From 36cbef50b70b2d733f5f1072d3ad4a0f5b96482f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 20 Jan 2025 11:09:18 +0000
Subject: [PATCH 01/82] Allow loading obj meshes

---
 unity/Editor/Importer/MjImporterWithAssets.cs | 26 +++--
 unity/Editor/Importer/ObjMeshImportUtility.cs | 94 +++++++++++++++++++
 .../Runtime/Components/Shapes/MjMeshShape.cs  |  2 +-
 3 files changed, 112 insertions(+), 10 deletions(-)
 create mode 100644 unity/Editor/Importer/ObjMeshImportUtility.cs

diff --git a/unity/Editor/Importer/MjImporterWithAssets.cs b/unity/Editor/Importer/MjImporterWithAssets.cs
index a9a93184..9937ce57 100644
--- a/unity/Editor/Importer/MjImporterWithAssets.cs
+++ b/unity/Editor/Importer/MjImporterWithAssets.cs
@@ -153,20 +153,21 @@ public class MjImporterWithAssets : MjcfImporter {
     var assetReferenceName = MjEngineTool.Sanitize(unsanitizedAssetReferenceName);
     var sourceFilePath = Path.Combine(_sourceMeshesDir, fileName);
 
-    if (Path.GetExtension(sourceFilePath) == ".obj") {
-      throw new NotImplementedException("OBJ mesh file loading is not yet implemented. " +
-                                        "Please convert to binary STL. " +
+    if (Path.GetExtension(sourceFilePath) != ".obj" && Path.GetExtension(sourceFilePath) != ".stl") {
+      throw new NotImplementedException("Type of mesh file not yet supported. " +
+                                        "Please convert to binary STL or OBJ. " +
                                         $"Attempted to load: {sourceFilePath}");
     }
 
-    var targetFilePath = Path.Combine(_targetMeshesDir, assetReferenceName + ".stl");
+    var targetFilePath = Path.Combine(_targetMeshesDir, assetReferenceName 
+                                                        + Path.GetExtension(sourceFilePath));
     if (File.Exists(targetFilePath)) {
       File.Delete(targetFilePath);
     }
     var scale = MjEngineTool.UnityVector3(
         parentNode.GetVector3Attribute("scale", defaultValue: Vector3.one));
     CopyMeshAndRescale(sourceFilePath, targetFilePath, scale);
-    var assetPath = Path.Combine(_targetAssetDir, assetReferenceName + ".stl");
+    var assetPath = Path.Combine(_targetAssetDir, assetReferenceName + Path.GetExtension(sourceFilePath));
     // This asset path should be available because the MuJoCo compiler guarantees element names
     // are unique, but check for completeness (and in case sanitizing the name broke uniqueness):
     if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
@@ -174,7 +175,7 @@ public class MjImporterWithAssets : MjcfImporter {
         $"Trying to import mesh {unsanitizedAssetReferenceName} but {assetPath} already exists.");
     }
     AssetDatabase.ImportAsset(assetPath);
-    var copiedMesh = AssetDatabase.LoadMainAssetAtPath(assetPath) as Mesh;
+    var copiedMesh = AssetDatabase.LoadAssetAtPath<Mesh>(assetPath);
     if (copiedMesh == null) {
       throw new Exception($"Mesh {assetPath} was not imported.");
     }
@@ -186,9 +187,16 @@ public class MjImporterWithAssets : MjcfImporter {
   private void CopyMeshAndRescale(
       string sourceFilePath, string targetFilePath, Vector3 scale) {
     var originalMeshBytes = File.ReadAllBytes(sourceFilePath);
-    var mesh = StlMeshParser.ParseBinary(originalMeshBytes, scale);
-    var rescaledMeshBytes = StlMeshParser.SerializeBinary(mesh);
-    File.WriteAllBytes(targetFilePath, rescaledMeshBytes);
+    if (Path.GetExtension(sourceFilePath) == ".stl") {
+      var mesh = StlMeshParser.ParseBinary(originalMeshBytes, scale);
+      var rescaledMeshBytes = StlMeshParser.SerializeBinary(mesh);
+      File.WriteAllBytes(targetFilePath, rescaledMeshBytes);
+    } else if (Path.GetExtension(sourceFilePath) == ".obj") {
+      ObjMeshImportUtility.CopyAndScaleOBJFile(sourceFilePath, targetFilePath, scale);
+    } else {
+      throw new NotImplementedException($"Extension {Path.GetExtension(sourceFilePath)} " +
+                                        $"not yet supported for MuJoCo mesh asset.");
+    }
   }
 
   private void ParseMaterial(XmlElement parentNode) {
diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs b/unity/Editor/Importer/ObjMeshImportUtility.cs
new file mode 100644
index 00000000..3e2e9885
--- /dev/null
+++ b/unity/Editor/Importer/ObjMeshImportUtility.cs
@@ -0,0 +1,94 @@
+// 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.Globalization;
+using System.IO;
+using System.Linq;
+using System.Text;
+using UnityEngine;
+
+namespace Mujoco {
+
+  /// <summary>
+  /// Scale vertex data manually line by line. We skip normals. Parameter vertex points
+  /// (`vp`) was unclear to me how to properly scale them, if you use them and notice an
+  /// issue please report it.
+  /// </summary>
+  public static class ObjMeshImportUtility {
+    private static Vector3 ToXZY(float x, float y, float z) => new Vector3(x, z, y);
+
+    public static void CopyAndScaleOBJFile(string sourceFilePath, string targetFilePath,
+        Vector3 scale, bool flipFaces=false) {
+      // OBJ files are human readable
+      string[] lines = File.ReadAllLines(sourceFilePath);
+      StringBuilder outputBuilder = new StringBuilder();
+      // Culture info for consistent decimal point handling
+      CultureInfo invariantCulture = CultureInfo.InvariantCulture;
+
+      scale = ToXZY(scale.x, scale.y, scale.z);
+      foreach (string line in lines) {
+        if (line.StartsWith("v ")) // Vertex line
+        {
+          // Split the line into components
+          string[] parts = line.Split(' ');
+          if (parts.Length >= 4) {
+            // Scale the vertex
+            float x = -float.Parse(parts[1], invariantCulture) * scale.x;
+            float y = float.Parse(parts[2], invariantCulture) * scale.y;
+            float z = float.Parse(parts[3], invariantCulture) * scale.z;
+
+            var swizzled = ToXZY(x, y, z);
+            outputBuilder.AppendLine(
+                $"v {swizzled.x.ToString(invariantCulture)} {swizzled.y.ToString(invariantCulture)} {swizzled.z.ToString(invariantCulture)}");
+          }
+        } else if (line.StartsWith("vn ")) {
+          string[] parts = line.Split(' ');
+          if (parts.Length >= 4) {
+            float x = -float.Parse(parts[1], invariantCulture);
+            float y = float.Parse(parts[2], invariantCulture);
+            float z = float.Parse(parts[3], invariantCulture);
+
+            var swizzled = ToXZY(x, y, z);
+            outputBuilder.AppendLine(
+                $"vn {swizzled.x.ToString(invariantCulture)} {swizzled.y.ToString(invariantCulture)} {swizzled.z.ToString(invariantCulture)}");
+          }
+        } else if (line.StartsWith("f ") && flipFaces) {
+          string[] parts = line.Split(' ');
+          if (parts.Length >= 4) {
+            outputBuilder.Append(parts[0] + " ");
+
+            // Apply same vertex order as STL parser: [0,2,1]
+            var face = parts.Skip(1).ToArray();
+            if (face.Length >= 3) {
+              outputBuilder.Append(face[0] + " ");  // vertex 0
+              outputBuilder.Append(face[2] + " ");  // vertex 2
+              outputBuilder.Append(face[1]);        // vertex 1
+
+              // Append any remaining vertices in original order
+              for (int i = 3; i < face.Length; i++) {
+                outputBuilder.Append(" " + face[i]);
+              }
+            }
+            outputBuilder.AppendLine();
+          }
+        } else {
+          // Copy non-vertex lines as-is
+          outputBuilder.AppendLine(line);
+        }
+      }
+      // Write the scaled OBJ to the target file
+      File.WriteAllText(targetFilePath, outputBuilder.ToString());
+    }
+  }
+}
\ No newline at end of file
diff --git a/unity/Runtime/Components/Shapes/MjMeshShape.cs b/unity/Runtime/Components/Shapes/MjMeshShape.cs
index e4fa338d..22721209 100644
--- a/unity/Runtime/Components/Shapes/MjMeshShape.cs
+++ b/unity/Runtime/Components/Shapes/MjMeshShape.cs
@@ -36,7 +36,7 @@ public class MjMeshShape : IMjShape {
     var assetName = MjEngineTool.Sanitize(
         mjcf.GetStringAttribute("mesh", defaultValue: string.Empty));
     if (!string.IsNullOrEmpty(assetName)) {
-      Mesh = (Mesh)Resources.Load(assetName);
+      Mesh = Resources.Load<Mesh>(assetName);
     }
   }
 

From a58f8d0033bfad79aa159ba3f11e6d16f988a21c Mon Sep 17 00:00:00 2001
From: Balint-H <bkh16@ic.ac.uk>
Date: Tue, 21 Jan 2025 15:11:27 +0000
Subject: [PATCH 02/82] Add OBJ mesh support to Unity plugin

---
 unity/Editor/Importer/MjImporterWithAssets.cs |  16 ++-
 unity/Editor/Importer/ObjMeshImportUtility.cs | 131 +++++++++---------
 .../Importer/ObjMeshImportUtility.cs.meta     |  11 ++
 .../Runtime/Components/Shapes/MjMeshFilter.cs |  14 +-
 4 files changed, 96 insertions(+), 76 deletions(-)
 create mode 100644 unity/Editor/Importer/ObjMeshImportUtility.cs.meta

diff --git a/unity/Editor/Importer/MjImporterWithAssets.cs b/unity/Editor/Importer/MjImporterWithAssets.cs
index 9937ce57..4ece4cae 100644
--- a/unity/Editor/Importer/MjImporterWithAssets.cs
+++ b/unity/Editor/Importer/MjImporterWithAssets.cs
@@ -174,7 +174,14 @@ public class MjImporterWithAssets : MjcfImporter {
       throw new Exception(
         $"Trying to import mesh {unsanitizedAssetReferenceName} but {assetPath} already exists.");
     }
+
     AssetDatabase.ImportAsset(assetPath);
+    ModelImporter importer = AssetImporter.GetAtPath(assetPath) as ModelImporter;
+    if (importer != null && !importer.isReadable) {
+      importer.isReadable = true;
+      importer.SaveAndReimport();
+    }
+
     var copiedMesh = AssetDatabase.LoadAssetAtPath<Mesh>(assetPath);
     if (copiedMesh == null) {
       throw new Exception($"Mesh {assetPath} was not imported.");
@@ -283,12 +290,12 @@ public class MjImporterWithAssets : MjcfImporter {
         // We use the geom's name, guaranteed to be unique, as the asset name.
         // If geom is nameless, use a random number.
         var name =
-          MjEngineTool.Sanitize(parentNode.GetStringAttribute(
-              "name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
-        var assetPath = Path.Combine(_targetAssetDir, name + ".mat");
+            MjEngineTool.Sanitize(parentNode.GetStringAttribute(
+                "name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
+        var assetPath = Path.Combine(_targetAssetDir, name+".mat");
         if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
           throw new Exception(
-            $"Creating a material asset for the geom {name}, but {assetPath} already exists.");
+              $"Creating a material asset for the geom {name}, but {assetPath} already exists.");
         }
         AssetDatabase.CreateAsset(material, assetPath);
         AssetDatabase.SaveAssets();
@@ -297,6 +304,7 @@ public class MjImporterWithAssets : MjcfImporter {
         material = DefaultMujocoMaterial;
       }
     }
+    if (parentNode.GetFloatAttribute("group") > 2) renderer.enabled = false;
     renderer.sharedMaterial = material;
   }
 }
diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs b/unity/Editor/Importer/ObjMeshImportUtility.cs
index 3e2e9885..2eea2211 100644
--- a/unity/Editor/Importer/ObjMeshImportUtility.cs
+++ b/unity/Editor/Importer/ObjMeshImportUtility.cs
@@ -11,84 +11,85 @@
 // 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.Globalization;
 using System.IO;
 using System.Linq;
 using System.Text;
+using UnityEditor;
 using UnityEngine;
 
 namespace Mujoco {
 
-  /// <summary>
-  /// Scale vertex data manually line by line. We skip normals. Parameter vertex points
-  /// (`vp`) was unclear to me how to properly scale them, if you use them and notice an
-  /// issue please report it.
-  /// </summary>
-  public static class ObjMeshImportUtility {
-    private static Vector3 ToXZY(float x, float y, float z) => new Vector3(x, z, y);
+/// <summary>
+/// Scale vertex data manually line by line. We skip normals. Warning: Parameter vertex points
+/// (`vp`) were unclear to me how to handle with scaling, if you use them and notice an issue
+/// please report it.
+/// </summary>
+public static class ObjMeshImportUtility {
+  private static Vector3 ToXZY(float x, float y, float z) => new Vector3(x, z, y);
 
-    public static void CopyAndScaleOBJFile(string sourceFilePath, string targetFilePath,
-        Vector3 scale, bool flipFaces=false) {
-      // OBJ files are human readable
-      string[] lines = File.ReadAllLines(sourceFilePath);
-      StringBuilder outputBuilder = new StringBuilder();
-      // Culture info for consistent decimal point handling
-      CultureInfo invariantCulture = CultureInfo.InvariantCulture;
+  public static void CopyAndScaleOBJFile(string sourceFilePath, string targetFilePath,
+      Vector3 scale) {
+    // OBJ files are human readable
+    string[] lines = File.ReadAllLines(sourceFilePath);
+    StringBuilder outputBuilder = new StringBuilder();
+    // Culture info for consistent decimal point handling
+    CultureInfo invariantCulture = CultureInfo.InvariantCulture;
+    scale = ToXZY(scale.x, scale.y, scale.z);
+    foreach (string line in lines) {
+      if (line.StartsWith("v ")) // Vertex line
+      {
+        // Split the line into components
+        string[] parts = line.Split(' ');
+        if (parts.Length >= 4) {
+          // Scale the vertex. It is unclear to me why flipping along x axis was necessary,
+          // but without it meshes were incorrectly oriented.
+          float x = -float.Parse(parts[1], invariantCulture) * scale.x;
+          float y = float.Parse(parts[2], invariantCulture) * scale.y;
+          float z = float.Parse(parts[3], invariantCulture) * scale.z;
 
-      scale = ToXZY(scale.x, scale.y, scale.z);
-      foreach (string line in lines) {
-        if (line.StartsWith("v ")) // Vertex line
-        {
-          // Split the line into components
-          string[] parts = line.Split(' ');
-          if (parts.Length >= 4) {
-            // Scale the vertex
-            float x = -float.Parse(parts[1], invariantCulture) * scale.x;
-            float y = float.Parse(parts[2], invariantCulture) * scale.y;
-            float z = float.Parse(parts[3], invariantCulture) * scale.z;
-
-            var swizzled = ToXZY(x, y, z);
-            outputBuilder.AppendLine(
-                $"v {swizzled.x.ToString(invariantCulture)} {swizzled.y.ToString(invariantCulture)} {swizzled.z.ToString(invariantCulture)}");
-          }
-        } else if (line.StartsWith("vn ")) {
-          string[] parts = line.Split(' ');
-          if (parts.Length >= 4) {
-            float x = -float.Parse(parts[1], invariantCulture);
-            float y = float.Parse(parts[2], invariantCulture);
-            float z = float.Parse(parts[3], invariantCulture);
-
-            var swizzled = ToXZY(x, y, z);
-            outputBuilder.AppendLine(
-                $"vn {swizzled.x.ToString(invariantCulture)} {swizzled.y.ToString(invariantCulture)} {swizzled.z.ToString(invariantCulture)}");
-          }
-        } else if (line.StartsWith("f ") && flipFaces) {
-          string[] parts = line.Split(' ');
-          if (parts.Length >= 4) {
-            outputBuilder.Append(parts[0] + " ");
-
-            // Apply same vertex order as STL parser: [0,2,1]
-            var face = parts.Skip(1).ToArray();
-            if (face.Length >= 3) {
-              outputBuilder.Append(face[0] + " ");  // vertex 0
-              outputBuilder.Append(face[2] + " ");  // vertex 2
-              outputBuilder.Append(face[1]);        // vertex 1
-
-              // Append any remaining vertices in original order
-              for (int i = 3; i < face.Length; i++) {
-                outputBuilder.Append(" " + face[i]);
-              }
-            }
-            outputBuilder.AppendLine();
-          }
-        } else {
-          // Copy non-vertex lines as-is
-          outputBuilder.AppendLine(line);
+          var swizzled = ToXZY(x, y, z);
+          outputBuilder.AppendLine(
+              $"v {swizzled.x.ToString(invariantCulture)} "+
+              $"{swizzled.y.ToString(invariantCulture)} "+
+              $"{swizzled.z.ToString(invariantCulture)}");
         }
+      } else if (line.StartsWith("vn ")) {
+        // We swizzle the normals too
+        string[] parts = line.Split(' ');
+        if (parts.Length >= 4) {
+          float x = -float.Parse(parts[1], invariantCulture);
+          float y = float.Parse(parts[2], invariantCulture);
+          float z = float.Parse(parts[3], invariantCulture);
+
+          var swizzled = ToXZY(x, y, z);
+          outputBuilder.AppendLine(
+              $"vn {swizzled.x.ToString(invariantCulture)} "+
+              $"{swizzled.y.ToString(invariantCulture)} "+
+              $"{swizzled.z.ToString(invariantCulture)}");
+        }
+      } else if (line.StartsWith("f ") && scale.x*scale.y*scale.z < 0) {
+        // Faces definition, flip face by reordering vertices
+        string[] parts = line.Split(' ');
+        if (parts.Length >= 4) {
+          outputBuilder.Append(parts[0]+" ");
+          var face = parts.Skip(1).ToArray();
+          if (face.Length >= 3) {
+            outputBuilder.Append(face[0]+" ");
+            outputBuilder.Append(face[2]+" ");
+            outputBuilder.Append(face[1]);
+          }
+          outputBuilder.AppendLine();
+        }
+      } else {
+        // Copy non-vertex lines as-is
+        outputBuilder.AppendLine(line);
       }
-      // Write the scaled OBJ to the target file
-      File.WriteAllText(targetFilePath, outputBuilder.ToString());
     }
+    // Write the scaled OBJ to the target file
+    File.WriteAllText(targetFilePath, outputBuilder.ToString());
   }
+}
 }
\ No newline at end of file
diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs.meta b/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
new file mode 100644
index 00000000..d36dd1bb
--- /dev/null
+++ b/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: adec9978c00bb934eb8bf974c26193e1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/unity/Runtime/Components/Shapes/MjMeshFilter.cs b/unity/Runtime/Components/Shapes/MjMeshFilter.cs
index 83f4963d..e509da12 100644
--- a/unity/Runtime/Components/Shapes/MjMeshFilter.cs
+++ b/unity/Runtime/Components/Shapes/MjMeshFilter.cs
@@ -41,19 +41,19 @@ public class MjMeshFilter : MonoBehaviour {
       return;
     }
 
