  std::vector<const mjCBoundingVolume*> elements(bvh_.size());
+  for (int i=0; i<bvh_.size(); i++) {
+    elements[i] = bvh_.data() + i;
+  }
+  MakeBVH(elements);
 }
 
 
 // compute bounding volume hierarchy
-int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<mjCBoundingVolume>& elements, int lev) {
+int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<const mjCBoundingVolume*>& elements, int lev) {
   if (elements.empty()) {
     return -1;
   }
@@ -309,17 +323,17 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<mjCBoundingVolume>& elements
   // accumulate AAMM over elements
   for (int i=0; i<nelements; i++) {
     // skip visual objects
-    if (elements[i].conaffinity==0 && elements[i].contype==0) {
+    if (elements[i]->conaffinity==0 && elements[i]->contype==0) {
       continue;
     }
 
     // transform element aabb to aamm format
-    mjtNum aamm[6] = {elements[i].aabb[0] - elements[i].aabb[3],
-                      elements[i].aabb[1] - elements[i].aabb[4],
-                      elements[i].aabb[2] - elements[i].aabb[5],
-                      elements[i].aabb[0] + elements[i].aabb[3],
-                      elements[i].aabb[1] + elements[i].aabb[4],
-                      elements[i].aabb[2] + elements[i].aabb[5]};
+    mjtNum aamm[6] = {elements[i]->aabb[0] - elements[i]->aabb[3],
+                      elements[i]->aabb[1] - elements[i]->aabb[4],
+                      elements[i]->aabb[2] - elements[i]->aabb[5],
+                      elements[i]->aabb[0] + elements[i]->aabb[3],
+                      elements[i]->aabb[1] + elements[i]->aabb[4],
+                      elements[i]->aabb[2] + elements[i]->aabb[5]};
 
     // update node AAMM
     for (int v=0; v<8; v++) {
@@ -329,11 +343,11 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<mjCBoundingVolume>& elements
       vert[2] = (v&4 ? aamm[5] : aamm[2]);
 
       // rotate to the body inertial frame if specified
-      if (elements[i].quat) {
-        mju_rotVecQuat(box, vert, elements[i].quat);
-        box[0] += elements[i].pos[0] - ipos_[0];
-        box[1] += elements[i].pos[1] - ipos_[1];
-        box[2] += elements[i].pos[2] - ipos_[2];
+      if (elements[i]->quat) {
+        mju_rotVecQuat(box, vert, elements[i]->quat);
+        box[0] += elements[i]->pos[0] - ipos_[0];
+        box[1] += elements[i]->pos[1] - ipos_[1];
+        box[2] += elements[i]->pos[2] - ipos_[2];
         mju_rotVecQuat(vert, box, qinv);
       }
 
@@ -374,7 +388,7 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<mjCBoundingVolume>& elements
     for (int i=0; i<2; i++) {
       child[2*index+i] = -1;
     }
-    nodeid[index] = elements[0].id;
+    nodeid[index] = elements[0]->id;
     return index;
   }
 
@@ -388,9 +402,9 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<mjCBoundingVolume>& elements
 
   for (int i=0; i<nelements; i++) {
     // get position in the body inertial frame
-    mjtNum vert[3] = {elements[i].pos[0] - ipos_[0],
-                      elements[i].pos[1] - ipos_[1],
-                      elements[i].pos[2] - ipos_[2]};
+    mjtNum vert[3] = {elements[i]->pos[0] - ipos_[0],
+                      elements[i]->pos[1] - ipos_[1],
+                      elements[i]->pos[2] - ipos_[2]};
     mjtNum lpos[3];
     mju_rotVecQuat(lpos, vert, qinv);
     pos[i] = lpos[axis];
@@ -401,20 +415,20 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<mjCBoundingVolume>& elements
   mjtNum threshold = pos[m];
 
   // split using median
-  std::vector<mjCBoundingVolume> left;
-  std::vector<mjCBoundingVolume> right;
+  std::vector<const mjCBoundingVolume*> left;
+  std::vector<const mjCBoundingVolume*> right;
   int skipped = 0;
 
   for (int i=0; i<nelements; i++) {
     // get position in the body inertial frame
-    mjtNum vert[3] = {elements[i].pos[0] - ipos_[0],
-                      elements[i].pos[1] - ipos_[1],
-                      elements[i].pos[2] - ipos_[2]};
+    mjtNum vert[3] = {elements[i]->pos[0] - ipos_[0],
+                      elements[i]->pos[1] - ipos_[1],
+                      elements[i]->pos[2] - ipos_[2]};
     mjtNum lpos[3];
     mju_rotVecQuat(lpos, vert, qinv);
 
     // skip visual objects
-    if (elements[i].conaffinity==0 && elements[i].contype==0) {
+    if (elements[i]->conaffinity==0 && elements[i]->contype==0) {
       skipped++;
       continue;
     }
@@ -1008,8 +1022,9 @@ void mjCBody::Compile(void) {
   // compute bounding volume hierarchy
   if (!geoms.empty()) {
     tree.Set(ipos, iquat);
+    tree.AllocateBoundingVolumes(geoms.size());
     for (int i=0; i<geoms.size(); i++) {
-      tree.AddBoundingVolume(geoms[i]->GetBoundingVolume());
+      geoms[i]->SetBoundingVolume(tree.GetBoundingVolume(i));
     }
     tree.CreateBVH();
   }
@@ -1396,15 +1411,13 @@ double mjCGeom::GetVolume(void) {
 
 
 
-mjCBoundingVolume mjCGeom::GetBoundingVolume() const {
-  mjCBoundingVolume bv;
-  bv.id = id;
-  bv.contype = contype;
-  bv.conaffinity = conaffinity;
-  bv.aabb = aabb;
-  bv.pos = pos;
-  bv.quat = quat;
-  return bv;
+void mjCGeom::SetBoundingVolume(mjCBoundingVolume* bv) const {
+  bv->id = id;
+  bv->contype = contype;
+  bv->conaffinity = conaffinity;
+  bv->aabb = aabb;
+  bv->pos = pos;
+  bv->quat = quat;
 }
 