-    _shapeChangeStamp = currentChangeStamp;
-    Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
-
-    if (meshData == null) {
-      throw new ArgumentException("Unsupported geom shape detected");
-    }
-
     if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) { 
       MjMeshShape meshShape = _geom.Shape as MjMeshShape;
       _meshFilter.sharedMesh = meshShape.Mesh;
       return;
     }
 
+    _shapeChangeStamp = currentChangeStamp;
+    Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
+    if (meshData == null)
+    {
+      throw new ArgumentException("Unsupported geom shape detected");
+    }
+
     DisposeCurrentMesh();
 
     var mesh = new Mesh();

From b3274bb91da3c41fd286dc41ba79cfcffe97980f Mon Sep 17 00:00:00 2001
From: Balint-H <bkh16@ic.ac.uk>
Date: Tue, 21 Jan 2025 15:21:51 +0000
Subject: [PATCH 03/82] Fix formatting

---
 unity/Editor/Importer/ObjMeshImportUtility.cs | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs b/unity/Editor/Importer/ObjMeshImportUtility.cs
index 2eea2211..262fd128 100644
--- a/unity/Editor/Importer/ObjMeshImportUtility.cs
+++ b/unity/Editor/Importer/ObjMeshImportUtility.cs
@@ -12,12 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-using System;
 using System.Globalization;
 using System.IO;
 using System.Linq;
 using System.Text;
-using UnityEditor;
 using UnityEngine;
 
 namespace Mujoco {
@@ -32,7 +30,7 @@ public static class ObjMeshImportUtility {
 
   public static void CopyAndScaleOBJFile(string sourceFilePath, string targetFilePath,
       Vector3 scale) {
-    // OBJ files are human readable
+    // OBJ files are human-readable
     string[] lines = File.ReadAllLines(sourceFilePath);
     StringBuilder outputBuilder = new StringBuilder();
     // Culture info for consistent decimal point handling
@@ -92,4 +90,4 @@ public static class ObjMeshImportUtility {
     File.WriteAllText(targetFilePath, outputBuilder.ToString());
   }
 }
-}
\ No newline at end of file
+}

From 621e250d63c5bed23ecc6046c7d6ca5f00304a54 Mon Sep 17 00:00:00 2001
From: Balint-H <bkh16@ic.ac.uk>
Date: Fri, 7 Mar 2025 13:16:26 +0000
Subject: [PATCH 04/82] Adjust whitespace to be consistent with old version of
 scripts

---
 unity/Editor/Importer/MjImporterWithAssets.cs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/unity/Editor/Importer/MjImporterWithAssets.cs b/unity/Editor/Importer/MjImporterWithAssets.cs
index 4ece4cae..3227a960 100644
--- a/unity/Editor/Importer/MjImporterWithAssets.cs
+++ b/unity/Editor/Importer/MjImporterWithAssets.cs
@@ -290,12 +290,12 @@ public class MjImporterWithAssets : MjcfImporter {
         // We use the geom's name, guaranteed to be unique, as the asset name.
         // If geom is nameless, use a random number.
         var name =
-            MjEngineTool.Sanitize(parentNode.GetStringAttribute(
-                "name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
+          MjEngineTool.Sanitize(parentNode.GetStringAttribute(
+            "name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
         var assetPath = Path.Combine(_targetAssetDir, name+".mat");
         if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
           throw new Exception(
-              $"Creating a material asset for the geom {name}, but {assetPath} already exists.");
+            $"Creating a material asset for the geom {name}, but {assetPath} already exists.");
         }
         AssetDatabase.CreateAsset(material, assetPath);
         AssetDatabase.SaveAssets();

From 744b37753b7fefc763b27b99ed61351c29f24a6c Mon Sep 17 00:00:00 2001
From: Balint-H <bkh16@ic.ac.uk>
Date: Mon, 24 Mar 2025 12:02:11 +0000
Subject: [PATCH 05/82] Remove trailing whitespaces

---
 unity/Editor/Importer/MjImporterWithAssets.cs      | 4 ++--
 unity/Editor/Importer/ObjMeshImportUtility.cs.meta | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/unity/Editor/Importer/MjImporterWithAssets.cs b/unity/Editor/Importer/MjImporterWithAssets.cs
index 3227a960..c724e3a0 100644
--- a/unity/Editor/Importer/MjImporterWithAssets.cs
+++ b/unity/Editor/Importer/MjImporterWithAssets.cs
@@ -159,8 +159,8 @@ public class MjImporterWithAssets : MjcfImporter {
                                         $"Attempted to load: {sourceFilePath}");
     }
 
-    var targetFilePath = Path.Combine(_targetMeshesDir, assetReferenceName 
-                                                        + Path.GetExtension(sourceFilePath));
+    var targetFilePath =
+        Path.Combine(_targetMeshesDir, assetReferenceName + Path.GetExtension(sourceFilePath));
     if (File.Exists(targetFilePath)) {
       File.Delete(targetFilePath);
     }
diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs.meta b/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
index d36dd1bb..195f099c 100644
--- a/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
+++ b/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
@@ -6,6 +6,6 @@ MonoImporter:
   defaultReferences: []
   executionOrder: 0
   icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+  userData:
+  assetBundleName:
+  assetBundleVariant:

From 047df4e87109e25e0579f72f9d4945da3409c851 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 4 Jun 2025 13:15:06 -0700
Subject: [PATCH 06/82] Add texture to rotating cylinders in pulley example.

PiperOrigin-RevId: 767260834
Change-Id: I3030be314b5b197163d75ef88a5fd99a940d9c67
---
 model/flex/pulley.xml | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/model/flex/pulley.xml b/model/flex/pulley.xml
index 5e07430d..38223546 100644
--- a/model/flex/pulley.xml
+++ b/model/flex/pulley.xml
@@ -22,6 +22,12 @@
 
   <statistic center="0 -.3 1" extent="2.5"/>
 
+  <asset>
+    <texture name="texcyl" type="2d" builtin="checker" rgb1=".3 .3 .3" rgb2=".15 0.15 0.15"
+      width="512" height="512" mark="cross" markrgb=".22 .22 .22"/>
+    <material name="matcyl" reflectance="0.3" texture="texcyl" texrepeat="3 3" texuniform="true"/>
+  </asset>
+
   <worldbody>
     <flexcomp name="cable" type="circle" count="40 1 1" spacing=".15 1 1" dim="1"
               radius="0.02" pos="0 0 1" rgba="1 0 0 1">
@@ -30,12 +36,12 @@
     <body name="left" pos="-.7 0 1">
       <joint name="expand_left" type="slide" axis="-1 0 0" range="0 2" damping="20"/>
       <joint name="rotate" type="hinge" axis="0 0 1"/>
-      <geom type="cylinder" size=".2 .2" density="1"/>
+      <geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
     </body>
     <body name="right" pos=".7 0 1">
       <joint name="expand_right" type="slide" axis="1 0 0" range="0 2" damping="20"/>
       <joint type="hinge" axis="0 0 1"/>
-      <geom type="cylinder" size=".2 .2" density="1"/>
+      <geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
     </body>
   </worldbody>
 

From dd18dd202448be934d206feaa87d8839f6d8a541 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Thu, 5 Jun 2025 03:02:18 -0700
Subject: [PATCH 07/82] Apply metallic and roughness scaling factors.

PiperOrigin-RevId: 767518801
Change-Id: I7eff7b7a56cfbb9c6e46ac22011559eabf401c07
---
 doc/XMLreference.rst | 12 ++++++++----
 src/user/user_init.c |  4 ++--
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 588235ab..71963d33 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -1776,15 +1776,19 @@ properties are grouped together.
 
 .. _asset-material-metallic:
 
-:at:`metallic`: :at-val:`real, "0"`
+:at:`metallic`: :at-val:`real, "-1"`
    This attribute corresponds to uniform metallicity coefficient applied to the entire material. This attribute has no
-   effect in MuJoCo's native renderer, but it can be useful when rendering scenes with an external renderer.
+   effect in MuJoCo's native renderer, but it can be useful when rendering scenes with a physically-based renderer. In
+   this case, if a non-negative value is specified, this metallic value should be multiplied by the metallic texture
+   sampled value to obtain the final metallicity of the material.
 
 .. _asset-material-roughness:
 
-:at:`roughness`: :at-val:`real, "1"`
+:at:`roughness`: :at-val:`real, "-1"`
    This attribute corresponds to uniform roughness coefficient applied to the entire material. This attribute has no
-   effect in MuJoCo's native renderer, but it can be useful when rendering scenes with an external renderer.
+   effect in MuJoCo's native renderer, but it can be useful when rendering scenes with a physically-based renderer. In
+   this case, if a non-negative value is specified, this roughness value should be multiplied by the roughness texture
+   sampled value to obtain the final roughness of the material.
 
 .. _asset-material-rgba:
 
diff --git a/src/user/user_init.c b/src/user/user_init.c
index 34199812..575f15d6 100644
--- a/src/user/user_init.c
+++ b/src/user/user_init.c
@@ -291,8 +291,8 @@ void mjs_defaultMaterial(mjsMaterial* material) {
   material->texrepeat[0] = material->texrepeat[1] = 1;
   material->specular = 0.5;
   material->shininess = 0.5;
-  material->metallic = 0.0;
-  material->roughness = 1.0;
+  material->metallic = -1.0;
+  material->roughness = -1.0;
   material->rgba[0] = material->rgba[1] = material->rgba[2] = material->rgba[3] = 1;
 }
 

From f75772587ac08a71dc4fe3a9cd9fdffd6ec2e2be Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 9 Jun 2025 02:15:48 -0700
Subject: [PATCH 08/82] Add functions for setting an `mjsActuator` to a
 specific shortcut type.

PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
---
 doc/includes/references.h             |  13 ++
 include/mujoco/mujoco.h               |  32 ++++
 python/mujoco/introspect/functions.py | 260 ++++++++++++++++++++++++++
 python/mujoco/specs.cc                |  89 +++++++++
 python/mujoco/specs_test.py           |  56 ++++++
 src/user/user_api.cc                  | 182 ++++++++++++++++++
 src/user/user_api.h                   |  31 +++
 src/xml/xml_native_reader.cc          | 199 ++++++--------------
 8 files changed, 723 insertions(+), 139 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 3f725ad9..1d539d56 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3438,6 +3438,19 @@ mjsTuple* mjs_addTuple(mjSpec* s);
 mjsKey* mjs_addKey(mjSpec* s);
 mjsPlugin* mjs_addPlugin(mjSpec* s);
 mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
+const char* mjs_setToMotor(mjsActuator* actuator);
+const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
+                              double dampratio[1], double timeconst[1], double inheritrange);
+const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
+                                 double dampratio[1], double timeconst[1], double inheritrange);
+const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
+const char* mjs_setToDamper(mjsActuator* actuator, double kv);
+const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
+                              double bias, double area, double diameter);
+const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
+                            double range[2], double force, double scale, double lmin,
+                            double lmax, double vmax, double fpmax, double fvmax);
+const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
 mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
 mjsHField* mjs_addHField(mjSpec* s);
 mjsSkin* mjs_addSkin(mjSpec* s);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 59283756..bc9242a2 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1501,6 +1501,38 @@ MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
 MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
 
 
+//---------------------------------- Set actuator parameters ---------------------------------------
+
+// Set actuator to motor, return error if any.
+MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
+
+// Set actuator to position, return error if any.
+MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
+                                    double dampratio[1], double timeconst[1], double inheritrange);
+
+// Set actuator to integrated velocity, return error if any.
+MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
+                                       double dampratio[1], double timeconst[1], double inheritrange);
+
+// Set actuator to velocity servo, return error if any.
+MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
+
+// Set actuator to activate damper, return error if any.
+MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
+
+// Set actuator to hydraulic or pneumatic cylinder, return error if any.
+MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
+                                    double bias, double area, double diameter);
+
+// Set actuator to muscle, return error if any.a
+MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
+                                  double range[2], double force, double scale, double lmin,
+                                  double lmax, double vmax, double fpmax, double fvmax);
+
+// Set actuator to active adhesion, return error if any.
+MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
+
+
 //---------------------------------- Assets --------------------------------------------------------
 
 // Add mesh.
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 1c4877b9..680122a1 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -9551,6 +9551,266 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Add default.',
      )),
+    ('mjs_setToMotor',
+     FunctionDecl(
+         name='mjs_setToMotor',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+         ),
+         doc='Set actuator to motor, return error if any.',
+     )),
+    ('mjs_setToPosition',
+     FunctionDecl(
+         name='mjs_setToPosition',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='kp',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='kv',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='dampratio',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='timeconst',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='inheritrange',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to position, return error if any.',
+     )),
+    ('mjs_setToIntVelocity',
+     FunctionDecl(
+         name='mjs_setToIntVelocity',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='kp',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='kv',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='dampratio',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='timeconst',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='inheritrange',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to integrated velocity, return error if any.',
+     )),
+    ('mjs_setToVelocity',
+     FunctionDecl(
+         name='mjs_setToVelocity',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='kv',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to velocity servo, return error if any.',
+     )),
+    ('mjs_setToDamper',
+     FunctionDecl(
+         name='mjs_setToDamper',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='kv',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to activate damper, return error if any.',
+     )),
+    ('mjs_setToCylinder',
+     FunctionDecl(
+         name='mjs_setToCylinder',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='timeconst',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='bias',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='area',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='diameter',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to hydraulic or pneumatic cylinder, return error if any.',  # pylint: disable=line-too-long
+     )),
+    ('mjs_setToMuscle',
+     FunctionDecl(
+         name='mjs_setToMuscle',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='timeconst',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(2,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='tausmooth',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='range',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(2,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='force',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='scale',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='lmin',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='lmax',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='vmax',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='fpmax',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='fvmax',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to muscle, return error if any.a',
+     )),
+    ('mjs_setToAdhesion',
+     FunctionDecl(
+         name='mjs_setToAdhesion',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='gain',
+                 type=ValueType(name='double'),
+             ),
+         ),
+         doc='Set actuator to active adhesion, return error if any.',
+     )),
     ('mjs_addMesh',
      FunctionDecl(
          name='mjs_addMesh',
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 51846d2a..b2d081e6 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -1010,6 +1010,95 @@ PYBIND11_MODULE(_specs, m) {
       [](raw::MjsActuator& self, raw::MjsDefault& default_) -> void {
         mjs_setDefault(self.element, &default_);
       });
+  mjsActuator.def("set_to_motor", [](raw::MjsActuator* self) {
+    std::string err = mjs_setToMotor(self);
+    if (!err.empty()) {
+      throw pybind11::value_error(err);
+    }
+  });
+  mjsActuator.def(
+      "set_to_position",
+      [](raw::MjsActuator* self, double kp, double kv, double dampratio,
+         double timeconst, bool inheritrange) {
+        std::string err = mjs_setToPosition(
+            self, kp, kv == -1 ? nullptr : &kv,
+            dampratio == -1 ? nullptr : &dampratio,
+            timeconst == -1 ? nullptr : &timeconst, inheritrange);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
+      py::arg("timeconst") = -1, py::arg("inheritrange") = false);
+  mjsActuator.def(
+      "set_to_intvelocity",
+      [](raw::MjsActuator* self, double kp, double kv, double dampratio,
+         double timeconst, bool inheritrange) {
+        std::string err = mjs_setToIntVelocity(
+            self, kp, kv == -1 ? nullptr : &kv,
+            dampratio == -1 ? nullptr : &dampratio,
+            timeconst == -1 ? nullptr : &timeconst, inheritrange);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
+      py::arg("timeconst") = -1, py::arg("inheritrange") = false);
+  mjsActuator.def(
+      "set_to_velocity",
+      [](raw::MjsActuator* self, double kv) {
+        std::string err = mjs_setToVelocity(self, kv);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("kv"));
+  mjsActuator.def(
+      "set_to_damper",
+      [](raw::MjsActuator* self, double kv) {
+        std::string err = mjs_setToDamper(self, kv);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("kv"));
+  mjsActuator.def(
+      "set_to_cylinder",
+      [](raw::MjsActuator* self, double timeconst, double bias, double area,
+         double diameter) {
+        std::string err =
+            mjs_setToCylinder(self, timeconst, bias, area, diameter);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("timeconst"), py::arg("bias"), py::arg("area"),
+      py::arg("diameter") = -1);
+  mjsActuator.def(
+      "set_to_muscle",
+      [](raw::MjsActuator* self, double timeconst[2], double tausmooth,
+         double range[2], double force, double scale, double lmin, double lmax,
+         double vmax, double fpmax, double fvmax) {
+        std::string err =
+            mjs_setToMuscle(self, timeconst, tausmooth, range, force, scale,
+                            lmin, lmax, vmax, fpmax, fvmax);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("timeconst") = -1, py::arg("tausmooth"),
+      py::arg("range") = std::array<double, 2>{-1, -1}, py::arg("force") = -1,
+      py::arg("scale") = -1, py::arg("lmin") = -1, py::arg("lmax") = -1,
+      py::arg("vmax") = -1, py::arg("fpmax") = -1, py::arg("fvmax") = -1);
+  mjsActuator.def(
+      "set_to_adhesion",
+      [](raw::MjsActuator* self, double gain) {
+        std::string err = mjs_setToAdhesion(self, gain);
+        if (!err.empty()) {
+          throw pybind11::value_error(err);
+        }
+      },
+      py::arg("gain"));
 
   // ============================= MJSTENDON ===================================
   mjsTendon.def("delete",
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 41a2043c..bf712505 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -1232,5 +1232,61 @@ class SpecsTest(absltest.TestCase):
     self.assertGreater(spec3._address, 0)
     self.assertLen({spec1._address, spec2._address, spec3._address}, 3)
 
+  def test_actuator_shortname(self):
+    spec = mujoco.MjSpec()
+    actuator = spec.add_actuator(
+        gainprm=np.zeros((10, 1)),
+        dyntype=mujoco.mjtDyn.mjDYN_FILTER,
+        gaintype=mujoco.mjtGain.mjGAIN_AFFINE,
+        biastype=mujoco.mjtBias.mjBIAS_AFFINE,
+    )
+    actuator.set_to_motor()
+    self.assertEqual(actuator.gainprm[0], 1)
+    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
+    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
+    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
+
+    actuator.set_to_position(kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True)
+    self.assertEqual(actuator.gainprm[0], 2)
+    self.assertEqual(actuator.biasprm[1], -2)
+    self.assertEqual(actuator.biasprm[2], -3)
+    self.assertEqual(actuator.dynprm[0], 4)
+    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_FILTEREXACT)
+    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
+    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
+    self.assertEqual(actuator.inheritrange, True)
+
+    actuator.set_to_intvelocity(
+        kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True
+    )
+    self.assertEqual(actuator.gainprm[0], 2)
+    self.assertEqual(actuator.biasprm[1], -2)
+    self.assertEqual(actuator.biasprm[2], -3)
+    self.assertEqual(actuator.dynprm[0], 4)
+    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_INTEGRATOR)
+    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
+    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
+    self.assertEqual(actuator.inheritrange, True)
+
+    actuator.set_to_velocity(kv=5.0)
+    self.assertEqual(actuator.gainprm[0], 5)
+    self.assertEqual(actuator.biasprm[2], -5)
+    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
+    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
+    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
+
+    actuator.set_to_damper(kv=6.0)
+    self.assertEqual(actuator.gainprm[0], 0)
+    self.assertEqual(actuator.gainprm[2], -6)
+    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
+    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_AFFINE)
+    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
+
+    actuator.set_to_adhesion(gain=7.0)
+    self.assertEqual(actuator.gainprm[0], 7)
+    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
+    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
+    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
+
 if __name__ == '__main__':
   absltest.main()
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index c25049b1..eea4aa93 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -695,6 +695,188 @@ mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* p
 
 
 
+// set actuator to motor
+const char* mjs_setToMotor(mjsActuator* actuator) {
+  // unit gain
+  actuator->gainprm[0] = 1;
+
+  // implied parameters
+  actuator->dyntype = mjDYN_NONE;
+  actuator->gaintype = mjGAIN_FIXED;
+  actuator->biastype = mjBIAS_NONE;
+  return "";
+}
+
+
+
+// set to position actuator
+const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
+                              double dampratio[1], double timeconst[1], double inheritrange) {
+  actuator->gainprm[0] = kp;
+  actuator->biasprm[1] = -kp;
+
+  // set biasprm[2]; negative: regular damping, positive: dampratio
+  if (dampratio && kv) {
+    return "kv and dampratio cannot both be defined";
+  }
+
+  if (kv) {
+    if (*kv < 0) return "kv cannot be negative";
+    actuator->biasprm[2] = -(*kv);
+  }
+  if (dampratio) {
+    if (*dampratio < 0) return "dampratio cannot be negative";
+    actuator->biasprm[2] = *dampratio;
+  }
+  if (timeconst) {
+    if (*timeconst < 0) return "timeconst cannot be negative";
+    actuator->dynprm[0] = *timeconst;
+    actuator->dyntype = *timeconst == 0 ? mjDYN_NONE : mjDYN_FILTEREXACT;
+  }
+  actuator->inheritrange = inheritrange;
+
+  if (inheritrange > 0) {
+    if (actuator->ctrlrange[0] || actuator->ctrlrange[1]) {
+      return "ctrlrange and inheritrange cannot both be defined";
+    }
+  }
+
+  actuator->gaintype = mjGAIN_FIXED;
+  actuator->biastype = mjBIAS_AFFINE;
+  return "";
+}
+
+
+
+// Set to integrated velocity actuator.
+const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
+                                 double dampratio[1], double timeconst[1], double inheritrange) {
+  mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
+  actuator->dyntype = mjDYN_INTEGRATOR;
+  actuator->actlimited = 1;
+
+  if (inheritrange > 0) {
+    if (actuator->actrange[0] || actuator->actrange[1]) {
+      return "actrange and inheritrange cannot both be defined";
+    }
+  }
+  return "";
+}
+
+
+
+// Set to velocity actuator.
+const char* mjs_setToVelocity(mjsActuator* actuator, double kv) {
+  mjuu_zerovec(actuator->biasprm, mjNBIAS);
+  actuator->gainprm[0] = kv;
+  actuator->biasprm[2] = -kv;
+  actuator->dyntype = mjDYN_NONE;
+  actuator->gaintype = mjGAIN_FIXED;
+  actuator->biastype = mjBIAS_AFFINE;
+  return "";
+}
+
+
+
+// Set to damper actuator.
+const char* mjs_setToDamper(mjsActuator* actuator, double kv) {
+  mjuu_zerovec(actuator->gainprm, mjNGAIN);
+  actuator->gainprm[2] = -kv;
+  actuator->ctrllimited = 1;
+  actuator->dyntype = mjDYN_NONE;
+  actuator->gaintype = mjGAIN_AFFINE;
+  actuator->biastype = mjBIAS_NONE;
+
+  if (kv < 0) {
+    return "damping coefficient cannot be negative";
+  }
+  if (actuator->ctrlrange[0] < 0 || actuator->ctrlrange[1] < 0) {
+    return "damper control range cannot be negative";
+  }
+  return "";
+}
+
+
+
+// Set to cylinder actuator.
+const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst, double bias,
+                       double area, double diameter) {
+  actuator->dynprm[0] = timeconst;
+  actuator->biasprm[0] = bias;
+  actuator->gainprm[0] = area;
+  if (diameter >= 0) {
+    actuator->gainprm[0] = mjPI / 4 * diameter*diameter;
+  }
+  actuator->dyntype = mjDYN_FILTER;
+  actuator->gaintype = mjGAIN_FIXED;
+  actuator->biastype = mjBIAS_AFFINE;
+  return "";
+}
+
+
+
+// Set to muscle actuator.
+const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
+                            double range[2], double force, double scale, double lmin,
+                            double lmax, double vmax, double fpmax, double fvmax) {
+  // set muscle defaults if same as global defaults
+  if (actuator->dynprm[0] == 1) actuator->dynprm[0] = 0.01;    // tau act
+  if (actuator->dynprm[1] == 0) actuator->dynprm[1] = 0.04;    // tau deact
+  if (actuator->gainprm[0] == 1) actuator->gainprm[0] = 0.75;  // range[0]
+  if (actuator->gainprm[1] == 0) actuator->gainprm[1] = 1.05;  // range[1]
+  if (actuator->gainprm[2] == 0) actuator->gainprm[2] = -1;    // force
+  if (actuator->gainprm[3] == 0) actuator->gainprm[3] = 200;   // scale
+  if (actuator->gainprm[4] == 0) actuator->gainprm[4] = 0.5;   // lmin
+  if (actuator->gainprm[5] == 0) actuator->gainprm[5] = 1.6;   // lmax
+  if (actuator->gainprm[6] == 0) actuator->gainprm[6] = 1.5;   // vmax
+  if (actuator->gainprm[7] == 0) actuator->gainprm[7] = 1.3;   // fpmax
+  if (actuator->gainprm[8] == 0) actuator->gainprm[8] = 1.2;   // fvmax
+
+  if (tausmooth < 0)
+    return "muscle tausmooth cannot be negative";
+
+  actuator->dynprm[2] = tausmooth;
+  if (timeconst[0] >= 0) actuator->dynprm[0] = timeconst[0];
+  if (timeconst[1] >= 0) actuator->dynprm[1] = timeconst[1];
+  if (range[0] >= 0) actuator->gainprm[0] = range[0];
+  if (range[1] >= 0) actuator->gainprm[1] = range[1];
+  if (force >= 0) actuator->gainprm[2] = force;
+  if (scale >= 0) actuator->gainprm[3] = scale;
+  if (lmin >= 0) actuator->gainprm[4] = lmin;
+  if (lmax >= 0) actuator->gainprm[5] = lmax;
+  if (vmax >= 0) actuator->gainprm[6] = vmax;
+  if (fpmax >= 0) actuator->gainprm[7] = fpmax;
+  if (fvmax >= 0) actuator->gainprm[8] = fvmax;
+
+  // biasprm = gainprm
+  for (int n=0; n < 9; n++) {
+    actuator->biasprm[n] = actuator->gainprm[n];
+  }
+
+  actuator->dyntype = mjDYN_MUSCLE;
+  actuator->gaintype = mjGAIN_MUSCLE;
+  actuator->biastype = mjBIAS_MUSCLE;
+  return "";
+}
+
+
+
+// Set to adhesion actuator.
+const char* mjs_setToAdhesion(mjsActuator* actuator, double gain) {
+  actuator->gainprm[0] = gain;
+  actuator->ctrllimited = 1;
+  actuator->gaintype = mjGAIN_FIXED;
+  actuator->biastype = mjBIAS_NONE;
+
+  if (gain < 0)
+    return "adhesion gain cannot be negative";
+  if (actuator->ctrlrange[0] < 0 || actuator->ctrlrange[1] < 0)
+    return "adhesion control range cannot be negative";
+  return "";
+}
+
+
+
 // get spec from body
 mjSpec* mjs_getSpec(mjsElement* element) {
   return &(static_cast<mjCBase*>(element)->model->spec);
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 04cdf13e..37825a76 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -166,6 +166,37 @@ MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
 MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
 
 
+//---------------------------------- Set actuator parameters ---------------------------------------
+
+// Set actuator to motor, return error on failure.
+MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
+
+// Set actuator to position, return error on failure.
+MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
+                                    double dampratio[1], double timeconst[1], double inheritrange);
+
+// Set actuator to integrated velocity, return error on failure.
+MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
+                                       double dampratio[1], double timeconst[1], double inheritrange);
+
+// Set actuator to velocity, return error on failure.
+MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
+
+// Set actuator to damper, return error on failure.
+MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
+
+// Set actuator to cylinder actuator, return error on failure.
+MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
+                                    double bias, double area, double diameter);
+
+// Set actuator to muscle, return error on failure.
+MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
+                                  double range[2], double force, double scale, double lmin,
+                                  double lmax, double vmax, double fpmax, double fvmax);
+
+// Set actuator to adhesion, return error on failure.
+MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
+
 //---------------------------------- Add assets ----------------------------------------------------
 
 // Add mesh.
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index c5ad9c8f..e8a7dc13 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -2210,6 +2210,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
   type = elem->Value();
 
   // explicit attributes
+  string err;
   if (type == "general") {
     // explicit attributes
     int n;
@@ -2233,183 +2234,98 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
 
   // direct drive motor
   else if (type == "motor") {
-    // unit gain
-    actuator->gainprm[0] = 1;
-
-    // implied parameters
-    actuator->dyntype = mjDYN_NONE;
-    actuator->gaintype = mjGAIN_FIXED;
-    actuator->biastype = mjBIAS_NONE;
+    err = mjs_setToMotor(actuator);
   }
 
   // position or integrated velocity servo
   else if (type == "position" || type == "intvelocity") {
-    // explicit attributes
-    ReadAttr(elem, "kp", 1, actuator->gainprm, text);
-    actuator->biasprm[1] = -actuator->gainprm[0];
+    double kp = actuator->gainprm[0];
+    ReadAttr(elem, "kp", 1, &kp, text);
 
     // read kv
-    double kv = -1;  // -1: undefined
-    if (ReadAttr(elem, "kv", 1, &kv, text)) {
-      if (kv < 0) throw mjXError(elem, "kv cannot be negative");
+    double kv_data;
+    double *kv = &kv_data;
+    if (!ReadAttr(elem, "kv", 1, kv, text)) {
+      kv = nullptr;
     }
 
     // read dampratio
-    double dampratio = -1;  // -1: undefined
-    if (ReadAttr(elem, "dampratio", 1, &dampratio, text)) {
-      if (dampratio < 0) throw mjXError(elem, "dampratio cannot be negative");
+    double dampratio_data;
+    double *dampratio = &dampratio_data;
+    if (!ReadAttr(elem, "dampratio", 1, dampratio, text)) {
+      dampratio = nullptr;
     }
 
-    // set biasprm[2]; negative: regular damping, positive: dampratio
-    if (dampratio > 0 && kv > 0) {
-      throw mjXError(elem, "kv and dampratio cannot both be defined");
-    }
-    if (kv > 0) actuator->biasprm[2] = -kv;
-    if (dampratio > 0) actuator->biasprm[2] = dampratio;
-
     // read timeconst, set dyntype
-    if (ReadAttr(elem, "timeconst", 1, actuator->dynprm, text)) {
-      if (actuator->dynprm[0] < 0)
-        throw mjXError(elem, "timeconst cannot be negative");
-      actuator->dyntype = actuator->dynprm[0] ? mjDYN_FILTEREXACT : mjDYN_NONE;
+    double timeconst_data;
+    double *timeconst = &timeconst_data;
+    if (!ReadAttr(elem, "timeconst", 1, timeconst, text)) {
+      timeconst = nullptr;
     }
 
     // handle inheritrange
-    ReadAttr(elem, "inheritrange", 1, &actuator->inheritrange, text);
-    if (actuator->inheritrange > 0) {
-      if (type == "position") {
-        if (actuator->ctrlrange[0] || actuator->ctrlrange[1]) {
-          throw mjXError(elem, "ctrlrange and inheritrange cannot both be defined");
-        }
-      } else {
-        if (actuator->actrange[0] || actuator->actrange[1]) {
-          throw mjXError(elem, "actrange and inheritrange cannot both be defined");
-        }
-      }
-    }
+    double inheritrange = actuator->inheritrange;
+    ReadAttr(elem, "inheritrange", 1, &inheritrange, text);
 
-    // implied parameters
-    actuator->gaintype = mjGAIN_FIXED;
-    actuator->biastype = mjBIAS_AFFINE;
-
-    if (type == "intvelocity") {
-      actuator->dyntype = mjDYN_INTEGRATOR;
-      actuator->actlimited = 1;
+    if (type == "position") {
+      err = mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
+    } else {
+      err = mjs_setToIntVelocity(actuator, kp, kv, dampratio, timeconst, inheritrange);
     }
   }
 
   // velocity servo
   else if (type == "velocity") {
-    // clear bias
-    mjuu_zerovec(actuator->biasprm, mjNBIAS);
-
-    // explicit attributes
-    ReadAttr(elem, "kv", 1, actuator->gainprm, text);
-    actuator->biasprm[2] = -actuator->gainprm[0];
-
-    // implied parameters
-    actuator->dyntype = mjDYN_NONE;
-    actuator->gaintype = mjGAIN_FIXED;
-    actuator->biastype = mjBIAS_AFFINE;
+    double kv = actuator->gainprm[0];
+    ReadAttr(elem, "kv", 1, &kv, text);
+    err = mjs_setToVelocity(actuator, kv);
   }
 