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 75f7f5cf..9fd59d25 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -150,10 +150,12 @@ class mjCBoundingVolumeHierarchy {
   // make bounding volume hierarchy
   void CreateBVH(void);
   void Set(mjtNum ipos_element[3], mjtNum iquat_element[4]);
-  void AddBoundingVolume(const mjCBoundingVolume& bv);
+  void AllocateBoundingVolumes(int nbvh);
+  void RemoveInactiveVolumes(int nmax);
+  mjCBoundingVolume* GetBoundingVolume(int id);
 
  private:
-  int MakeBVH(std::vector<mjCBoundingVolume>& elements, int lev = 0);
+  int MakeBVH(std::vector<const mjCBoundingVolume*>& elements, int lev = 0);
 
   std::vector<mjCBoundingVolume> bvh_;
   std::string name_;
@@ -378,8 +380,8 @@ class mjCGeom : public mjCBase {
   // Compute the kappa coefs of the added inertia due to the surrounding fluid.
   double GetAddedMassKappa(double dx, double dy, double dz);
 
-  // returns a bounding volume
-  mjCBoundingVolume GetBoundingVolume() const;
+  // sets properties of a bounding volume
+  void SetBoundingVolume(mjCBoundingVolume* bv) const;
 
   // variables set by user and copied into mjModel
   mjtGeom type;                   // geom type
@@ -578,6 +580,7 @@ class mjCFlex: public mjCBase {
 
   std::vector<std::string> vertbody;  // vertex body names
   std::vector<mjtNum> vert;           // vertex positions
+  std::vector<mjtNum> elemaabb;       // element bounding volume
   std::vector<int> elem;              // element vertex ids
   std::vector<float> texcoord;        // vertex texture coordinates
 
@@ -679,8 +682,8 @@ class mjCMesh: public mjCBase {
   void CopyTexcoord(float* arr) const;              // copy texcoord data into array
   void CopyGraph(int* arr) const;                   // copy graph data into array
 
-  // returns a bounding volume given a face
-  mjCBoundingVolume GetBoundingVolume(int faceid);
+  // sets properties of a bounding volume given a face id
+  void SetBoundingVolume(int faceid);
 
  private:
   std::string content_type_;          // content type of file

From acf698e2dfd13da719cd5b383cee52f4ef96d369 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 15 Jan 2024 06:03:28 -0800
Subject: [PATCH 119/121] Store pointer to index in mjCBoundingVolume if
 possible.

PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
---
 src/user/user_mesh.cc    |  4 ++--
 src/user/user_model.cc   | 12 +++++++++---
 src/user/user_objects.cc |  6 +++---
 src/user/user_objects.h  | 13 ++++++++++---
 4 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index 44ac6dec..cc494576 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -600,7 +600,7 @@ void mjCMesh::Compile(const mjVFS* vfs) {
 // get bounding volume
 void mjCMesh::SetBoundingVolume(int faceid) {
   mjCBoundingVolume* node = tree_.GetBoundingVolume(faceid);
-  node->id = faceid;
+  node->SetId(faceid);
   node->conaffinity = 1;
   node->contype = 1;
   node->pos = center_ + 3*faceid;
@@ -2467,7 +2467,7 @@ void mjCFlex::CreateBVH(void) {
     bv->contype = contype;
     bv->conaffinity = conaffinity;
     bv->quat = NULL;
-    bv->id = e;
+    bv->SetId(e);
     bv->aabb = elemaabb.data() + 6*e;
     bv->pos = bv->aabb;
   }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index ca4790f4..7ceb163a 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -1358,8 +1358,10 @@ void mjCModel::CopyTree(mjModel* m) {
     if (pb->tree.nbvh) {
       memcpy(m->bvh_aabb + 6*bvh_adr, pb->tree.bvh.data(), 6*pb->tree.nbvh*sizeof(mjtNum));
       memcpy(m->bvh_child + 2*bvh_adr, pb->tree.child.data(), 2*pb->tree.nbvh*sizeof(int));
-      memcpy(m->bvh_nodeid + bvh_adr, pb->tree.nodeid.data(), pb->tree.nbvh*sizeof(int));
       memcpy(m->bvh_depth + bvh_adr, pb->tree.level.data(), pb->tree.nbvh*sizeof(int));
+      for (int i=0; i<pb->tree.nbvh; i++) {
+        m->bvh_nodeid[i + bvh_adr] = pb->tree.nodeid[i] ? *(pb->tree.nodeid[i]) : -1;
+      }
     }
     bvh_adr += pb->tree.nbvh;
 
@@ -1787,7 +1789,9 @@ void mjCModel::CopyObjects(mjModel* m) {
       memcpy(m->bvh_aabb + 6*bvh_adr, pme->tree().bvh.data(), 6*pme->tree().nbvh*sizeof(mjtNum));
       memcpy(m->bvh_child + 2*bvh_adr, pme->tree().child.data(), 2*pme->tree().nbvh*sizeof(int));
       memcpy(m->bvh_depth + bvh_adr, pme->tree().level.data(), pme->tree().nbvh*sizeof(int));
-      memcpy(m->bvh_nodeid + bvh_adr, pme->tree().nodeid.data(), pme->tree().nbvh*sizeof(int));
+      for (int j=0; j<pme->tree().nbvh; j++) {
+        m->bvh_nodeid[j + bvh_adr] = pme->tree().nodeid[j] ? *(pme->tree().nodeid[j]) : -1;
+      }
     }
 
     // advance counters
@@ -1882,7 +1886,9 @@ void mjCModel::CopyObjects(mjModel* m) {
     if (pfl->tree.nbvh) {
       memcpy(m->bvh_child + 2*bvh_adr, pfl->tree.child.data(), 2*pfl->tree.nbvh*sizeof(int));
       memcpy(m->bvh_depth + bvh_adr, pfl->tree.level.data(), pfl->tree.nbvh*sizeof(int));
-      memcpy(m->bvh_nodeid + bvh_adr, pfl->tree.nodeid.data(), pfl->tree.nbvh*sizeof(int));
+      for (int i=0; i<pfl->tree.nbvh; i++) {
+        m->bvh_nodeid[i+ bvh_adr] = pfl->tree.nodeid[i] ? *(pfl->tree.nodeid[i]) : -1;
+      }
     }
 
     // copy or set vert
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 3a51d22d..bffee237 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -372,7 +372,7 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<const mjCBoundingVolume*>& e
   int index = nbvh++;
   child.push_back(-1);
   child.push_back(-1);
-  nodeid.push_back(-1);
+  nodeid.push_back(nullptr);
   level.push_back(lev);
 
   // store bounding box of the current node
@@ -388,7 +388,7 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<const mjCBoundingVolume*>& e
     for (int i=0; i<2; i++) {
       child[2*index+i] = -1;
     }
-    nodeid[index] = elements[0]->id;
+    nodeid[index] = (int*)elements[0]->GetId();
     return index;
   }
 