   // damper
   else if (type == "damper") {
-    // clear gain
-    mjuu_zerovec(actuator->gainprm, mjNGAIN);
-
-    // explicit attributes
-    ReadAttr(elem, "kv", 1, actuator->gainprm+2, text);
-    if (actuator->gainprm[2] < 0)
-      throw mjXError(elem, "damping coefficient cannot be negative");
-    actuator->gainprm[2] = -actuator->gainprm[2];
-
-    // require nonnegative range
-    if (actuator->ctrlrange[0] < 0 || actuator->ctrlrange[1] < 0) {
-      throw mjXError(elem, "damper control range cannot be negative");
-    }
-
-    // implied parameters
-    actuator->ctrllimited = 1;
-    actuator->dyntype = mjDYN_NONE;
-    actuator->gaintype = mjGAIN_AFFINE;
-    actuator->biastype = mjBIAS_NONE;
+    double kv = 0;
+    ReadAttr(elem, "kv", 1, &kv, text);
+    err = mjs_setToDamper(actuator, kv);
   }
 
   // cylinder
   else if (type == "cylinder") {
-    // explicit attributes
-    ReadAttr(elem, "timeconst", 1, actuator->dynprm, text);
-    ReadAttr(elem, "bias", 3, actuator->biasprm, text);
-    ReadAttr(elem, "area", 1, actuator->gainprm, text);
-    double diameter;
-    if (ReadAttr(elem, "diameter", 1, &diameter, text)) {
-      actuator->gainprm[0] = mjPI / 4 * diameter*diameter;
-    }
-
-    // implied parameters
-    actuator->dyntype = mjDYN_FILTER;
-    actuator->gaintype = mjGAIN_FIXED;
-    actuator->biastype = mjBIAS_AFFINE;
+    double timeconst = actuator->dynprm[0];
+    double bias = actuator->biasprm[0];
+    double area = actuator->gainprm[0];
+    double diameter = -1;
+    ReadAttr(elem, "timeconst", 1, &timeconst, text);
+    ReadAttr(elem, "bias", 3, &bias, text);
+    ReadAttr(elem, "area", 1, &area, text);
+    ReadAttr(elem, "diameter", 1, &diameter, text);
+    err = mjs_setToCylinder(actuator, timeconst, bias, area, diameter);
   }
 
   // muscle
   else if (type == "muscle") {
-    // set muscle defaults if same as global defaults
-    if (actuator->dynprm[0] == 1)actuator->dynprm[0] = 0.01;   // tau act
-    if (actuator->dynprm[1] == 0)actuator->dynprm[1] = 0.04;   // tau deact
-    if (actuator->gainprm[0] == 1)actuator->gainprm[0] = 0.75; // range[0]
-    if (actuator->gainprm[1] == 0)actuator->gainprm[1] = 1.05; // range[1]
-    if (actuator->gainprm[2] == 0)actuator->gainprm[2] = -1;   // force
-    if (actuator->gainprm[3] == 0)actuator->gainprm[3] = 200;  // scale
-    if (actuator->gainprm[4] == 0)actuator->gainprm[4] = 0.5;  // lmin
-    if (actuator->gainprm[5] == 0)actuator->gainprm[5] = 1.6;  // lmax
-    if (actuator->gainprm[6] == 0)actuator->gainprm[6] = 1.5;  // vmax
-    if (actuator->gainprm[7] == 0)actuator->gainprm[7] = 1.3;  // fpmax
-    if (actuator->gainprm[8] == 0)actuator->gainprm[8] = 1.2;  // fvmax
-
-    // explicit attributes
-    ReadAttr(elem, "timeconst", 2, actuator->dynprm, text);
-    ReadAttr(elem, "tausmooth", 1, actuator->dynprm+2, text);
-    if (actuator->dynprm[2] < 0)
-      throw mjXError(elem, "muscle tausmooth cannot be negative");
-    ReadAttr(elem, "range", 2, actuator->gainprm, text);
-    ReadAttr(elem, "force", 1, actuator->gainprm+2, text);
-    ReadAttr(elem, "scale", 1, actuator->gainprm+3, text);
-    ReadAttr(elem, "lmin", 1, actuator->gainprm+4, text);
-    ReadAttr(elem, "lmax", 1, actuator->gainprm+5, text);
-    ReadAttr(elem, "vmax", 1, actuator->gainprm+6, text);
-    ReadAttr(elem, "fpmax", 1, actuator->gainprm+7, text);
-    ReadAttr(elem, "fvmax", 1, actuator->gainprm+8, text);
-
-    // biasprm = gainprm
-    for (int n=0; n < 9; n++) {
-      actuator->biasprm[n] = actuator->gainprm[n];
-    }
-
-    // implied parameters
-    actuator->dyntype = mjDYN_MUSCLE;
-    actuator->gaintype = mjGAIN_MUSCLE;
-    actuator->biastype = mjBIAS_MUSCLE;
+    double tausmooth = actuator->dynprm[2];
+    double force = -1, scale = -1, lmin = -1, lmax = -1, vmax = -1, fpmax = -1, fvmax = -1;
+    double range[2] = {-1, -1}, timeconst[2] = {-1, -1};
+    ReadAttr(elem, "timeconst", 2, timeconst, text);
+    ReadAttr(elem, "tausmooth", 1, &tausmooth, text);
+    ReadAttr(elem, "range", 2, range, text);
+    ReadAttr(elem, "force", 1, &force, text);
+    ReadAttr(elem, "scale", 1, &scale, text);
+    ReadAttr(elem, "lmin", 1, &lmin, text);
+    ReadAttr(elem, "lmax", 1, &lmax, text);
+    ReadAttr(elem, "vmax", 1, &vmax, text);
+    ReadAttr(elem, "fpmax", 1, &fpmax, text);
+    ReadAttr(elem, "fvmax", 1, &fvmax, text);
+    err = mjs_setToMuscle(actuator, timeconst, tausmooth, range, force, scale,
+                          lmin, lmax, vmax, fpmax, fvmax);
   }
 
   // adhesion
   else if (type == "adhesion") {
-    // explicit attributes
-    ReadAttr(elem, "gain", 1, actuator->gainprm, text);
-    if (actuator->gainprm[0] < 0)
-      throw mjXError(elem, "adhesion gain cannot be negative");
-
-    // require nonnegative range
+    double gain = actuator->gainprm[0];
+    ReadAttr(elem, "gain", 1, &gain, text);
     ReadAttr(elem, "ctrlrange", 2, actuator->ctrlrange, text);
-    if (actuator->ctrlrange[0] < 0 || actuator->ctrlrange[1] < 0) {
-      throw mjXError(elem, "adhesion control range cannot be negative");
-    }
-
-    // implied parameters
-    actuator->ctrllimited = 1;
-    actuator->gaintype = mjGAIN_FIXED;
-    actuator->biastype = mjBIAS_NONE;
+    err = mjs_setToAdhesion(actuator, gain);
   }
 
   else if (type == "plugin") {
@@ -2429,6 +2345,11 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
     throw mjXError(elem, "unrecognized actuator type: %s", type.c_str());
   }
 
+  // throw error if any of the above failed
+  if (!err.empty()) {
+    throw mjXError(elem, err.c_str());
+  }
+
   // read userdata
   std::vector<double> userdata;
   if (ReadVector(elem, "user", userdata, text)) {

From b8768aa1cd973bca207429258c910c897217d261 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 9 Jun 2025 10:04:47 -0700
Subject: [PATCH 09/82] Allow to fusestatic a body if it doesn't generate a
 referencing error.

PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
---
 doc/XMLreference.rst         |  14 ++--
 doc/changelog.rst            |   2 +
 src/user/user_model.cc       | 129 ++++++++++++++++++++++++-----------
 src/user/user_model.h        |   8 +++
 src/user/user_objects.cc     |  66 ++++++++++--------
 src/user/user_objects.h      |   2 +
 test/user/user_model_test.cc |  94 +++++++++++++++++++++++++
 7 files changed, 242 insertions(+), 73 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 71963d33..4e867448 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -792,12 +792,14 @@ has any effect. The settings here are global and apply to the entire model.
 
 :at:`fusestatic`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
    This attribute controls a compiler optimization feature where static bodies are fused with their parent, and any
-   elements defined in those bodies are reassigned to the parent. This feature can only be used in models which do not
-   have elements capable of named references inside the kinematic tree - namely skins, contact pairs, excludes, tendons,
-   actuators, sensors, tuples, cameras, lights. If a model has any these elements, fusestatic does nothing even if
-   enabled. This optimization is particularly useful when importing URDF models which often have many dummy bodies, but
-   can also be used to optimize MJCF models. After optimization, the new model has identical kinematics and dynamics as
-   the original but is faster to simulate.
+   elements defined in those bodies are reassigned to the parent. Static bodies are fused with their parent unless
+
+   - They are referenced by another element in the model.
+   - They contain a site which is referenced by a :ref:`force<sensor-force>` or :ref:`torque<sensor-torque>` sensor.
+
+   This optimization is particularly useful when importing URDF models which often have many dummy bodies, but can also
+   be used to optimize MJCF models. After optimization, the new model has identical kinematics and dynamics as the
+   original but is faster to simulate.
 
 .. _compiler-inertiafromgeom:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 324d41e7..8efd9e54 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -18,6 +18,8 @@ General
   introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
   ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
 - Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
+- Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no references. The fusestatic
+  flag will now fuse all bodies which are not referenced and ignore bodies which are referenced.
 
 Simulate
 ^^^^^^^^
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 8d4e2b5a..8ce68cd7 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3824,24 +3824,77 @@ void mjCModel::FuseReindex(mjCBody* body) {
 
 
 
+template <class T>
+void mjCModel::ReassignChild(std::vector<T*>& dest, std::vector<T*>& list,
+                             mjCBody* parent, mjCBody* body) {
+  for (int j=0; j < list.size(); j++) {
+    // assign
+    list[j]->body = parent;
+    dest.push_back(list[j]);
+
+    // change frame
+    changeframe(list[j]->pos, list[j]->quat, body->pos, body->quat);
+  }
+  list.clear();
+}
+
+
+
+template <class T>
+void mjCModel::ResolveReferences(std::vector<T*>& list, mjCBody* body) {
+  for (auto& item : list) {
+    item->CopyFromSpec();
+    item->ResolveReferences(this);
+  }
+}
+
+
+
+template <>
+void mjCModel::ResolveReferences(std::vector<mjCSensor*>& list, mjCBody* body) {
+  for (auto& item : list) {
+    item->CopyFromSpec();
+    item->ResolveReferences(this);
+  }
+  for (mjCSensor* sensor : list) {
+    if (sensor->objtype == mjOBJ_SITE &&
+        (sensor->type == mjSENS_FORCE || sensor->type == mjSENS_TORQUE) &&
+        static_cast<mjCSite*>(sensor->obj)->body == body) {
+      throw mjCError(sensor, "cannot fuse a body used by a force/torque sensor");
+    }
+  }
+}
+
+
+
 // fuse static bodies with their parent
 void mjCModel::FuseStatic(void) {
-  // skip if model has potential to reference elements with changed ids
-  if (!skins_.empty()        ||
-      !pairs_.empty()        ||
-      !excludes_.empty()     ||
-      !equalities_.empty()   ||
-      !tendons_.empty()      ||
-      !actuators_.empty()    ||
-      !sensors_.empty()      ||
-      !tuples_.empty()       ||
-      !cameras_.empty()      ||
-      !lights_.empty()) {
-    return;
-  }
-
-  // process fusable bodies
   for (int i=1; i < bodies_.size(); i++) {
+    // check if the body can be fused
+    if (!bodies_[i]->name.empty()) {
+      ids[mjOBJ_BODY].erase(bodies_[i]->name);
+
+      // try to resolve references without the name of this body, if it fails, skip
+      try {
+        ResolveReferences(cameras_);
+        ResolveReferences(lights_);
+        ResolveReferences(skins_);
+        ResolveReferences(pairs_);
+        ResolveReferences(excludes_);
+        ResolveReferences(equalities_);
+        ResolveReferences(tendons_);
+        ResolveReferences(actuators_);
+        ResolveReferences(sensors_, bodies_[i]);
+        ResolveReferences(tuples_);
+      } catch (mjCError err) {
+        ids[mjOBJ_BODY].insert({bodies_[i]->name, i});
+        continue;
+      }
+
+      // put body back the body name in the map
+      ids[mjOBJ_BODY].insert({bodies_[i]->name, i});
+    }
+
     // get body and parent
     mjCBody* body = bodies_[i];
     mjCBody* par = body->parent;
@@ -3891,25 +3944,8 @@ void mjCModel::FuseStatic(void) {
 
     //------------- assign geoms and sites to parent, change frames
 
-    // geoms
-    for (int j=0; j < body->geoms.size(); j++) {
-      // assign
-      body->geoms[j]->body = par;
-      par->geoms.push_back(body->geoms[j]);
-
-      // change frame
-      changeframe(body->geoms[j]->pos, body->geoms[j]->quat, body->pos, body->quat);
-    }
-
-    // sites
-    for (int j=0; j < body->sites.size(); j++) {
-      // assign
-      body->sites[j]->body = par;
-      par->sites.push_back(body->sites[j]);
-
-      // change frame
-      changeframe(body->sites[j]->pos, body->sites[j]->quat, body->pos, body->quat);
-    }
+    ReassignChild(par->geoms, body->geoms, par, body);
+    ReassignChild(par->sites, body->sites, par, body);
 
     //------------- remove from global body list, reduce global counts
 
@@ -3960,15 +3996,21 @@ void mjCModel::FuseStatic(void) {
 
     //------------- delete body (without deleting children)
 
+    // remove body name from map
+    if (!body->name.empty()) {
+      ids[mjOBJ_BODY].erase(body->name);
+    }
+
     // delete allocation
     body->bodies.clear();
-    body->geoms.clear();
-    body->sites.clear();
     delete body;
 
     // check index i again (we have a new body at this index)
     i--;
   }
+
+  // remove empty names
+  processlist(ids, bodies_, mjOBJ_BODY, true);
 }
 
 
@@ -4392,6 +4434,17 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     bodies_[i]->Compile();  // also compiles joints, geoms, sites, cameras, lights, frames
   }
 
+  // fuse static if enabled
+  if (compiler.fusestatic) {
+    FuseStatic();
+    for (int i=0; i < lights_.size(); i++) {
+      lights_[i]->Compile();
+    }
+    for (int i=0; i < cameras_.size(); i++) {
+      cameras_[i]->Compile();
+    }
+  }
+
   // compile all other objects except for keyframes
   for (auto flex : flexes_) flex->Compile(vfs);
   for (auto skin : skins_) skin->Compile(vfs);
@@ -4423,10 +4476,6 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // resolve asset references, compute sizes
   IndexAssets(compiler.discardvisual);
   SetSizes();
-  // fuse static if enabled
-  if (compiler.fusestatic) {
-    FuseStatic();
-  }
 
   // set nmocap and body.mocapid
   for (mjCBody* body : bodies_) {
diff --git a/src/user/user_model.h b/src/user/user_model.h
index cfd8082e..4bb1927e 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -444,6 +444,14 @@ class mjCModel : public mjCModel_, private mjSpec {
   // generate a signature for the model
   uint64_t Signature();
 
+  // reassign children of a body to a new parent
+  template <class T>
+  void ReassignChild(std::vector<T*>& dest, std::vector<T*>& list, mjCBody* parent, mjCBody* body);
+
+  // resolve references in a list of objects
+  template <class T>
+  void ResolveReferences(std::vector<T*>& list, mjCBody* body = nullptr);
+
   mjListKeyMap ids;   // map from object names to ids
   mjCError errInfo;   // last error info
   std::vector<mjKeyInfo> key_pending_;  // attached keyframes
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 6a1b2451..d925a3a3 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -3562,6 +3562,19 @@ void mjCCamera::CopyFromSpec() {
 
 
 
+void mjCCamera::ResolveReferences(const mjCModel* m) {
+  if (!targetbody_.empty()) {
+    mjCBody* tb = (mjCBody*)m->FindObject(mjOBJ_BODY, targetbody_);
+    if (tb) {
+      targetbodyid = tb->id;
+    } else {
+      throw mjCError(this, "unknown target body in camera");
+    }
+  }
+}
+
+
+
 // compiler
 void mjCCamera::Compile(void) {
   CopyFromSpec();
@@ -3587,14 +3600,7 @@ void mjCCamera::Compile(void) {
   mjuu_normvec(quat, 4);
 
   // get targetbodyid
-  if (!targetbody_.empty()) {
-    mjCBody* tb = (mjCBody*)model->FindObject(mjOBJ_BODY, targetbody_);
-    if (tb) {
-      targetbodyid = tb->id;
-    } else {
-      throw mjCError(this, "unknown target body in camera");
-    }
-  }
+  ResolveReferences(model);
 
   // make sure the image size is finite
   if (fovy >= 180) {
@@ -3716,6 +3722,27 @@ void mjCLight::CopyFromSpec() {
 
 
 
+void mjCLight::ResolveReferences(const mjCModel* m) {
+  if (!targetbody_.empty()) {
+    mjCBody* tb = (mjCBody*)m->FindObject(mjOBJ_BODY, targetbody_);
+    if (tb) {
+      targetbodyid = tb->id;
+    } else {
+      throw mjCError(this, "unknown target body in light");
+    }
+  }
+  if (!texture_.empty()) {
+    mjCTexture* tex = (mjCTexture*)m->FindObject(mjOBJ_TEXTURE, texture_);
+    if (tex) {
+      texid = tex->id;
+    } else {
+      throw mjCError(this, "unknown texture in light");
+    }
+  }
+}
+
+
+
 // compiler
 void mjCLight::Compile(void) {
   CopyFromSpec();
@@ -3735,25 +3762,8 @@ void mjCLight::Compile(void) {
     throw mjCError(this, "zero direction in light");
   }
 
-  // get targetbodyid
-  if (!targetbody_.empty()) {
-    mjCBody* tb = (mjCBody*)model->FindObject(mjOBJ_BODY, targetbody_);
-    if (tb) {
-      targetbodyid = tb->id;
-    } else {
-      throw mjCError(this, "unknown target body in light");
-    }
-  }
-
-  // get texture
-  if (!texture_.empty()) {
-    mjCTexture* tex = (mjCTexture*)model->FindObject(mjOBJ_TEXTURE, texture_);
-    if (tex) {
-      texid = tex->id;
-    } else {
-      throw mjCError(this, "unknown target body in light");
-    }
-  }
+  // get targetbodyid and texid
+  ResolveReferences(model);
 }
 
 
@@ -6493,6 +6503,8 @@ void mjCSensor::CopyPlugin() {
 
 
 void mjCSensor::ResolveReferences(const mjCModel* m) {
+  obj = nullptr;
+  ref = nullptr;
   objname_ = prefix + objname_ + suffix;
   refname_ = prefix + refname_ + suffix;
 
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 18158c5c..fc8cf459 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -786,6 +786,7 @@ class mjCCamera : public mjCCamera_, private mjsCamera {
   void CopyFromSpec(void);
   void PointToLocal(void);
   void NameSpace(const mjCModel* m);
+  void ResolveReferences(const mjCModel* m);
 };
 
 
@@ -831,6 +832,7 @@ class mjCLight : public mjCLight_, private mjsLight {
   void CopyFromSpec(void);
   void PointToLocal(void);
   void NameSpace(const mjCModel* m);
+  void ResolveReferences(const mjCModel* m);
 };
 
 
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index 8b00753d..3293b257 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -440,6 +440,100 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
   mj_deleteModel(m_no_fuse);
 }
 
+TEST_F(FuseStaticTest, FuseStaticActuatorReferencedBody) {
+  static constexpr char xml_template[] = R"(
+  <mujoco>
+    <compiler fusestatic="true"/>
+
+    <worldbody>
+      <body>
+        <joint axis="1 0 0"/>
+        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
+        <body name="not_referenced">
+          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
+          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
+        </body>
+        <body name="referenced">
+          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
+          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
+        </body>
+      </body>
+    </worldbody>
+
+    <actuator>
+      <adhesion body="referenced" ctrlrange="0 1"/>
+    </actuator>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml_template, error.data(), error.size());
+  ASSERT_THAT(m, NotNull()) << error.data();
+  EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
+  mj_deleteModel(m);
+}
+
+TEST_F(FuseStaticTest, FuseStaticLightReferencedBody) {
+  static constexpr char xml_template[] = R"(
+  <mujoco>
+    <compiler fusestatic="true"/>
+
+    <worldbody>
+      <light mode="targetbody" target="referenced"/>
+      <body>
+        <joint axis="1 0 0"/>
+        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
+        <body name="not_referenced">
+          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
+          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
+        </body>
+        <body name="referenced">
+          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
+          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml_template, error.data(), error.size());
+  ASSERT_THAT(m, NotNull()) << error.data();
+  EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
+  mj_deleteModel(m);
+}
+
+TEST_F(FuseStaticTest, FuseStaticForceSensorReferencedBody) {
+  static constexpr char xml_template[] = R"(
+  <mujoco>
+    <compiler fusestatic="true"/>
+
+    <worldbody>
+      <body>
+        <joint axis="1 0 0"/>
+        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
+        <body name="not_referenced">
+          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
+          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
+        </body>
+        <body name="referenced">
+          <site name="force"/>
+          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
+          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
+        </body>
+      </body>
+    </worldbody>
+
+    <sensor>
+      <force site="force"/>
+    </sensor>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* m = LoadModelFromString(xml_template, error.data(), error.size());
+  ASSERT_THAT(m, NotNull()) << error.data();
+  EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
+  mj_deleteModel(m);
+}
+
 // ------------- test discardvisual --------------------------------------------
 
 using DiscardVisualTest = MujocoTest;

From caaf7b3a69d674c98572c0244dce1081abe49ca1 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Mon, 9 Jun 2025 14:26:18 -0700
Subject: [PATCH 10/82] Add tendon armature to MJX.

PiperOrigin-RevId: 769294284
Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
---
 doc/changelog.rst                  |   4 +
 mjx/mujoco/mjx/__init__.py         |   2 +
 mjx/mujoco/mjx/_src/forward.py     |   2 +
 mjx/mujoco/mjx/_src/smooth.py      | 152 +++++++++++++++++++++++++++++
 mjx/mujoco/mjx/_src/smooth_test.py |  53 ++++++++++
 mjx/mujoco/mjx/_src/support.py     |  37 +++++++
 6 files changed, 250 insertions(+)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 8efd9e54..f82052b1 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -36,6 +36,10 @@ Python bindings
 
 - Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
 
+MJX
+^^^
+- Added tendon armature.
+
 Version 3.3.2 (April 28, 2025)
 ------------------------------
 
diff --git a/mjx/mujoco/mjx/__init__.py b/mjx/mujoco/mjx/__init__.py
index c60c785c..d71d6a24 100644
--- a/mjx/mujoco/mjx/__init__.py
+++ b/mjx/mujoco/mjx/__init__.py
@@ -48,6 +48,8 @@ from mujoco.mjx._src.smooth import rne
 from mujoco.mjx._src.smooth import rne_postconstraint
 from mujoco.mjx._src.smooth import subtree_vel
 from mujoco.mjx._src.smooth import tendon
+from mujoco.mjx._src.smooth import tendon_armature
+from mujoco.mjx._src.smooth import tendon_bias
 from mujoco.mjx._src.smooth import transmission
 from mujoco.mjx._src.solver import solve
 from mujoco.mjx._src.support import apply_ft
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index 62535122..d8faf293 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -73,6 +73,7 @@ def fwd_position(m: Model, d: Data) -> Data:
   d = smooth.camlight(m, d)
   d = smooth.tendon(m, d)
   d = smooth.crb(m, d)
+  d = smooth.tendon_armature(m, d)
   d = smooth.factor_m(m, d)
   d = collision_driver.collision(m, d)
   d = constraint.make_constraint(m, d)
@@ -93,6 +94,7 @@ def fwd_velocity(m: Model, d: Data) -> Data:
   d = smooth.com_vel(m, d)
   d = passive.passive(m, d)
   d = smooth.rne(m, d)
+  d = smooth.tendon_bias(m, d)
   return d
 
 
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index f87c2ed3..fba3d3ce 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -1184,3 +1184,155 @@ def transmission(m: Model, d: Data) -> Data:
       {'_impl.actuator_length': length, '_impl.actuator_moment': moment}
   )
   return d
+
+
+def tendon_armature(m: Model, d: Data) -> Data:
+  """Add tendon armature to qM."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('tendon_armature requires JAX backend implementation.')
+
+  if not support.is_sparse(m):
+    return d.tree_replace({
+        '_impl.qM': (
+            d._impl.qM
+            + d._impl.ten_J.T
+            @ jax.vmap(jp.multiply)(d._impl.ten_J, m.tendon_armature)
+        )
+    })
+  else:
+    # TODO(taylorhowell): implement tendon armature with sparse qM
+    raise NotImplementedError(
+        'Tendon armature with sparse qM is not implemented.'
+    )
+
+
+def tendon_dot(m: Model, d: Data) -> jax.Array:
+  """Compute time derivative of dense tendon Jacobian for one tendon."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('tendon_dot requires JAX backend implementation.')
+
+  ten_Jdot = jp.zeros((m.ntendon, m.nv))  # pylint: disable=invalid-name
+
+  if not m.ntendon:
+    return ten_Jdot
+
+  # process pulleys
+  (wrap_id_pulley,) = np.nonzero(m.wrap_type == WrapType.PULLEY)
+
+  divisor = np.ones(m.nwrap)
+  for adr, num in zip(m.tendon_adr, m.tendon_num):
+    for id_pulley in wrap_id_pulley:
+      if adr <= id_pulley < adr + num:
+        divisor[id_pulley : adr + num] = np.maximum(
+            mujoco.mjMINVAL, m.wrap_prm[id_pulley]
+        )
+
+  # process spatial tendon sites
+  (wrap_id_site,) = np.nonzero(m.wrap_type == WrapType.SITE)
+
+  # find consecutive sites, skipping tendon transitions
+  (pair_id,) = np.nonzero(np.diff(wrap_id_site) == 1)
+  wrap_id_site_pair = np.setdiff1d(wrap_id_site[pair_id], m.tendon_adr[1:] - 1)
+  wrap_objid_site0 = m.wrap_objid[wrap_id_site_pair]
+  wrap_objid_site1 = m.wrap_objid[wrap_id_site_pair + 1]
+  site_bodyid0 = m.site_bodyid[wrap_objid_site0]
+  site_bodyid1 = m.site_bodyid[wrap_objid_site1]
+  site_xpos0 = d.site_xpos[wrap_objid_site0]
+  site_xpos1 = d.site_xpos[wrap_objid_site1]
+  subtree_com0 = d.subtree_com[m.body_rootid[site_bodyid0]]
+  subtree_com1 = d.subtree_com[m.body_rootid[site_bodyid1]]
+  site_vel0 = jax.vmap(lambda a, b: a[3:] - jp.cross(b, a[:3]))(
+      d.cvel[site_bodyid0], site_xpos0 - subtree_com0
+  )
+  site_vel1 = jax.vmap(lambda a, b: a[3:] - jp.cross(b, a[:3]))(
+      d.cvel[site_bodyid1], site_xpos1 - subtree_com1
+  )
+
+  @jax.vmap
+  def _momentdot(wpnt0, wpnt1, wvel0, wvel1, body0, body1):
+    # dpnt = 3D position difference, normalize
+    dpnt = wpnt1 - wpnt0
+    norm = math.norm(dpnt)
+    dpnt = jp.where(
+        norm < mujoco.mjMINVAL, jp.array([1.0, 0.0, 0.0]), dpnt / norm
+    )
+
+    # dvel = d / dt(dpnt)
+    dvel = wvel1 - wvel0
+    dot = jp.dot(dpnt, dvel)
+    dvel += dpnt * -dot
+    dvel = jp.where(norm > mujoco.mjMINVAL, dvel / norm, 0.0)
+
+    # get endpoint JacobianDots, subtract
+    jacp1, _ = support.jac_dot(m, d, wpnt0, body0)
+    jacp2, _ = support.jac_dot(m, d, wpnt1, body1)
+    jacdif = jacp2 - jacp1
+
+    # chain rule, first term: Jdot += d / dt(jac2 - jac1) * dpnt
+    tmp0 = jacdif @ dpnt
+
+    # get endpoint Jacobians, subtract
+    jacp1, _ = support.jac(m, d, wpnt0, body0)
+    jacp2, _ = support.jac(m, d, wpnt1, body1)
+    jacdif = jacp2 - jacp1
+
+    # chain rule, second term: Jdot += (jac2 - jac1) * d/dt (dpnt)
+    tmp1 = jacdif @ dvel
+
+    return jp.where(body0 != body1, tmp0 + tmp1, jp.zeros(m.nv))
+
+  momentdots = _momentdot(
+      site_xpos0,
+      site_xpos1,
+      site_vel0,
+      site_vel1,
+      site_bodyid0,
+      site_bodyid1,
+  )
+
+  if wrap_id_site_pair.size:
+    divisor_site_pair = divisor[wrap_id_site_pair]
+    momentdots /= divisor_site_pair[:, None]
+
+  tendon_nsite = np.array([
+      sum((wrap_id_site_pair >= adr) & (wrap_id_site_pair < adr + num))
+      for adr, num in zip(m.tendon_adr, m.tendon_num)
+  ])
+  tendon_has_site = tendon_nsite > 0
+  (tendon_id_site,) = np.nonzero(tendon_has_site)
+  tendon_nsite = tendon_nsite[tendon_has_site]
+  tendon_with_site = tendon_nsite.size
+  ten_site_id = np.repeat(np.arange(tendon_with_site), tendon_nsite)
+
+  momentdot = jax.ops.segment_sum(momentdots, ten_site_id, tendon_with_site)
+  ten_Jdot = ten_Jdot.at[tendon_id_site].set(momentdot)  # pylint: disable=invalid-name
+
+  # TODO(taylorhowell): time derivatives for geoms
+
+  return ten_Jdot
+
+
+def tendon_bias(m: Model, d: Data) -> Data:
+  """Add bias force due to tendon armature."""
+  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
+    raise ValueError('tendon_bias requires JAX backend implementation.')
+
+  if not m.ntendon:
+    return d
+
+  # get dense d/dt(tendon Jacobian) for each tendon
+  ten_Jdot = tendon_dot(m, d)  # pylint: disable=invalid-name
+
+  # add bias term: qfrc += ten_J * armature * ten_Jdot @ qvel
+  coef = m.tendon_armature * jp.dot(ten_Jdot, d.qvel)
+
+  if not support.is_sparse(m):
+    return d.tree_replace({
+        'qfrc_bias': (
+            d.qfrc_bias
+            + jp.sum(jax.vmap(jp.multiply)(d._impl.ten_J, coef), axis=0)
+        )
+    })
+  else:
+    # TODO(taylorhowell): implement tendon bias with sparse qM
+    raise NotImplementedError('Tendon bias with sparse qM is not implemented.')
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 96470a21..6c038522 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -17,6 +17,7 @@
 from absl.testing import absltest
 from absl.testing import parameterized
 import jax
+from jax import numpy as jp
 import mujoco
 from mujoco import mjx
 from mujoco.mjx._src import test_util
@@ -316,6 +317,58 @@ class TendonTest(parameterized.TestCase):
     _assert_eq(d.wrap_obj, dx._impl.wrap_obj, 'wrap_obj')
     _assert_eq(d.wrap_xpos, dx._impl.wrap_xpos, 'wrap_xpos')
 
+  def test_tendon_armature(self):
+    """Tests MJX tendon armature matches MuJoCo."""
+    m = mujoco.MjModel.from_xml_string("""
+        <mujoco>
+          <worldbody>
+            <site name="site0" pos="1 0 1"/>
+            <body>
+              <joint type="slide" axis="0 0 1"/>
+              <joint type="hinge" axis="0 1 0"/>
+              <geom type="box" size="0.1 0.1 0.1" mass="1" pos="1 0 0"/>
+              <site name="site1"/>
+            </body>
+          </worldbody>
+          <tendon>
+            <spatial armature="123">
+              <site site="site0"/>
+              <site site="site1"/>
+            </spatial>
+            <spatial armature="456">
+              <site site="site0"/>
+              <site site="site1"/>
+            </spatial>
+          </tendon>
+          <keyframe>
+            <key qpos="1.2345 1.2345" qvel="1.2345 1.2345"/>
+          </keyframe>
+        </mujoco>
+        """)
+
+    d = mujoco.MjData(m)
+    mujoco.mj_resetDataKeyframe(m, d, 0)
+    mujoco.mj_forward(m, d)
+
+    qM = np.zeros((m.nv, m.nv))  # pylint: disable=invalid-name
+    mujoco.mj_fullM(m, qM, d.qM)
+
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+
+    dx = dx.tree_replace(
+        {'_impl.qM': jp.zeros((m.nv, m.nv)), 'qfrc_bias': jp.zeros(m.nv)}
+    )
+
+    dx = mjx.crb(mx, dx)
+    dx = mjx.tendon_armature(mx, dx)
+
+    _assert_eq(dx._impl.qM, qM, 'qM')
+
+    dx = mjx.rne(mx, dx)
+    dx = mjx.tendon_bias(mx, dx)
+    _assert_eq(dx.qfrc_bias, d.qfrc_bias, 'qfrc_bias')
+
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index 15715021..ba62d9e3 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -142,6 +142,7 @@ def jac(
     m: Model, d: Data, point: jax.Array, body_id: jax.Array
 ) -> Tuple[jax.Array, jax.Array]:
   """Compute pair of (NV, 3) Jacobians of global point attached to body."""
+  # TODO(taylorhowell): statically construct mask
   fn = lambda carry, b: b if carry is None else b + carry
   mask = (jp.arange(m.nbody) == body_id) * 1
   mask = scan.body_tree(m, fn, 'b', 'b', mask, reverse=True)
@@ -155,6 +156,42 @@ def jac(
   return jacp, jacr
 
 
+def jac_dot(
+    m: Model, d: Data, point: jax.Array, body_id: jax.Array
+) -> Tuple[jax.Array, jax.Array]:
+  """Compute pair of (NV, 3) Jacobian time derivatives of global point attached to body."""
+  # TODO(taylorhowell): statically construct mask
+  fn = lambda carry, b: b if carry is None else b + carry
+  mask = (jp.arange(m.nbody) == body_id) * 1
+  mask = scan.body_tree(m, fn, 'b', 'b', mask, reverse=True)
+  mask = mask[jp.array(m.dof_bodyid)] > 0
+
+  offset = point - d.subtree_com[jp.array(m.body_rootid)[body_id]]
+  pvel_lin = d.cvel[body_id][3:] - jp.cross(offset, d.cvel[body_id][:3])
+
+  cdof = d._impl.cdof
+  cdof_dot = d._impl.cdof_dot
+
+  # check for quaternion
+  jnt_type = m.jnt_type[m.dof_jntid]
+  dof_adr = m.jnt_dofadr[m.dof_jntid]
+  is_quat = (jnt_type == JointType.BALL) | (
+      jnt_type == JointType.FREE & (np.arange(m.nv) >= dof_adr + 3)
+  )
+
+  # compute cdof_dot for quaternion (use current body cvel)
+  cdof_dot_quat = jax.vmap(math.motion_cross)(d.cvel[m.dof_bodyid], cdof)
+  cdof_dot = jp.where(is_quat[:, None], cdof_dot_quat, cdof_dot)
+
+  jacp = jax.vmap(
+      lambda a, b: a[3:] + jp.cross(a[:3], offset) + jp.cross(b[:3], pvel_lin)
+  )(cdof_dot, cdof)
+  jacp = jax.vmap(jp.multiply)(jacp, mask)
+  jacr = jax.vmap(jp.multiply)(cdof_dot[:, :3], mask)  # pytype: disable=attribute-error
+
+  return jacp, jacr
+
+
 def apply_ft(
     m: Model,
     d: Data,

From bf56312c9d9f4b0d40bc81f6f55de20c7645cf74 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 10 Jun 2025 03:33:27 -0700
Subject: [PATCH 11/82] Increase size of image in changelog

PiperOrigin-RevId: 769549620
Change-Id: I8666771ecf50b91342694deeb357b3edfa3f62d9
---
 doc/changelog.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index f82052b1..589fb67b 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -28,7 +28,7 @@ Simulate
   and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
 
 .. image:: images/changelog/procedural_terrain_generation.png
-   :width: 25%
+   :width: 33%
    :align: right
 
 Python bindings

From 5f42078dc1491b08917606ad17f8a37038c1945d Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 10 Jun 2025 10:14:42 -0700
Subject: [PATCH 12/82] Do not write nameless frames whose class is "main".