@@ -1412,7 +1412,7 @@ double mjCGeom::GetVolume(void) {
 
 
 void mjCGeom::SetBoundingVolume(mjCBoundingVolume* bv) const {
-  bv->id = id;
+  bv->SetId(&id);
   bv->contype = contype;
   bv->conaffinity = conaffinity;
   bv->aabb = aabb;
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 9fd59d25..4b6df1bd 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -125,14 +125,21 @@ class mjCAlternative {
 // bounding volume
 class mjCBoundingVolume {
  public:
-  mjCBoundingVolume() = default;
+  mjCBoundingVolume() { id_ = nullptr; };
 
-  int id;                       // object id
   int contype;                  // contact type
   int conaffinity;              // contact affinity
   const mjtNum* aabb;           // axis-aligned bounding box (center, size)
   const mjtNum* pos;            // position (set by user or Compile1)
   const mjtNum* quat;           // orientation (set by user or Compile1)
+
+  const int* GetId() const { if (id_) return id_; else return &idval_; }
+  void SetId(const int* id) { id_ = id; }
+  void SetId(int val) { idval_ = val; }
+
+ private:
+  int idval_;                   // local id copy for nodes not storing their id's (e.g. faces)
+  const int* id_;               // pointer to object id
 };
 
 
@@ -144,7 +151,7 @@ class mjCBoundingVolumeHierarchy {
   int nbvh;
   std::vector<mjtNum> bvh;            // bounding boxes                                (nbvh x 6)
   std::vector<int> child;             // children of each node                         (nbvh x 2)
-  std::vector<int> nodeid;            // geom of elem id contained by the node         (nbvh x 1)
+  std::vector<int*> nodeid;           // geom of elem id contained by the node         (nbvh x 1)
   std::vector<int> level;             // levels of each node                           (nbvh x 1)
 
   // make bounding volume hierarchy

From 1e2e0b3053e8c1866441e154569b6f56a46fc42f Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 15 Jan 2024 06:38:11 -0800
Subject: [PATCH 120/121] Remove all visual-only assets if `discardvisual` is
 selected, not only the geoms.

PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
---
 doc/XMLreference.rst                       |  22 ++-
 doc/changelog.rst                          |  16 +-
 src/user/user_mesh.cc                      |  17 +++
 src/user/user_model.cc                     | 163 ++++++++++++++++++++-
 src/user/user_model.h                      |  28 ++--
 src/user/user_objects.cc                   |  95 ++++++++----
 src/user/user_objects.h                    |  17 ++-
 src/xml/xml_native_reader.cc               |   6 -
 test/user/testdata/discardvisual.xml       |  73 +++++++++
 test/user/testdata/discardvisual_false.xml |  73 +++++++++
 test/user/user_model_test.cc               | 112 ++++++++++++++
 11 files changed, 557 insertions(+), 65 deletions(-)
 create mode 100644 test/user/testdata/discardvisual.xml
 create mode 100644 test/user/testdata/discardvisual_false.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 8fb1edd3..6100d9c1 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -306,14 +306,20 @@ any effect. The settings here are global and apply to the entire model.
 .. _compiler-discardvisual:
 
 :at:`discardvisual`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
-   This attribute instructs the parser to discard "visual geoms", defined as geoms whose contype and conaffinity
-   attributes are both set to 0. This functionality is useful for models that contain two sets of geoms, one for
-   collisions and the other for visualization. Note that URDF models are usually constructed in this way. It rarely
-   makes sense to have two sets of geoms in the model, especially since MuJoCo uses convex hulls for collisions, so we
-   recommend using this feature to discard redundant geoms. Keep in mind however that geoms considered visual per the
-   above definition can still participate in collisions, if they appear in the explicit list of contact
-   :ref:`pairs <contact-pair>`. The parser does not check this list before discarding geoms; it relies solely on the geom
-   attributes to make the determination.
+   This attribute instructs the compiler to discard all model elements which are purely visual and have no effect on the
+   physics (with one exception, see below). This often enables smaller :ref:`mjModel` structs and faster simulation.
+
+   - All materials are discarded.
+   - All textures are discarded.
+   - All geoms with :ref:`contype<body-geom-contype>`=:ref:`conaffinity<body-geom-conaffinity>`=0 are discarded, if they
+     are not referenced in another MJCF element. If a discarded geom was used for inferring body inertia, an explicit
+     :ref:`inertial<body-inertial>` element is added to the body.
+   - All meshes which are not referenced by any geom (in particular those discarded above) are discarded.
+
+   The resulting compiled model will have exactly the same dynamics as the original model, with the exception of
+   raycasting, as used for example by :ref:`rangefinder<sensor-rangefinder>`, since raycasting reports distances to
+   visual geoms. When visualizing models compiled with this flag, it is important to remember that colliding geoms are
+   often placed in a :ref:`group<body-geom-group>` which is invisible by default.
 
 .. _compiler-convexhull:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 9665e7a5..fb886273 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -5,16 +5,22 @@ Changelog
 Upcoming version (not yet released)
 -----------------------------------
 
+General
+^^^^^^^
+1. Improved the :ref:discardvisual<compiler-discardvisual> compiler flag, which now discards all visual-only assets. See
+   :ref:discardvisual<compiler-discardvisual> for details.
+
 MJX
 ^^^
-1. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
-2. Added :at:`site` transmission.
-3. Updated MJX colab tutorial with more stable quadruped environment.
-4. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, and boxes.
+2. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
+3. Added :at:`site` transmission.
+4. Updated MJX colab tutorial with more stable quadruped environment.
+5. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, and boxes.
 
 Bug fixes
 ^^^^^^^^^
-5. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes :github:issue:`1270`.
+6. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
+   :github:issue:`1270`.
 