PiperOrigin-RevId: 769685151
Change-Id: I3d993d7521db2b2adbf611c3e4eb5b4b293bdc30
---
 src/xml/xml_native_writer.cc       | 3 ++-
 test/xml/xml_native_writer_test.cc | 8 +++-----
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index de2aef96..1b82b9fb 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -1595,7 +1595,8 @@ XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
     return elem;
   }
 
-  if (frame->name.empty() && frame->classname.empty()) {
+  // TODO: empty classname should not occur (but does)
+  if (frame->name.empty() && (frame->classname.empty() || frame->classname == "main")) {
     return elem;
   }
 
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index 2ad13bc7..6876245a 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -762,7 +762,7 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
         <frame pos="0 1 0" name="f2" childclass="dframe">
           <geom pos="0 1 0"/>
           <frame pos="0 1 0" name="f3">
-            <frame pos="0 1 0" name="f4">
+            <frame pos="0 1 0">
               <body pos="1 0 0">
                 <geom pos="0 0 1"/>
               </body>
@@ -791,16 +791,14 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
       <frame name="f2" childclass="dframe">
         <geom pos="0 2 0"/>
         <frame name="f3" childclass="dframe">
-          <frame name="f4" childclass="dframe">
+          <frame childclass="dframe">
             <body pos="1 3 0">
               <geom pos="0 0 1"/>
             </body>
           </frame>
         </frame>
       </frame>
-      <frame>
-        <light pos="0 0 1" dir="0 0 -1"/>
-      </frame>
+      <light pos="0 0 1" dir="0 0 -1"/>
     </body>
     <frame name="f1">
       <geom size="0.5" quat="0.906308 0 0 0.422618"/>

From e5631c0bab16b6995722054b1700b74b7c055fec Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 10 Jun 2025 12:45:49 -0700
Subject: [PATCH 13/82] [MJX] Don't raise sparse qM error in tendon_armature if
 there are no tendons.

PiperOrigin-RevId: 769753590
Change-Id: I5dd7a953f08e0566c5e22c2c926d7bd9c2c57bd6
---
 mjx/mujoco/mjx/_src/smooth.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index fba3d3ce..bef176d6 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -1191,6 +1191,9 @@ def tendon_armature(m: Model, d: Data) -> Data:
   if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
     raise ValueError('tendon_armature requires JAX backend implementation.')
 
+  if not m.ntendon:
+    return d
+
   if not support.is_sparse(m):
     return d.tree_replace({
         '_impl.qM': (

From f978b4eea368450267dd5e8825347653bec7355e Mon Sep 17 00:00:00 2001
From: Kevin Sayed <ksayed@google.com>
Date: Tue, 10 Jun 2025 14:48:28 -0700
Subject: [PATCH 14/82] Release notes for 3.3.3 + update git hashes.

- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.

PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
---
 cmake/MujocoDependencies.cmake | 10 ++++-----
 doc/changelog.rst              | 40 +++++++++++++++++-----------------
 python/mujoco/CMakeLists.txt   |  4 ++--
 3 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 9d5dc01c..78522705 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -15,7 +15,7 @@
 # Build configuration for third party libraries used in MuJoCo.
 
 set(MUJOCO_DEP_VERSION_lodepng
-    b4ed2cd7ecf61d29076169b49199371456d4f90b
+    17d08dd26cac4d63f43af217ebd70318bfb8189c
     CACHE STRING "Version of `lodepng` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_tinyxml2
@@ -35,21 +35,21 @@ set(MUJOCO_DEP_VERSION_ccd
     CACHE STRING "Version of `ccd` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_qhull
-    0c8fc90d2037588024d9964515c1e684f6007ecc
+    c7bee59d068a69f427b1273e71cdc5bc455a5bdd
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    464c1d097891a1462ab28bf8bb763c1683883892
+    d0b490ee091629068e0c11953419eb089f9e6bb2
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
+    bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0
     CACHE STRING "Version of `abseil` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_gtest
-    6910c9d9165801d8827d628cb72eb7ea9dd538c5 # v1.16.0
+    52eb8108c5bdec04579160ae17225d66034bd723 # v1.17.0
     CACHE STRING "Version of `gtest` to be fetched."
 )
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 589fb67b..6469e9f4 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,30 +2,30 @@
 Changelog
 =========
 
-Upcoming version (not yet release)
-----------------------------------
+Version 3.3.3 (June 10, 2025)
+-----------------------------
 
 General
 ^^^^^^^
-- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
-  solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
-- Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
-  the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
-- Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
-  :ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
-  types.
-- Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
-  introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
-  ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
-- Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
-- Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no references. The fusestatic
-  flag will now fuse all bodies which are not referenced and ignore bodies which are referenced.
+1. Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
+   solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
+2. Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
+   the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
+3. Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
+   :ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
+   types.
+4. Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
+   introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
+   ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
+5. Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
+6. Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no references. The fusestatic
+   flag will now fuse all bodies which are not referenced and ignore bodies which are referenced.
 
 Simulate
 ^^^^^^^^
-- The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
-  ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
-  and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
+7. The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
+   ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
+   and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
 
 .. image:: images/changelog/procedural_terrain_generation.png
    :width: 33%
@@ -34,11 +34,11 @@ Simulate
 Python bindings
 ^^^^^^^^^^^^^^^
 
-- Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
+8. Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
 
 MJX
 ^^^
-- Added tendon armature.
+9. Added tendon armature.
 
 Version 3.3.2 (April 28, 2025)
 ------------------------------
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index b1aec9ed..e103f9c0 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -140,7 +140,7 @@ findorfetch(
   GIT_REPO
   https://github.com/abseil/abseil-cpp
   GIT_TAG
-  d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
+  bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0
   TARGETS
   ${MUJOCO_PYTHON_ABSL_TARGETS}
   EXCLUDE_FROM_ALL
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  464c1d097891a1462ab28bf8bb763c1683883892
+  d0b490ee091629068e0c11953419eb089f9e6bb2
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL

From 65deedbc755fecd8ae73ba2070fa9b99337405f9 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Wed, 11 Jun 2025 18:04:51 -0700
Subject: [PATCH 15/82] Rename backend_impl to impl. Remove _full_compat from
 callsites.

PiperOrigin-RevId: 770400560
Change-Id: I7bec79aeae07322a30b15cc04d4dd05077741a8b
---
 mjx/mujoco/mjx/_src/io.py      | 186 +++++++++++++--------------
 mjx/mujoco/mjx/_src/io_test.py | 228 ++++++++++++++++-----------------
 mjx/mujoco/mjx/_src/sensor.py  |   2 +-
 mjx/mujoco/mjx/_src/types.py   |  18 +--
 4 files changed, 217 insertions(+), 217 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index f8aaf565..e851d1e2 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -41,51 +41,51 @@ def _is_cuda_gpu_device(device: jax.Device) -> bool:
   return device in cuda_devices
 
 
-def _resolve_backend_impl(
+def _resolve_impl(
     device: jax.Device,
-) -> types.BackendImpl:
-  """Pick a default backend impl based on the device specified."""
+) -> types.Impl:
+  """Pick a default implementation based on the device specified."""
   if _is_cuda_gpu_device(device):
     # TODO(btaba): Remove flag once Warp is ready to launch.
     mjx_warp_enabled = os.environ.get('MJX_WARP_ENABLED', 'f').lower() == 'true'
     if mjx_warp_enabled:
-      logging.debug('Picking default backend implementation: Warp.')
-      return types.BackendImpl.WARP
+      logging.debug('Picking default implementation: Warp.')
+      return types.Impl.WARP
     logging.info('MJX Warp is disabled via MJX_WARP_ENABLED=false.')
 
   if device.platform in ('gpu', 'tpu'):
-    logging.debug('Picking default backend implementation: JAX.')
-    return types.BackendImpl.JAX
+    logging.debug('Picking default implementation: JAX.')
+    return types.Impl.JAX
 
   if device.platform == 'cpu':
     mjx_c_default = (
         os.environ.get('MJX_C_DEFAULT_ENABLED', 'f').lower() == 'true'
     )
     if mjx_c_default:
-      logging.debug('Picking default backend implementation: C.')
-      return types.BackendImpl.C
-    return types.BackendImpl.JAX
+      logging.debug('Picking default implementation: C.')
+      return types.Impl.C
+    return types.Impl.JAX
 
   raise ValueError(f'Unsupported device: {device}')
 
 
 def _resolve_device(
-    backend_impl: types.BackendImpl,
+    impl: types.Impl,
 ) -> jax.Device:
-  """Resolves a device based on the backend implementation."""
-  backend_impl = types.BackendImpl(backend_impl)
-  if backend_impl == types.BackendImpl.JAX:
+  """Resolves a device based on the implementation."""
+  impl = types.Impl(impl)
+  if impl == types.Impl.JAX:
     device_0 = jax.devices()[0]
     logging.debug('Picking default device: %s.', device_0)
     return device_0
 
-  if backend_impl == types.BackendImpl.C:
+  if impl == types.Impl.C:
     cpu_0 = jax.devices('cpu')[0]
     logging.debug('Picking default device: %s', cpu_0)
     return cpu_0
 
-  if backend_impl == types.BackendImpl.WARP:
-    # WARP backend requires a CUDA GPU.
+  if impl == types.Impl.WARP:
+    # WARP implementation requires a CUDA GPU.
     cuda_gpus = [d for d in jax.devices('cuda')]
     if not cuda_gpus:
       raise AssertionError(
@@ -96,64 +96,64 @@ def _resolve_device(
     logging.debug('Picking default device: %s', cuda_gpus[0])
     return cuda_gpus[0]
 
-  raise ValueError(f'Unsupported backend implementation: {backend_impl}')
+  raise ValueError(f'Unsupported implementation: {impl}')
 
 
-def _check_backend_impl_device_compatibility(
-    backend_impl: Union[str, types.BackendImpl],
+def _check_impl_device_compatibility(
+    impl: Union[str, types.Impl],
     device: jax.Device,
 ) -> None:
-  """Checks that the backend implementation is compatible with the device."""
-  if backend_impl is None:
-    raise ValueError('No backend implementation specified.')
+  """Checks that the implementation is compatible with the device."""
+  if impl is None:
+    raise ValueError('No implementation specified.')
 
-  backend_impl = types.BackendImpl(backend_impl)
+  impl = types.Impl(impl)
 
-  if backend_impl == types.BackendImpl.WARP:
+  if impl == types.Impl.WARP:
     if not _is_cuda_gpu_device(device):
       raise AssertionError(
-          'Warp backend implementation requires a CUDA GPU device, got '
+          'Warp implementation requires a CUDA GPU device, got '
           f'{device}.'
       )
 
     mjx_warp_enabled = os.environ.get('MJX_WARP_ENABLED', 'f').lower() == 'true'
     if not mjx_warp_enabled:
       raise AssertionError(
-          'Warp backend implementation is disabled via MJX_WARP_ENABLED=false.'
+          'Warp implementation is disabled via MJX_WARP_ENABLED=false.'
       )
 
   is_cpu_device = device.platform == 'cpu'
-  if backend_impl == types.BackendImpl.C:
+  if impl == types.Impl.C:
     if not is_cpu_device:
       raise AssertionError(
-          f'C backend implementation requires a CPU device, got {device}.'
+          f'C implementation requires a CPU device, got {device}.'
       )
 
-  # NB: JAX backend works with any device.
+  # NB: JAX implementation works with any device.
 
 
-def _resolve_backend_impl_and_device(
-    backend_impl: Optional[Union[str, types.BackendImpl]],
+def _resolve_impl_and_device(
+    impl: Optional[Union[str, types.Impl]],
     device: Optional[jax.Device] = None,
-) -> Tuple[types.BackendImpl, jax.Device]:
-  """Resolves a backend implementation and device."""
-  if backend_impl:
-    backend_impl = types.BackendImpl(backend_impl)
+) -> Tuple[types.Impl, jax.Device]:
+  """Resolves a implementation and device."""
+  if impl:
+    impl = types.Impl(impl)
 
-  has_backend_impl, has_device = backend_impl is not None, device is not None
-  if (has_backend_impl, has_device) == (True, True):
+  has_impl, has_device = impl is not None, device is not None
+  if (has_impl, has_device) == (True, True):
     pass
-  elif (has_backend_impl, has_device) == (True, False):
-    device = _resolve_device(backend_impl)
-  elif (has_backend_impl, has_device) == (False, True):
-    backend_impl = _resolve_backend_impl(device)
+  elif (has_impl, has_device) == (True, False):
+    device = _resolve_device(impl)
+  elif (has_impl, has_device) == (False, True):
+    impl = _resolve_impl(device)
   else:
     device = jax.devices(jax.default_backend())[0]
     logging.info('Using JAX default device: %s.', device)
-    backend_impl = _resolve_backend_impl(device)
+    impl = _resolve_impl(device)
 
-  _check_backend_impl_device_compatibility(backend_impl, device)
-  return backend_impl, device  # pytype: disable=bad-return-type
+  _check_impl_device_compatibility(impl, device)
+  return impl, device  # pytype: disable=bad-return-type
 
 
 def _strip_weak_type(tree):
@@ -167,7 +167,7 @@ def _strip_weak_type(tree):
 
 def _put_option(
     o: mujoco.MjOption,
-    backend_impl: types.BackendImpl,
+    impl: types.Impl,
     impl_fields: Optional[dict[str, Any]] = None,
 ) -> types.Option:
   """Returns mjx.Option given mujoco.MjOption."""
@@ -195,7 +195,7 @@ def _put_option(
   fields['disableflags'] = types.DisableBit(o.disableflags)
   fields['enableflags'] = types.EnableBit(o.enableflags)
 
-  if backend_impl == types.BackendImpl.JAX:
+  if impl == types.Impl.JAX:
     has_fluid_params = o.density > 0 or o.viscosity > 0 or o.wind.any()
     implicitfast = o.integrator == mujoco.mjtIntegrator.mjINT_IMPLICITFAST
     if implicitfast and has_fluid_params:
@@ -203,12 +203,12 @@ def _put_option(
     fields['has_fluid_params'] = has_fluid_params
     return types.OptionJAX(**fields, **(impl_fields or {}))
 
-  if backend_impl == types.BackendImpl.C:
+  if impl == types.Impl.C:
     c_field_keys = types.OptionC.__annotations__.keys() - fields.keys()
     c_fields = {k: getattr(o, k, None) for k in c_field_keys}
     return types.OptionC(**fields, **c_fields, **(impl_fields or {}))
 
-  raise NotImplementedError(f'Unsupported backend: {backend_impl}')
+  raise NotImplementedError(f'Unsupported implementation: {impl}')
 
 
 def _put_statistic(s: mujoco.MjStatistic) -> types.Statistic:
@@ -283,7 +283,7 @@ def _put_model_jax(
   mj_field_names = {f.name for f in types.Model.fields() if f.name != '_impl'}
   fields = {f: getattr(m, f) for f in mj_field_names}
   fields['cam_mat0'] = fields['cam_mat0'].reshape((-1, 3, 3))
-  fields['opt'] = _put_option(m.opt, types.BackendImpl.JAX)
+  fields['opt'] = _put_option(m.opt, types.Impl.JAX)
   fields['stat'] = _put_statistic(m.stat)
 
   fields_jax = {}
@@ -340,7 +340,7 @@ def _put_model_c(
   mj_field_names = {f.name for f in types.Model.fields() if f.name != '_impl'}
   fields = {f: getattr(m, f) for f in mj_field_names}
   fields['cam_mat0'] = fields['cam_mat0'].reshape((-1, 3, 3))
-  fields['opt'] = _put_option(m.opt, backend_impl=types.BackendImpl.C)
+  fields['opt'] = _put_option(m.opt, impl=types.Impl.C)
   fields['stat'] = _put_statistic(m.stat)
 
   c_impl_keys = (
@@ -359,7 +359,7 @@ def _put_model_c(
 def put_model(
     m: mujoco.MjModel,
     device: Optional[jax.Device] = None,
-    backend_impl: Optional[Union[str, types.BackendImpl]] = None,
+    impl: Optional[Union[str, types.Impl]] = None,
     _full_compat: bool = False,  # pylint: disable=invalid-name
 ) -> types.Model:
   """Puts mujoco.MjModel onto a device, resulting in mjx.Model.
@@ -367,7 +367,7 @@ def put_model(
   Args:
     m: the model to put onto device
     device: which device to use - if unspecified picks the default device
-    backend_impl: backend implementation to use
+    impl: implementation to use
     _full_compat: put all MjModel fields onto device irrespective of MJX support
       This is an experimental feature.  Avoid using it for now.
 