 
 Version 3.1.1 (December 18, 2023)
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index cc494576..d3a15e2d 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -166,6 +166,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
   valideigenvalue_ = true;
   validinequality_ = true;
   processed_ = false;
+  visual_ = true;
 
   // reset to default if given
   if (_def) {
@@ -708,6 +709,13 @@ void mjCMesh::CopyGraph(int* arr) const {
 
 
 
+void mjCMesh::DelTexcoord() {
+  if (texcoord_) mju_free(texcoord_);
+  ntexcoord_ = 0;
+}
+
+
+
 // set geom size to match mesh
 void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
   // copy mesh pos into meshpos
@@ -2229,6 +2237,15 @@ mjCFlex::mjCFlex(mjCModel* _model) {
 }
 
 
+bool mjCFlex::HasTexcoord() const {
+  return !texcoord.empty();
+}
+
+
+void mjCFlex::DelTexcoord() {
+  texcoord.clear();
+}
+
 
 // compiler
 void mjCFlex::Compile(const mjVFS* vfs) {
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 7ceb163a..a3407b8e 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -649,9 +649,126 @@ void mjCModel::MakeLists(mjCBody* body) {
 }
 
 
+// delete material with given name or all materials if the name is omitted
+template <class T>
+static void DeleteMaterial(std::vector<T*>& list, std::string_view name = "") {
+  for (T* plist : list) {
+    if (name.empty() || plist->material == name) {
+      plist->material.clear();
+    }
+  }
+}
+
+
+// delete texture with given name or all textures if the name is omitted
+template <class T>
+static void DeleteTexture(std::vector<T*>& list, std::string_view name = "") {
+  for (T* plist : list) {
+    if (name.empty() || plist->texture == name) {
+      plist->texture.clear();
+    }
+  }
+}
+
+
+// delete all texture coordinates
+template <class T>
+static void DeleteTexcoord(std::vector<T*>& list) {
+  for (T* plist : list) {
+    if (plist->HasTexcoord()) {
+      plist->DelTexcoord();
+    }
+  }
+}
+
+
+// returns a vector that stores the reference correction for each entry
+template <class T>
+static void DeleteElements(std::vector<T*>& elements,
+                                       const std::vector<bool>& discard) {
+  if (elements.empty()) {
+    return;
+  }
+
+  std::vector<int> ndiscard(elements.size(), 0);
+
+  int i = 0;
+  for (int j=0; j<elements.size(); j++) {
+    if (discard[j]) {
+      delete elements[j];
+    } else {
+      elements[i] = elements[j];
+      i++;
+    }
+  }
+
+  // count cumulative discarded elements
+  for (int i=0; i<elements.size()-1; i++) {
+    ndiscard[i+1] = ndiscard[i] + discard[i];
+  }
+
+  // erase elements from vector
+  if (i < elements.size()) {
+    elements.erase(elements.begin() + i, elements.end());
+  }
+
+  // update elements
+  for (T* element : elements) {
+    if (element->id > 0) {
+      element->id -= ndiscard[element->id];
+    }
+  }
+}
+
+
+template <>
+void mjCModel::Delete<mjCGeom>(std::vector<mjCGeom*>& elements,
+                               const std::vector<bool>& discard) {
+  // update bodies
+  for (mjCBody* body : bodies) {
+    body->geoms.erase(
+        std::remove_if(body->geoms.begin(), body->geoms.end(),
+                       [&discard](mjCGeom* geom) { return discard[geom->id]; }),
+        body->geoms.end());
+  }
+
+  // remove geoms from the main vector
+  DeleteElements(elements, discard);
+}
+
+
+template <>
+void mjCModel::Delete<mjCMesh>(std::vector<mjCMesh*>& elements,
+                               const std::vector<bool>& discard) {
+  DeleteElements(elements, discard);
+}
+
+
+template <>
+void mjCModel::DeleteAll<mjCMaterial>(std::vector<mjCMaterial*>& elements) {
+  DeleteMaterial(geoms);
+  DeleteMaterial(skins);
+  DeleteMaterial(sites);
+  DeleteMaterial(tendons);
+  for (mjCMaterial* element : elements) {
+    delete element;
+  }
+  elements.clear();
+}
+
+
+template <>
+void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
+  DeleteTexture(materials);
+  for (mjCTexture* element : elements) {
+    delete element;
+  }
+  elements.clear();
+}
+
 
 // index assets
-void mjCModel::IndexAssets(void) {
+void mjCModel::IndexAssets(bool discard) {
   // assets referenced in geoms
   for (int i=0; i<geoms.size(); i++) {
     mjCGeom* pgeom = geoms[i];
@@ -670,7 +787,19 @@ void mjCModel::IndexAssets(void) {
     if (!pgeom->meshname.empty()) {
       mjCBase* m = FindObject(mjOBJ_MESH, pgeom->meshname);
       if (m) {
-        pgeom->mesh = (mjCMesh*)m;
+        if (discard && geoms[i]->visual_) {
+          // do not associate with a mesh
+          pgeom->mesh = nullptr;
+        } else {
+          // associate mesh with geom
+          pgeom->mesh = (mjCMesh*)m;
+
+          // mark mesh as not visual
+          // this is irreversible so only performed when IndexAssets is called with discard
+          if (discard) {
+            pgeom->mesh->SetNotVisual();
+          }
+        }
       } else {
         throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->meshname.c_str(), i);
       }
@@ -746,6 +875,20 @@ void mjCModel::IndexAssets(void) {
       }
     }
   }
+
+  // discard visual meshes and geoms
+  if (discard) {
+    std::vector<bool> discard_mesh(meshes.size(), false);
+    std::vector<bool> discard_geom(geoms.size(), false);
+
+    std::transform(meshes.begin(), meshes.end(), discard_mesh.begin(),
+                  [](const mjCMesh* mesh) { return mesh->IsVisual(); });
+    std::transform(geoms.begin(), geoms.end(), discard_geom.begin(),
+                  [](const mjCGeom* geom) { return geom->IsVisual(); });
+
+    Delete(meshes, discard_mesh);
+    Delete(geoms, discard_geom);
+  }
 }
 
 
@@ -2049,8 +2192,8 @@ void mjCModel::CopyObjects(mjModel* m) {
   // geom pairs to include
   for (int i=0; i<npair; i++) {
     m->pair_dim[i] = pairs[i]->condim;
-    m->pair_geom1[i] = pairs[i]->geom1;
-    m->pair_geom2[i] = pairs[i]->geom2;
+    m->pair_geom1[i] = pairs[i]->geom1->id;
+    m->pair_geom2[i] = pairs[i]->geom2->id;
     m->pair_signature[i] = pairs[i]->signature;
     copyvec(m->pair_solref+mjNREF*i, pairs[i]->solref, mjNREF);
     copyvec(m->pair_solreffriction+mjNREF*i, pairs[i]->solreffriction, mjNREF);
@@ -2711,8 +2854,16 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     }
   }
 
+  // delete visual assets
+  if (discardvisual) {
+    DeleteAll(materials);
+    DeleteTexcoord(flexes);
+    DeleteTexcoord(meshes);
+    DeleteAll(textures);
+  }
+
   // convert names into indices
-  IndexAssets();
+  IndexAssets(false);
 
   // mark meshes that need convex hull
   for (int i=0; i<geoms.size(); i++) {
@@ -2811,7 +2962,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   reassignid(excludes);
 
   // resolve asset references, compute sizes
-  IndexAssets();
+  IndexAssets(discardvisual);
   SetSizes();
   // fuse static if enabled
   if (fusestatic) {
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 222cbccf..082f4644 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -96,6 +96,14 @@ class mjCModel {
   mjCKey*      AddKey(void);                           // keyframe
   mjCPlugin*   AddPlugin(void);                        // plugin instance
 
+  //------------------------ API for deleting model elements
+  template <class T>
+  void Delete(std::vector<T*>& elements,
+              const std::vector<bool>& discard);       // delete elements marked as discard=true
+
+  template <class T>
+  void DeleteAll(std::vector<T*>& elements);           // delete all elements
+
   //------------------------ API for access to model elements (outside tree)
   int         NumObjects(mjtObj type);                // number of objects in specified list
   mjCBase*    GetObject(mjtObj type, int id);         // pointer to specified object
@@ -185,16 +193,16 @@ class mjCModel {
   void SetDefaultNames(std::vector<T*>& assets);
 
   //------------------------ compile phases
-  void MakeLists(mjCBody* body);  // make lists of bodies, geoms, joints, sites
-  void IndexAssets(void);         // convert asset names into indices
-  void CheckEmptyNames(void);     // check empty names
-  void SetSizes(void);            // compute sizes
-  void AutoSpringDamper(mjModel*);// automatic stiffness and damping computation
-  void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
-  void CopyNames(mjModel*);       // copy names, compute name addresses
-  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 MakeLists(mjCBody* body);        // make lists of bodies, geoms, joints, sites
+  void IndexAssets(bool discard);       // convert asset names into indices
+  void CheckEmptyNames(void);           // check empty names
+  void SetSizes(void);                  // compute sizes
+  void AutoSpringDamper(mjModel*);      // automatic stiffness and damping computation
+  void LengthRange(mjModel*, mjData*);  // compute actuator lengthrange
+  void CopyNames(mjModel*);             // copy names, compute name addresses
+  void CopyPaths(mjModel*);             // copy paths, compute path addresses
+  void CopyObjects(mjModel*);           // copy objects outside kinematic tree
+  void CopyTree(mjModel*);              // copy objects inside kinematic tree
 
   //------------------------ sizes
   // sizes set from object list lengths
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index bffee237..4797363d 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -314,6 +314,7 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<const mjCBoundingVolume*>& e
     return -1;
   }
 
+  bool is_visual = true;
   int nelements = elements.size();
   mjtNum AAMM[6] = {mjMAXVAL, mjMAXVAL, mjMAXVAL, -mjMAXVAL, -mjMAXVAL, -mjMAXVAL};
 
@@ -325,6 +326,8 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<const mjCBoundingVolume*>& e
     // skip visual objects
     if (elements[i]->conaffinity==0 && elements[i]->contype==0) {
       continue;
+    } else {
+      is_visual = false;
     }
 
     // transform element aabb to aamm format
@@ -360,6 +363,11 @@ int mjCBoundingVolumeHierarchy::MakeBVH(std::vector<const mjCBoundingVolume*>& e
     }
   }
 
+  // a body with only visual geoms does not have a bvh
+  if (is_visual) {
+    return nbvh;
+  }
+
   // inflate flat AABBs
   for (int i=0; i<3; i++) {
     if (mju_abs(AAMM[i]-AAMM[i+3])<mjEPS) {
@@ -1088,6 +1096,18 @@ void mjCBody::Compile(void) {
       throw mjCError(this, "plugin '%s' does not support passive forces", plugin->name);
     }
   }
+
+  if (!model->discardvisual) {
+    return;
+  }
+
+  // set inertial to explicit for bodies containing visual geoms
+  for (int j=0; j<geoms.size(); j++) {
+    if (geoms[j]->IsVisual()) {
+      explicitinertial = true;
+      break;
+    }
+  }
 }
 
 
@@ -1350,6 +1370,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
   matid = -1;
   mesh = nullptr;
   hfield = nullptr;
+  visual_ = false;
 
   // reset to default if given
   if (_def) {
@@ -1737,6 +1758,9 @@ void mjCGeom::Compile(void) {
                    name.c_str(), id);
   }
 
+  // check if can collide
+  visual_ = !contype && !conaffinity;
+
   // normalize quaternion
   mjuu_normvec(quat, 4);
 
@@ -3145,7 +3169,9 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
   friction[4] = 0.0001;
 
   // clear internal variables
-  geom1 = geom2 = signature = -1;
+  geom1 = nullptr;
+  geom2 = nullptr;
+  signature = -1;
 
   // reset to default if given
   if (_def) {
@@ -3167,46 +3193,48 @@ void mjCPair::Compile(void) {
   }
 
   // find geom 1
-  mjCGeom* pg1 = (mjCGeom*)model->FindObject(mjOBJ_GEOM, geomname1);
-  if (!pg1) {
+  geom1 = (mjCGeom*)model->FindObject(mjOBJ_GEOM, geomname1);
+  if (!geom1) {
     throw mjCError(this, "geom '%s' not found in collision %d", geomname1.c_str(), id);
   }
 
   // find geom 2
-  mjCGeom* pg2 = (mjCGeom*)model->FindObject(mjOBJ_GEOM, geomname2);
-  if (!pg2) {
+  geom2 = (mjCGeom*)model->FindObject(mjOBJ_GEOM, geomname2);
+  if (!geom2) {
     throw mjCError(this, "geom '%s' not found in collision %d", geomname2.c_str(), id);
   }
 
+  // mark geoms as not visual
+  geom1->SetNotVisual();
+  geom2->SetNotVisual();
+
   // swap if body1 > body2
-  if (pg1->body->id > pg2->body->id) {
+  if (geom1->body->id > geom2->body->id) {
     string nametmp = geomname1;
     geomname1 = geomname2;
     geomname2 = nametmp;
 
-    mjCGeom* geomtmp = pg1;
-    pg1 = pg2;
-    pg2 = geomtmp;
+    mjCGeom* geomtmp = geom1;
+    geom1 = geom2;
+    geom2 = geomtmp;
   }
 