@@ -375,28 +375,29 @@ def put_model(
     an mjx.Model placed on device
 
   Raises:
-    ValueError: if backend_impl is not supported
+    ValueError: if impl is not supported
     DeprecationWarning: if _full_compat is True
   """
 
   if _full_compat:
     warnings.warn(
-        'mjx.put_model(..., _full_compat=True) is deprecated.  Use'
-        ' mjx.put_model(..., backend_impl=types.BackendImpl.C) instead.',
+        'mjx.put_model(..., _full_compat=True) is deprecated and will be'
+        ' removed in MuJoCo >=3.4.  Use mjx.put_model(..., impl=types.Impl.C)'
+        ' instead.',
         DeprecationWarning,
         stacklevel=2,
     )
-    backend_impl = types.BackendImpl.C
+    impl = types.Impl.C
 
-  backend_impl, device = _resolve_backend_impl_and_device(backend_impl, device)
-  if backend_impl == types.BackendImpl.JAX:
+  impl, device = _resolve_impl_and_device(impl, device)
+  if impl == types.Impl.JAX:
     return _put_model_jax(m, device)
-  elif backend_impl == types.BackendImpl.C:
+  elif impl == types.Impl.C:
     return _put_model_c(m, device)
-  elif backend_impl == types.BackendImpl.WARP:
-    raise NotImplementedError('Warp backend not implemented yet.')
+  elif impl == types.Impl.WARP:
+    raise NotImplementedError('Warp implementation not implemented yet.')
   else:
-    raise ValueError(f'Unsupported backend implementation: {backend_impl}')
+    raise ValueError(f'Unsupported implementation: {impl}')
 
 
 def _make_data_public_fields(m: types.Model) -> Dict[str, Any]:
@@ -696,7 +697,7 @@ def _make_data_c(
 def make_data(
     m: Union[types.Model, mujoco.MjModel],
     device: Optional[jax.Device] = None,
-    backend_impl: Optional[Union[str, types.BackendImpl]] = None,
+    impl: Optional[Union[str, types.Impl]] = None,
     _full_compat: bool = False,  # pylint: disable=invalid-name
 ) -> types.Data:
   """Allocate and initialize Data.
@@ -704,7 +705,7 @@ def make_data(
   Args:
     m: the model to use
     device: which device to use - if unspecified picks the default device
-    backend_impl: backend implementation to use
+    impl: implementation to use ('jax', 'warp')
     _full_compat: put all fields onto device irrespective of MJX support This is
       an experimental feature.  Avoid using it for now. If using this flag, also
       use _full_compat for put_model.
@@ -713,35 +714,34 @@ def make_data(
     an initialized mjx.Data placed on device
 
   Raises:
-    ValueError: if the model's backend_impl does not match the make_data
-      backend_impl
-    NotImplementedError: if the backend_impl is not implemented yet
+    ValueError: if the model's impl does not match the make_data impl
+    NotImplementedError: if the impl is not implemented yet
     DeprecationWarning: if _full_compat is used
   """
   if _full_compat:
     warnings.warn(
         'mjx.make_data(..., _full_compat=True) is deprecated.  Use'
-        ' mjx.make_data(..., backend_impl=types.BackendImpl.C) instead.',
+        ' mjx.make_data(..., impl=types.Impl.C) instead.',
         DeprecationWarning,
         stacklevel=2,
     )
-    backend_impl = types.BackendImpl.C
+    impl = types.Impl.C
 
-  backend_impl, device = _resolve_backend_impl_and_device(backend_impl, device)
+  impl, device = _resolve_impl_and_device(impl, device)
 
-  if isinstance(m, types.Model) and m.backend_impl != backend_impl:
+  if isinstance(m, types.Model) and m.impl != impl:
     raise ValueError(
-        f'Model backend_impl {m.backend_impl} does not match make_data '
-        f'backend_impl {backend_impl}.'
+        f'Model impl {m.impl} does not match make_data '
+        f'implementation {impl}.'
     )
 
-  if backend_impl == types.BackendImpl.JAX:
+  if impl == types.Impl.JAX:
     return _make_data_jax(m, device)
-  elif backend_impl == types.BackendImpl.C:
+  elif impl == types.Impl.C:
     return _make_data_c(m, device)
 
   raise NotImplementedError(
-      f'make_data for backend_impl "{backend_impl}" not implemented yet.'
+      f'make_data for implementation "{impl}" not implemented yet.'
   )
 
 
@@ -951,7 +951,7 @@ def _put_data_c(
       if hasattr(d, f.name)
   }
 
-  # TODO(stunya): support islanding via C backend impl.
+  # TODO(stunya): support islanding via C impl.
   impl_fields['solver_niter'] = impl_fields['solver_niter'][0]
 
   # TODO(btaba): remove dense actuator moment.
@@ -1039,7 +1039,7 @@ def put_data(
     m: mujoco.MjModel,
     d: mujoco.MjData,
     device: Optional[jax.Device] = None,
-    backend_impl: Optional[Union[str, types.BackendImpl]] = None,
+    impl: Optional[Union[str, types.Impl]] = None,
     _full_compat: bool = False,  # pylint: disable=invalid-name
 ) -> types.Data:
   """Puts mujoco.MjData onto a device, resulting in mjx.Data.
@@ -1048,7 +1048,7 @@ def put_data(
     m: the model to use
     d: the data to put on device
     device: which device to use - if unspecified picks the default device
-    backend_impl: backend implementation to use
+    impl: implementation to use ('jax', 'warp')
     _full_compat: put all MjModel fields onto device irrespective of MJX support
       This is an experimental feature.  Avoid using it for now. If using this
       flag, also use _full_compat for put_model.
@@ -1059,20 +1059,20 @@ def put_data(
   if _full_compat:
     warnings.warn(
         'mjx.put_data(..., _full_compat=True) is deprecated.  Use'
-        ' mjx.put_data(..., backend_impl=types.BackendImpl.C) instead.',
+        ' mjx.put_data(..., impl=types.Impl.C) instead.',
         DeprecationWarning,
         stacklevel=2,
     )
-    backend_impl = types.BackendImpl.C
+    impl = types.Impl.C
 
-  backend_impl, device = _resolve_backend_impl_and_device(backend_impl, device)
-  if backend_impl == types.BackendImpl.JAX:
+  impl, device = _resolve_impl_and_device(impl, device)
+  if impl == types.Impl.JAX:
     return _put_data_jax(m, d, device)
-  elif backend_impl == types.BackendImpl.C:
+  elif impl == types.Impl.C:
     return _put_data_c(m, d, device)
 
   raise NotImplementedError(
-      f'put_data for backend_impl "{backend_impl}" not implemented yet.'
+      f'put_data for implementation "{impl}" not implemented yet.'
   )
 
 
@@ -1097,7 +1097,7 @@ def _get_data_into(
   batch_size = d.qpos.shape[0] if batched else 1
 
   dof_i, dof_j = [], []
-  if d.backend_impl == types.BackendImpl.JAX:
+  if d.impl == types.Impl.JAX:
     for i in range(m.nv):
       j = i
       while j > -1:
@@ -1116,13 +1116,13 @@ def _get_data_into(
     if ncon != result_i.ncon or nefc != result_i.nefc or nj != result_i.nJ:
       mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc, nJ=nj)  # pylint: disable=protected-access
 
-    if d.backend_impl == types.BackendImpl.JAX:
+    if d.impl == types.Impl.JAX:
       all_fields = types.Data.fields() + types.DataJAX.fields()
-    elif d.backend_impl == types.BackendImpl.C:
+    elif d.impl == types.Impl.C:
       all_fields = types.Data.fields() + types.DataC.fields()
     else:
       raise NotImplementedError(
-          f'get_data_into for backend_impl "{d.backend_impl}" not implemented'
+          f'get_data_into for implementation "{d.impl}" not implemented'
           ' yet.'
       )
 
@@ -1188,7 +1188,7 @@ def _get_data_into(
           value = value.reshape(-1)
       elif field.name.startswith('efc_'):
         value = value[efc_active]
-      if d.backend_impl == types.BackendImpl.JAX:
+      if d.impl == types.Impl.JAX:
         if field.name == 'qM' and not support.is_sparse(m):
           value = value[dof_i, dof_j]
         elif field.name == 'qLD' and not support.is_sparse(m):
@@ -1226,12 +1226,12 @@ def get_data_into(
 
   d = jax.device_get(d)
 
-  if d.backend_impl in (types.BackendImpl.JAX, types.BackendImpl.C):
+  if d.impl in (types.Impl.JAX, types.Impl.C):
     # TODO(stunya): Split out _get_data_into once codepaths diverge enough.
     return _get_data_into(result, m, d)
 
   raise NotImplementedError(
-      f'get_data_into for backend_impl "{d.backend_impl}" not implemented yet.'
+      f'get_data_into for implementation "{d.impl}" not implemented yet.'
   )
 
 
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 33565999..4bac5e3c 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -26,8 +26,8 @@ from mujoco.mjx._src import io as mjx_io
 from mujoco.mjx._src import test_util
 
 # pylint: disable=g-importing-member
-from mujoco.mjx._src.types import BackendImpl
 from mujoco.mjx._src.types import ConeType
+from mujoco.mjx._src.types import Impl
 # pylint: enable=g-importing-member
 import numpy as np
 
@@ -114,11 +114,11 @@ class ModelIOTest(parameterized.TestCase):
 
   @parameterized.product(
       xml=(_MULTIPLE_CONVEX_OBJECTS, _MULTIPLE_CONSTRAINTS),
-      backend_impl=('jax', 'c'),
+      impl=('jax', 'c'),
   )
-  def test_put_model(self, xml, backend_impl):
+  def test_put_model(self, xml, impl):
     m = mujoco.MjModel.from_xml_string(xml)
-    mx = mjx.put_model(m, backend_impl=backend_impl)
+    mx = mjx.put_model(m, impl=impl)
 
     def assert_not_weak_type(x):
       if isinstance(x, jax.Array):
@@ -140,10 +140,10 @@ class ModelIOTest(parameterized.TestCase):
     self.assertEqual(mx.nM, m.nM)
     self.assertAlmostEqual(mx.opt.timestep, m.opt.timestep)
 
-    if backend_impl == 'jax':
+    if impl == 'jax':
       # fields restricted to MuJoCo should not be populated
       self.assertFalse(hasattr(mx, 'bvh_aabb'))
-    elif backend_impl == 'c':
+    elif impl == 'c':
       # Options specific to C are populated.
       self.assertEqual(mx.opt.apirate, m.opt.apirate)
       # Fields private to C backend impl are populated.
@@ -177,7 +177,7 @@ class ModelIOTest(parameterized.TestCase):
         mujoco.MjModel.from_xml_string(
             '<mujoco><option viscosity="3.0"/><worldbody/></mujoco>'
         ),
-        backend_impl='jax',
+        impl='jax',
     )
     self.assertTrue(m.opt.has_fluid_params)
 
@@ -218,7 +218,7 @@ class ModelIOTest(parameterized.TestCase):
             </body>
           </worldbody>
         </mujoco>"""),
-          backend_impl='jax',
+          impl='jax',
       )
 
   def test_implicitfast_fluid_not_implemented(self):
@@ -229,18 +229,18 @@ class ModelIOTest(parameterized.TestCase):
           <option viscosity="3.0" integrator="implicitfast"/>
           <worldbody/>
         </mujoco>"""),
-          backend_impl='jax',
+          impl='jax',
       )
 
   def test_wrap_inside(self):
     m = test_util.load_test_file('tendon/wrap_sidesite.xml')
-    mx0 = mjx.put_model(m, backend_impl='jax')
+    mx0 = mjx.put_model(m, impl='jax')
     np.testing.assert_equal(
         mx0._impl.is_wrap_inside,
         np.array([1, 0, 1, 0, 1, 1, 0]),
     )
     m.site_pos[2] = m.site_pos[1]
-    mx1 = mjx.put_model(m, backend_impl='jax')
+    mx1 = mjx.put_model(m, impl='jax')
     np.testing.assert_equal(
         mx1._impl.is_wrap_inside,
         np.array([0, 0, 1, 0, 1, 0, 0]),
@@ -251,10 +251,10 @@ class DataIOTest(parameterized.TestCase):
   """IO tests for mjx.Data."""
 
   @parameterized.parameters('jax', 'c')
-  def test_make_data(self, backend_impl: str):
+  def test_make_data(self, impl: str):
     """Test that make_data returns the correct shapes."""
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
-    d = mjx.make_data(m, backend_impl=backend_impl)
+    d = mjx.make_data(m, impl=impl)
 
     nq = 22
     nbody = 5
@@ -312,34 +312,34 @@ class DataIOTest(parameterized.TestCase):
     self.assertEqual(d.qfrc_inverse.shape, (nv,))
     self.assertEqual(d._impl.efc_force.shape, (nefc,))
 
-    if backend_impl == 'jax':
+    if impl == 'jax':
       self.assertEqual(d._impl.qM.shape, (nv, nv))
       self.assertEqual(d._impl.qLD.shape, (nv, nv))
       self.assertEqual(d._impl.qLDiagInv.shape, (0,))
-    elif backend_impl == 'c':
+    elif impl == 'c':
       self.assertEqual(d._impl.qM.shape, (nm,))
       self.assertEqual(d._impl.qLD.shape, (nm,))
       self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
 
     # test sparse
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mjx.make_data(m, backend_impl=backend_impl)
+    d = mjx.make_data(m, impl=impl)
     self.assertEqual(d._impl.qM.shape, (nm,))
     self.assertEqual(d._impl.qLD.shape, (nm,))
     self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
 
-    if backend_impl == 'c':
+    if impl == 'c':
       # check C specific fields
       self.assertEqual(d._impl.light_xpos.shape, (m.nlight, 3))
       self.assertEqual(d._impl.bvh_active.shape, (m.nbvh,))
 
   @parameterized.parameters('jax', 'c')
-  def test_put_data(self, backend_impl: str):
+  def test_put_data(self, impl: str):
     """Test that put_data puts the correct data for dense and sparse."""
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx = mjx.put_data(m, d, impl=impl)
 
     # check a few fields
     np.testing.assert_allclose(dx.qpos, d.qpos)
@@ -356,12 +356,12 @@ class DataIOTest(parameterized.TestCase):
         )
     )
 
-    if backend_impl == 'jax':
+    if impl == 'jax':
       # check that qM is transformed properly
       qm = np.zeros((m.nv, m.nv), dtype=np.float64)
       mujoco.mj_fullM(m, qm, d.qM)
       np.testing.assert_allclose(qm, mjx.full_m(mjx.put_model(m), dx))
-    elif backend_impl == 'c':
+    elif impl == 'c':
       np.testing.assert_allclose(dx._impl.qM, d.qM)
       np.testing.assert_allclose(dx._impl.qLD, d.qLD)
       np.testing.assert_allclose(dx._impl.qLDiagInv, d.qLDiagInv)
@@ -417,7 +417,7 @@ class DataIOTest(parameterized.TestCase):
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx_sparse = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx_sparse = mjx.put_data(m, d, impl=impl)
     np.testing.assert_allclose(dx_sparse._impl.efc_J, dx._impl.efc_J, atol=1e-8)
 
     # check sparse mass matrices are correct
@@ -431,25 +431,25 @@ class DataIOTest(parameterized.TestCase):
     m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx_from_dense = mjx.put_data(m, d, backend_impl=backend_impl)
-    if backend_impl == 'jax':
+    dx_from_dense = mjx.put_data(m, d, impl=impl)
+    if impl == 'jax':
       qm = np.zeros((m.nv, m.nv))
       mujoco.mj_fullM(m, qm, d.qM)
       np.testing.assert_allclose(dx_from_dense._impl.qM, qm, atol=1e-8)
-    elif backend_impl == 'c':
+    elif impl == 'c':
       np.testing.assert_allclose(dx_from_dense._impl.qM, d.qM, atol=1e-8)
 
   @parameterized.parameters(
       ('jax', False), ('jax', True), ('c', False), ('c', True)
   )
-  def test_get_data(self, backend_impl: str, sparse: bool):
+  def test_get_data(self, impl: str, sparse: bool):
     """Test that get_data makes correct MjData."""
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     if sparse:
       m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx = mjx.put_data(m, d, impl=impl)
     d_2: mujoco.MjData = mjx.get_data(m, dx)
 
     # check a few fields
@@ -505,7 +505,7 @@ class DataIOTest(parameterized.TestCase):
     np.testing.assert_allclose(d_2.efc_aref, d.efc_aref)
     np.testing.assert_allclose(d_2.contact.efc_address, d.contact.efc_address)
 
-    if backend_impl == 'c':
+    if impl == 'c':
       # check fields specific to the C implementation
       np.testing.assert_allclose(d_2.bvh_active, d.bvh_active)
 
@@ -540,13 +540,13 @@ class DataIOTest(parameterized.TestCase):
     mjx.get_data(m, dx)
 
   @parameterized.parameters('jax', 'c')
-  def test_get_data_batched(self, backend_impl):
+  def test_get_data_batched(self, impl):
     """Test that get_data makes correct List[MjData] for batched Data."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx = mjx.put_data(m, d, impl=impl)
     # second data in batch has contact dist > 0, disables contact
     dx_b = jax.tree_util.tree_map(lambda x: jp.stack((x, x + 0.05)), dx)
     ds = mjx.get_data(m, dx_b)
@@ -557,13 +557,13 @@ class DataIOTest(parameterized.TestCase):
     self.assertEqual(ds[1].ncon, 0)
 
   @parameterized.parameters('jax', 'c')
-  def test_get_data_into(self, backend_impl):
+  def test_get_data_into(self, impl):
     """Test that get_data_into correctly populates an MjData."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx = mjx.put_data(m, d, impl=impl)
     d_2 = mujoco.MjData(m)
     mjx.get_data_into(d_2, m, dx)
 
@@ -580,32 +580,32 @@ class DataIOTest(parameterized.TestCase):
     np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
 
   @parameterized.parameters('jax', 'c')
-  def test_get_data_into_wrong_shape(self, backend_impl):
+  def test_get_data_into_wrong_shape(self, impl):
     """Tests that get_data_into throwsif input and output shapes don't match."""
 