   // get geom ids and body signature
-  geom1 = pg1->id;
-  geom2 = pg2->id;
-  signature = ((pg1->body->id)<<16) + pg2->body->id;
+  signature = ((geom1->body->id)<<16) + geom2->body->id;
 
   // set undefined margin: max
   if (!mjuu_defined(margin)) {
-    margin = mjMAX(pg1->margin, pg2->margin);
+    margin = mjMAX(geom1->margin, geom2->margin);
   }
 
   // set undefined gap: max
   if (!mjuu_defined(gap)) {
-    gap = mjMAX(pg1->gap, pg2->gap);
+    gap = mjMAX(geom1->gap, geom2->gap);
   }
 
   // set undefined condim, friction, solref, solimp: different priority
-  if (pg1->priority!=pg2->priority) {
-    mjCGeom* pgh = (pg1->priority>pg2->priority ? pg1 : pg2);
+  if (geom1->priority!=geom2->priority) {
+    mjCGeom* pgh = (geom1->priority>geom2->priority ? geom1 : geom2);
 
     // condim
     if (condim<0) {
@@ -3239,23 +3267,23 @@ void mjCPair::Compile(void) {
   else {
     // condim: max
     if (condim<0) {
-      condim = mjMAX(pg1->condim, pg2->condim);
+      condim = mjMAX(geom1->condim, geom2->condim);
     }
 
     // friction: max
     if (!mjuu_defined(friction[0])) {
-      friction[0] = friction[1] = mju_max(pg1->friction[0], pg2->friction[0]);
-      friction[2] =               mju_max(pg1->friction[1], pg2->friction[1]);
-      friction[3] = friction[4] = mju_max(pg1->friction[2], pg2->friction[2]);
+      friction[0] = friction[1] = mju_max(geom1->friction[0], geom2->friction[0]);
+      friction[2] =               mju_max(geom1->friction[1], geom2->friction[1]);
+      friction[3] = friction[4] = mju_max(geom1->friction[2], geom2->friction[2]);
     }
 
     // solver mix factor
     double mix;
-    if (pg1->solmix>=mjMINVAL && pg2->solmix>=mjMINVAL) {
-      mix = pg1->solmix / (pg1->solmix + pg2->solmix);
-    } else if (pg1->solmix<mjMINVAL && pg2->solmix<mjMINVAL) {
+    if (geom1->solmix>=mjMINVAL && geom2->solmix>=mjMINVAL) {
+      mix = geom1->solmix / (geom1->solmix + geom2->solmix);
+    } else if (geom1->solmix<mjMINVAL && geom2->solmix<mjMINVAL) {
       mix = 0.5;
-    } else if (pg1->solmix<mjMINVAL) {
+    } else if (geom1->solmix<mjMINVAL) {
       mix = 0.0;
     } else {
       mix = 1.0;
@@ -3266,14 +3294,14 @@ void mjCPair::Compile(void) {
       // standard: mix
       if (solref[0]>0) {
         for (int i=0; i<mjNREF; i++) {
-          solref[i] = mix*pg1->solref[i] + (1-mix)*pg2->solref[i];
+          solref[i] = mix*geom1->solref[i] + (1-mix)*geom2->solref[i];
         }
       }
 
       // direct: min
       else {
         for (int i=0; i<mjNREF; i++) {
-          solref[i] = mju_min(pg1->solref[i], pg2->solref[i]);
+          solref[i] = mju_min(geom1->solref[i], geom2->solref[i]);
         }
       }
     }
@@ -3281,7 +3309,7 @@ void mjCPair::Compile(void) {
     // impedance
     if (!mjuu_defined(solimp[0])) {
       for (int i=0; i<mjNIMP; i++) {
-        solimp[i] = mix*pg1->solimp[i] + (1-mix)*pg2->solimp[i];
+        solimp[i] = mix*geom1->solimp[i] + (1-mix)*geom2->solimp[i];
       }
     }
   }
@@ -3666,6 +3694,9 @@ void mjCTendon::Compile(void) {
                          "tendon '%s' (id = %d): geom at pos %d not bracketed by sites",
                          name.c_str(), id, i);
         }
+
+        // mark geoms as non visual
+        model->geoms[path[i]->obj->id]->SetNotVisual();
         break;
 
       case mjWRAP_JOINT:
@@ -4107,6 +4138,11 @@ void mjCSensor::Compile(void) {
                      name.c_str(), id);
     }
 
+    // if geom mark it as non visual
+    if (objtype == mjOBJ_GEOM) {
+      ((mjCGeom*)obj)->SetNotVisual();
+    }
+
     // get sensorized object id
   } else if (type != mjSENS_CLOCK && type != mjSENS_PLUGIN && type != mjSENS_USER) {
     throw mjCError(this, "invalid type in sensor '%s' (id = %d)", name.c_str(), id);
@@ -4579,6 +4615,11 @@ void mjCTuple::Compile(void) {
       throw mjCError(this, "unrecognized object '%s' in tuple %d", objname[i].c_str(), id);
     }
 
+    // if geom mark it as non visual
+    if (objtype[i] == mjOBJ_GEOM) {
+      ((mjCGeom*)res)->SetNotVisual();
+    }
+
     // assign id
     obj[i] = res;
   }
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 4b6df1bd..61687868 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -381,6 +381,8 @@ class mjCGeom : public mjCBase {
  public:
   double GetVolume(void);             // compute geom volume
   void SetInertia(void);              // compute and set geom inertia
+  bool IsVisual(void) const { return visual_; }
+  void SetNotVisual(void) { visual_ = false; }
 
   // Compute all coefs modeling the interaction with the surrounding fluid.
   void SetFluidCoefs(void);
@@ -432,6 +434,7 @@ class mjCGeom : public mjCBase {
   double GetRBound(void);             // compute bounding sphere radius
   void ComputeAABB(void);             // compute axis-aligned bounding box
 
+  bool visual_;                   // true: geom does not collide and is unreferenced
   int matid;                      // id of geom's material
   mjCMesh* mesh;                  // geom's mesh
   mjCHField* hfield;              // geom's hfield
@@ -591,6 +594,9 @@ class mjCFlex: public mjCBase {
   std::vector<int> elem;              // element vertex ids
   std::vector<float> texcoord;        // vertex texture coordinates
 
+  bool HasTexcoord() const;           // texcoord not null
+  void DelTexcoord();                 // delete texcoord
+
  private:
   mjCFlex(mjCModel* = 0);                     // constructor
   void Compile(const mjVFS* vfs);             // compiler
@@ -680,6 +686,9 @@ class mjCMesh: public mjCBase {
   double& GetVolumeRef(mjtMeshType type);           // get volume
   void FitGeom(mjCGeom* geom, double* meshpos);     // approximate mesh with simple geom
   bool HasTexcoord() const;                         // texcoord not null
+  void DelTexcoord();                               // delete texcoord
+  bool IsVisual(void) const { return visual_; }     // is geom visual
+  void SetNotVisual(void) { visual_ = false; }      // mark mesh as not visual
 
   void CopyVert(float* arr) const;                  // copy vert data into array
   void CopyNormal(float* arr) const;                // copy normal data into array
@@ -693,6 +702,7 @@ class mjCMesh: public mjCBase {
   void SetBoundingVolume(int faceid);
 
  private:
+  bool visual_;                       // true: the mesh is only visual
   std::string content_type_;          // content type of file
   std::string file_;                  // mesh file
   double refpos_[3];                  // reference position (translate)
@@ -847,6 +857,8 @@ class mjCTexture : public mjCBase {
   friend class mjXWriter;
 
  public:
+  ~mjCTexture();                  // destructor
+
   std::string get_file() const { return file; }
 
   mjtTexture type;                // texture type
@@ -876,7 +888,6 @@ class mjCTexture : public mjCBase {
 
  private:
   mjCTexture(mjCModel*);                  // constructor
-  ~mjCTexture();                          // destructior
   void Compile(const mjVFS* vfs);         // compiler
 
   void Builtin2D(void);                   // make builtin 2D
@@ -959,8 +970,8 @@ class mjCPair : public mjCBase {
   mjCPair(mjCModel* = 0, mjCDef* = 0);  // constructor
   void Compile(void);                   // compiler
 
-  int geom1;                      // id of geom1
-  int geom2;                      // id of geom2
+  mjCGeom* geom1;                 // geom1
+  mjCGeom* geom2;                 // geom2
   int signature;                  // body1<<16 + body2
 };
 
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index bd438c5e..48de27c2 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -3019,12 +3019,6 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
       mjCGeom* pgeom = pbody->AddGeom(def);
       OneGeom(elem, pgeom);
       pgeom->SetFrame(frame);
-
-      // discard visual
-      if (!pgeom->contype && !pgeom->conaffinity && model->discardvisual) {
-        delete pbody->geoms.back();
-        pbody->geoms.pop_back();
-      }
     }
 
     // site sub-element
diff --git a/test/user/testdata/discardvisual.xml b/test/user/testdata/discardvisual.xml
new file mode 100644
index 00000000..2ca12e42
--- /dev/null
+++ b/test/user/testdata/discardvisual.xml
@@ -0,0 +1,73 @@
+<mujoco>
+  <compiler discardvisual="true"/>
+
+  <asset>
+    <texture name="discarded_skybox" type="skybox" builtin="gradient"
+             rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
+
+    <texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+
+    <mesh name="kept" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+    <mesh name="discarded0" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+    <mesh name="discarded1" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+  </asset>
+
+  <worldbody>
+    <geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
+
+    <body pos="0 0 -.5">
+      <freejoint/>
+      <geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
+    </body>
+
+    <site name="tendon0" pos=".1 0 1.5"/>
+    <geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
+    <body pos=".1 0 -.5">
+      <site name="tendon1" pos="0 0 1"/>
+      <freejoint/>
+      <geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
+    </body>
+
+    <body pos=".2 0 -.5">
+      <geom name="kept0" type="mesh" mesh="kept"/>
+    </body>
+
+    <body pos=".3 0 -.5">
+      <freejoint/>
+      <geom name="kept1" type="mesh" mesh="kept"/>
+    </body>
+
+    <body pos=".4 0 -.5">
+      <geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
+    </body>
+
+    <geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
+
+    <geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
+
+    <geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
+  </worldbody>
+
+  <contact>
+    <pair geom1="kept1" geom2="kept_pair"/>
+  </contact>
+
+  <tendon>
+    <spatial range="0 1">
+      <site site="tendon0"/>
+      <geom geom="kept_tendon"/>
+      <site site="tendon1"/>
+    </spatial>
+  </tendon>
+
+  <sensor>
+    <framepos objtype="geom" objname="kept_sensor"/>
+  </sensor>
+
+  <custom>
+    <tuple name="tuple">
+      <element objtype="geom" objname="kept_tuple"/>
+    </tuple>
+  </custom>
+</mujoco>
diff --git a/test/user/testdata/discardvisual_false.xml b/test/user/testdata/discardvisual_false.xml
new file mode 100644
index 00000000..582ffadc
--- /dev/null
+++ b/test/user/testdata/discardvisual_false.xml
@@ -0,0 +1,73 @@
+<mujoco>
+  <compiler discardvisual="false"/>
+
+  <asset>
+    <texture name="discarded_skybox" type="skybox" builtin="gradient"
+             rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
+
+    <texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+
+    <mesh name="kept" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+    <mesh name="discarded0" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+    <mesh name="discarded1" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+  </asset>
+
+  <worldbody>
+    <geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
+
+    <body pos="0 0 -.5">
+      <freejoint/>
+      <geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
+    </body>
+
+    <site name="tendon0" pos=".1 0 1.5"/>
+    <geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
+    <body pos=".1 0 -.5">
+      <site name="tendon1" pos="0 0 1"/>
+      <freejoint/>
+      <geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
+    </body>
+
+    <body pos=".2 0 -.5">
+      <geom name="kept0" type="mesh" mesh="kept"/>
+    </body>
+
+    <body pos=".3 0 -.5">
+      <freejoint/>
+      <geom name="kept1" type="mesh" mesh="kept"/>
+    </body>
+
+    <body pos=".4 0 -.5">
+      <geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
+    </body>
+
+    <geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
+
+    <geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
+
+    <geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
+  </worldbody>
+
+  <contact>
+    <pair geom1="kept1" geom2="kept_pair"/>
+  </contact>
+
+  <tendon>
+    <spatial range="0 1">
+      <site site="tendon0"/>
+      <geom geom="kept_tendon"/>
+      <site site="tendon1"/>
+    </spatial>
+  </tendon>
+
+  <sensor>
+    <framepos objtype="geom" objname="kept_sensor"/>
+  </sensor>
+
+  <custom>
+    <tuple name="tuple">
+      <element objtype="geom" objname="kept_tuple"/>
+    </tuple>
+  </custom>
+</mujoco>
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index 2079b1d1..bc0da348 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -15,6 +15,7 @@
 // Tests for user/user_model.cc.
 
 #include <array>
+#include <cstddef>
 #include <string>
 
 #include <gmock/gmock.h>
@@ -283,5 +284,116 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
   mj_deleteModel(m_no_fuse);
 }
 
+// ------------- test discardvisual --------------------------------------------
+
+using DiscardVisualTest = MujocoTest;
+TEST_F(DiscardVisualTest, DiscardVisualKeepsInertia) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler discardvisual="true"/>
+
+    <asset>
+      <mesh name="visual_mesh"
+        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+        normal="1 0 0  0 1 0  0 0 1  0.707 0 0.707"
+        face="0 2 1  0 3 2" />
+
+      <mesh name="collision_mesh"
+        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+        normal="1 0 0  0 1 0  0 0 1  0.707 0 0.707"
+        face="0 2 1  0 3 2" />
+    </asset>
+
+    <worldbody>
+      <body>
+        <geom type="mesh" mesh="visual_mesh" contype="0" conaffinity="0"/>
+      </body>
+      <body>
+        <geom type="mesh" mesh="collision_mesh"/>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  EXPECT_THAT(model, NotNull()) << error.data();
+  EXPECT_THAT(model->nmesh, 1);
+  EXPECT_THAT(model->body_inertia[3], model->body_inertia[6]);
+  EXPECT_THAT(model->body_inertia[4], model->body_inertia[7]);
+  EXPECT_THAT(model->body_inertia[5], model->body_inertia[8]);
+  mj_deleteModel(model);
+}
+
+TEST_F(DiscardVisualTest, DiscardVisualEquivalent) {
+  char error[1024];
+  size_t error_sz = 1024;
+
+  static const char* const kDiscardvisualPath =
+      "user/testdata/discardvisual.xml";
+  static const char* const kDiscardvisualFalsePath =
+      "user/testdata/discardvisual_false.xml";
+
+  const std::string xml_path1 = GetTestDataFilePath(kDiscardvisualPath);
+  mjModel* model1 = mj_loadXML(xml_path1.c_str(), 0, error, error_sz);
+  EXPECT_THAT(model1, NotNull()) << error;
+
+  const std::string xml_path2 = GetTestDataFilePath(kDiscardvisualFalsePath);
+  mjModel* model2 = mj_loadXML(xml_path2.c_str(), 0, error, error_sz);
+  EXPECT_THAT(model2, NotNull()) << error;
+
+  EXPECT_THAT(model1->nq, model2->nq);
+  EXPECT_THAT(model1->nmat, 0);
+  EXPECT_THAT(model1->ntex, 0);
+  EXPECT_THAT(model2->ngeom-model1->ngeom, 3);
+  EXPECT_THAT(model2->nmesh-model1->nmesh, 2);
+  EXPECT_THAT(model1->npair, model2->npair);
+  EXPECT_THAT(model1->nsensor, model2->nsensor);
+  EXPECT_THAT(model1->nwrap, model2->nwrap);
+
+  for (int i = 0; i < model1->ngeom; i++) {
+    std::string name = std::string(model1->names + model1->name_geomadr[i]);
+    EXPECT_NE(name.find("kept"), std::string::npos);
+    EXPECT_EQ(name.find("discard"), std::string::npos);
+  }
+
+  for (int i = 0; i < model1->npair; i++) {
+    int adr1 = model1->name_geomadr[model1->pair_geom1[i]];
+    int adr2 = model2->name_geomadr[model2->pair_geom1[i]];
+    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
+    adr1 = model1->name_geomadr[model1->pair_geom2[i]];
+    adr2 = model2->name_geomadr[model2->pair_geom2[i]];
+    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
+  }
+
+  for (int i = 0; i < model1->nsensor; i++) {
+    int adr1 = model1->name_geomadr[model1->sensor_objid[i]];
+    int adr2 = model2->name_geomadr[model2->sensor_objid[i]];
+    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
+  }
+
+  for (int i = 0; i < model1->nwrap; i++) {
+    int adr1 = model1->name_geomadr[model1->wrap_objid[i]];
+    int adr2 = model2->name_geomadr[model2->wrap_objid[i]];
+    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
+  }
+
+  mjData *d1 = mj_makeData(model1);
+  mjData *d2 = mj_makeData(model2);
+  for (int i = 0; i < 100; i++) {
+    mj_step(model1, d1);
+    mj_step(model2, d2);
+  }
+
+  for (int i = 0; i < model1->nq; i++) {
+    EXPECT_THAT(d1->qpos[i], d2->qpos[i]);
+  }
+
+  mj_deleteModel(model1);
+  mj_deleteModel(model2);
+  mj_deleteData(d1);
+  mj_deleteData(d2);
+}
+
 }  // namespace
 }  // namespace mujoco

From 2388b651e8a978dacb3eb723ed3bcb25fc177899 Mon Sep 17 00:00:00 2001
From: Tom Erez <etom@google.com>
Date: Mon, 15 Jan 2024 12:03:32 -0800
Subject: [PATCH 121/121] Unity plug-in: Fix for when xml file has no
 <compiler> section.

PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
---
 unity/Runtime/Components/Joints/MjJointSettings.cs | 2 +-
 unity/Runtime/Components/MjActuator.cs             | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
index 1bd684c6..322d6568 100644
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ b/unity/Runtime/Components/Joints/MjJointSettings.cs
@@ -166,7 +166,7 @@ namespace Mujoco {
       FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
 
       bool defaultLimited = false;
-      if ((mjcf.OwnerDocument.GetElementsByTagName("compiler") [0]["compiler"])
+      if ((mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]?["compiler"])
               ?.GetBoolAttribute("autolimits", true) ??
           true) {
         defaultLimited = mjcf.HasAttribute("range");
diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index bf937e45..9aacf2bf 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -82,9 +82,9 @@ public class MjActuator : MjComponent {
       LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
       Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
 
-      bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]["compiler"])
+      bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]?["compiler"])
                             ?.GetBoolAttribute("autolimits", true) ??
-                        true;
+                        false;
       CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
           defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
       ForceLimited = mjcf.GetBoolAttribute("forcelimited",