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx = mjx.put_data(m, d, impl=impl)
     m_2 = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
     d_2 = mujoco.MjData(m_2)
     with self.assertRaisesRegex(ValueError, r'Input field.*has shape.*'):
       mjx.get_data_into(d_2, m, dx)
 
   @parameterized.parameters('jax', 'c')
-  def test_make_matches_put(self, backend_impl):
+  def test_make_matches_put(self, impl):
     """Test that make_data produces a pytree that matches put_data."""
     m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
     d = mujoco.MjData(m)
     mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, backend_impl=backend_impl)
+    dx = mjx.put_data(m, d, impl=impl)
 
     step_fn = lambda d: d.replace(time=d.time + 1)
     step_fn_jit = jax.jit(step_fn).lower(dx).compile()
 
     # placing an MjData onto device should yield the same treedef mjx.Data as
     # calling make_data.  they should be interchangeable for jax functions:
-    step_fn_jit(mjx.make_data(m, backend_impl=backend_impl))
+    step_fn_jit(mjx.make_data(m, impl=impl))
 
   def test_contact_elliptic_condim1(self):
     """Test that condim=1 with ConeType.ELLIPTIC is not implemented."""
@@ -654,7 +654,7 @@ class DataIOTest(parameterized.TestCase):
         </mujoco>
       """)
     with self.assertRaises(NotImplementedError):
-      mjx.put_model(m, backend_impl='jax')
+      mjx.put_model(m, impl='jax')
 
 
 class FullCompatTest(parameterized.TestCase):
@@ -678,71 +678,71 @@ class FullCompatTest(parameterized.TestCase):
     m = mujoco.MjModel.from_xml_string(xml)
     with self.assertWarns(DeprecationWarning):
       out = mjx_io.put_model(m, _full_compat=True)
-      self.assertEqual(out.backend_impl, BackendImpl.C)
+      self.assertEqual(out.impl, Impl.C)
     with self.assertWarns(DeprecationWarning):
       out = mjx_io.make_data(m, _full_compat=True)
-      self.assertEqual(out.backend_impl, BackendImpl.C)
+      self.assertEqual(out.impl, Impl.C)
 
 
-# Test cases for `_resolve_backend_impl_and_device` where the device is
+# Test cases for `_resolve_impl_and_device` where the device is
 # specified by the user and the device is available.
 _DEVICE_TEST_CASES = [
     # Arguments use the following format:
-    # (device_type_str, backend_impl_str,
-    #  (expected_device, expected_backend_impl)))
+    # (device_type_str, impl_str,
+    #  (expected_device, expected_impl)))
     # No backend specified.
-    ('cpu', None, ('cpu', BackendImpl.C)),
-    ('gpu-notnvidia', None, ('gpu', BackendImpl.JAX)),
-    ('gpu-nvidia', None, ('gpu', BackendImpl.WARP)),
-    ('tpu', None, ('tpu', BackendImpl.JAX)),
+    ('cpu', None, ('cpu', Impl.C)),
+    ('gpu-notnvidia', None, ('gpu', Impl.JAX)),
+    ('gpu-nvidia', None, ('gpu', Impl.WARP)),
+    ('tpu', None, ('tpu', Impl.JAX)),
     # JAX backend specified.
-    ('cpu', 'jax', ('cpu', BackendImpl.JAX)),
-    ('gpu-notnvidia', 'jax', ('gpu', BackendImpl.JAX)),
-    ('gpu-nvidia', 'jax', ('gpu', BackendImpl.JAX)),
-    ('tpu', 'jax', ('tpu', BackendImpl.JAX)),
+    ('cpu', 'jax', ('cpu', Impl.JAX)),
+    ('gpu-notnvidia', 'jax', ('gpu', Impl.JAX)),
+    ('gpu-nvidia', 'jax', ('gpu', Impl.JAX)),
+    ('tpu', 'jax', ('tpu', Impl.JAX)),
     # WARP backend specified.
     ('cpu', 'warp', ('cpu', 'error')),
     ('gpu-notnvidia', 'warp', ('cpu', 'error')),
-    ('gpu-nvidia', 'warp', ('gpu', BackendImpl.WARP)),
+    ('gpu-nvidia', 'warp', ('gpu', Impl.WARP)),
     ('tpu', 'warp', ('tpu', 'error')),
     # C backend specified.
-    ('cpu', 'c', ('cpu', BackendImpl.C)),
+    ('cpu', 'c', ('cpu', Impl.C)),
     ('gpu-notnvidia', 'c', ('cpu', 'error')),
     ('gpu-nvidia', 'c', ('cpu', 'error')),
     ('tpu', 'c', ('tpu', 'error')),
 ]
 
-# Test cases for `_resolve_backend_impl_and_device` where the user does NOT
+# Test cases for `_resolve_impl_and_device` where the user does NOT
 # specify a device. We mock the JAX default device.
 _DEFAULT_DEVICE_TEST_CASES = [
     # Arguments use the following format:
-    # (jax.default_device, backend_impl_str,
-    #  (expected_device, expected_backend_impl))
+    # (jax.default_device, impl_str,
+    #  (expected_device, expected_impl))
     # No backend impl specified.
-    ('cpu', None, ('cpu', BackendImpl.C)),
-    ('gpu-notnvidia', None, ('gpu', BackendImpl.JAX)),
-    ('gpu-nvidia', None, ('gpu', BackendImpl.WARP)),
-    ('tpu', None, ('tpu', BackendImpl.JAX)),
+    ('cpu', None, ('cpu', Impl.C)),
+    ('gpu-notnvidia', None, ('gpu', Impl.JAX)),
+    ('gpu-nvidia', None, ('gpu', Impl.WARP)),
+    ('tpu', None, ('tpu', Impl.JAX)),
     # JAX backend impl specified.
-    ('cpu', 'jax', ('cpu', BackendImpl.JAX)),
-    ('gpu-notnvidia', 'jax', ('gpu', BackendImpl.JAX)),
-    ('gpu-nvidia', 'jax', ('gpu', BackendImpl.JAX)),
-    ('tpu', 'jax', ('tpu', BackendImpl.JAX)),
+    ('cpu', 'jax', ('cpu', Impl.JAX)),
+    ('gpu-notnvidia', 'jax', ('gpu', Impl.JAX)),
+    ('gpu-nvidia', 'jax', ('gpu', Impl.JAX)),
+    ('tpu', 'jax', ('tpu', Impl.JAX)),
     # WARP backend impl specified.
     ('cpu', 'warp', ('cpu', 'error')),
     ('gpu-notnvidia', 'warp', ('cpu', 'error')),
-    ('gpu-nvidia', 'warp', ('gpu', BackendImpl.WARP)),
+    ('gpu-nvidia', 'warp', ('gpu', Impl.WARP)),
     ('tpu', 'warp', ('tpu', 'error')),
     # C backend impl specified, CPU should always be available.
-    ('cpu', 'c', ('cpu', BackendImpl.C)),
-    ('gpu-notnvidia', 'c', ('cpu', BackendImpl.C)),
-    ('gpu-nvidia', 'c', ('cpu', BackendImpl.C)),
-    ('tpu', 'c', ('cpu', BackendImpl.C)),
+    ('cpu', 'c', ('cpu', Impl.C)),
+    ('gpu-notnvidia', 'c', ('cpu', Impl.C)),
+    ('gpu-nvidia', 'c', ('cpu', Impl.C)),
+    ('tpu', 'c', ('cpu', Impl.C)),
 ]
 
 
-class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
-  """Tests for the _resolve_backend_impl_and_device function."""
+class ResolveImplAndDeviceTest(parameterized.TestCase):
+  """Tests for the _resolve_impl_and_device function."""
 
   def setUp(self):
     super().setUp()
@@ -783,7 +783,7 @@ class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
   def test_resolve_with_device(
       self,
       device_type_str,
-      backend_impl_str,
+      impl_str,
       expected,
   ):
     """Tests various combinations of device and backend impls."""
@@ -811,21 +811,21 @@ class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
 
     self.mock_jax_devices.side_effect = devices_side_effect
 
-    expected_device, expected_backend_impl = expected
-    if expected_backend_impl == 'error':
+    expected_device, expected_impl = expected
+    if expected_impl == 'error':
       with self.assertRaises(AssertionError):
-        mjx_io._resolve_backend_impl_and_device(
-            backend_impl=backend_impl_str, device=input_device
+        mjx_io._resolve_impl_and_device(
+            impl=impl_str, device=input_device
         )
       return
 
-    actual_backend_impl, actual_device = (
-        mjx_io._resolve_backend_impl_and_device(
-            backend_impl=backend_impl_str, device=input_device
+    actual_impl, actual_device = (
+        mjx_io._resolve_impl_and_device(
+            impl=impl_str, device=input_device
         )
     )
 
-    self.assertEqual(actual_backend_impl, expected_backend_impl)
+    self.assertEqual(actual_impl, expected_impl)
     self.assertIsNotNone(actual_device)
     self.assertEqual(actual_device.platform, expected_device)
 
@@ -839,7 +839,7 @@ class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
   def test_resolve_without_device(
       self,
       default_device_str,
-      backend_impl_str,
+      impl_str,
       expected,
   ):
     """Tests various combinations of jax.default_device and backend impls."""
@@ -878,32 +878,32 @@ class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
         lambda: default_device_side_effect_str
     )
 
-    expected_device, expected_backend_impl = expected
+    expected_device, expected_impl = expected
     if (
-        expected_backend_impl == 'error'
+        expected_impl == 'error'
         and default_device_str != 'gpu-nvidia'
-        and backend_impl_str == 'warp'
+        and impl_str == 'warp'
     ):
       with self.assertRaisesRegex(RuntimeError, 'cuda backend not supported'):
-        mjx_io._resolve_backend_impl_and_device(
-            backend_impl=backend_impl_str, device=None
+        mjx_io._resolve_impl_and_device(
+            impl=impl_str, device=None
         )
       return
 
-    if expected_backend_impl == 'error':
+    if expected_impl == 'error':
       with self.assertRaises(AssertionError):
-        mjx_io._resolve_backend_impl_and_device(
-            backend_impl=backend_impl_str, device=None
+        mjx_io._resolve_impl_and_device(
+            impl=impl_str, device=None
         )
       return
 
-    actual_backend_impl, actual_device = (
-        mjx_io._resolve_backend_impl_and_device(
-            backend_impl=backend_impl_str, device=None
+    actual_impl, actual_device = (
+        mjx_io._resolve_impl_and_device(
+            impl=impl_str, device=None
         )
     )
 
-    self.assertEqual(actual_backend_impl, expected_backend_impl)
+    self.assertEqual(actual_impl, expected_impl)
     self.assertIsNotNone(actual_device)
     self.assertEqual(actual_device.platform, expected_device)
 
@@ -918,26 +918,26 @@ class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
     self.mock_default_backend.side_effect = lambda: 'gpu'
 
     # Default to JAX instead of WARP on NVIDIA GPU.
-    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
-        backend_impl=None, device=None
+    impl, device = mjx_io._resolve_impl_and_device(
+        impl=None, device=None
     )
-    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(impl, Impl.JAX)
     self.assertEqual(device.platform, 'gpu')
 
     # Specifying an NVIDIA GPU should still choose JAX.
-    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
-        backend_impl=None, device=self.mock_nvidia_gpu
+    impl, device = mjx_io._resolve_impl_and_device(
+        impl=None, device=self.mock_nvidia_gpu
     )
-    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(impl, Impl.JAX)
     self.assertEqual(device.platform, 'gpu')
 
     # Requesting warp explicitly should fail since it is disabled.
     with self.assertRaises(AssertionError):
-      mjx_io._resolve_backend_impl_and_device(
-          backend_impl='warp', device=self.mock_nvidia_gpu
+      mjx_io._resolve_impl_and_device(
+          impl='warp', device=self.mock_nvidia_gpu
       )
     with self.assertRaises(AssertionError):
-      mjx_io._resolve_backend_impl_and_device(backend_impl='warp', device=None)
+      mjx_io._resolve_impl_and_device(impl='warp', device=None)
 
   @mock.patch.dict(os.environ, {'MJX_C_DEFAULT_ENABLED': 'false'})
   def test_resolve_c_disabled(self):
@@ -950,30 +950,30 @@ class ResolveBackendImplAndDeviceTest(parameterized.TestCase):
     self.mock_default_backend.side_effect = lambda: 'cpu'
 
     # Default to JAX instead of C on CPU.
-    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
-        backend_impl=None, device=None
+    impl, device = mjx_io._resolve_impl_and_device(
+        impl=None, device=None
     )
-    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(impl, Impl.JAX)
     self.assertEqual(device.platform, 'cpu')
 
     # Specifing CPU should still choose JAX.
-    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
-        backend_impl=None, device=self.mock_cpu
+    impl, device = mjx_io._resolve_impl_and_device(
+        impl=None, device=self.mock_cpu
     )
-    self.assertEqual(backend_impl, BackendImpl.JAX)
+    self.assertEqual(impl, Impl.JAX)
     self.assertEqual(device.platform, 'cpu')
 
     # Specifying C should choose C!
-    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
-        backend_impl='c', device=None
+    impl, device = mjx_io._resolve_impl_and_device(
+        impl='c', device=None
     )
-    self.assertEqual(backend_impl, BackendImpl.C)
+    self.assertEqual(impl, Impl.C)
     self.assertEqual(device.platform, 'cpu')
 
-    backend_impl, device = mjx_io._resolve_backend_impl_and_device(
-        backend_impl='c', device=self.mock_cpu
+    impl, device = mjx_io._resolve_impl_and_device(
+        impl='c', device=self.mock_cpu
     )
-    self.assertEqual(backend_impl, BackendImpl.C)
+    self.assertEqual(impl, Impl.C)
     self.assertEqual(device.platform, 'cpu')
 
 
diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py
index 41751527..bbdab811 100644
--- a/mjx/mujoco/mjx/_src/sensor.py
+++ b/mjx/mujoco/mjx/_src/sensor.py
@@ -22,7 +22,7 @@ from mujoco.mjx._src import math
 from mujoco.mjx._src import ray
 from mujoco.mjx._src import smooth
 from mujoco.mjx._src import support
-from mujoco.mjx._src.types import BackendImpl
+from mujoco.mjx._src.types import Impl
 from mujoco.mjx._src.types import Data
 from mujoco.mjx._src.types import DataJAX
 from mujoco.mjx._src.types import DisableBit
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index a60a1dd6..57d68208 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -24,8 +24,8 @@ from mujoco.mjx._src.dataclasses import PyTreeNode  # pylint: disable=g-importin
 import numpy as np
 
 
-class BackendImpl(enum.Enum):
-  """Backend implementation to use."""
+class Impl(enum.Enum):
+  """Implementation to use."""
 
   C = 'c'
   JAX = 'jax'
@@ -34,7 +34,7 @@ class BackendImpl(enum.Enum):
   @classmethod
   def _missing_(cls, value):
     # This method is called only when lookup by value fails
-    # (e.g., BackendImpl('JAX') fails initially because 'JAX' != 'jax')
+    # (e.g., Impl('JAX') fails initially because 'JAX' != 'jax')
     if not isinstance(value, str):
       return None
     for member in cls:
@@ -871,10 +871,10 @@ class Model(PyTreeNode):
   _impl: Union[ModelC, ModelJAX]
 
   @property
-  def backend_impl(self) -> BackendImpl:
+  def impl(self) -> Impl:
     return {
-        ModelC: BackendImpl.C,
-        ModelJAX: BackendImpl.JAX,
+        ModelC: Impl.C,
+        ModelJAX: Impl.JAX,
     }[type(self._impl)]
 
   def __getattr__(self, name: str):
@@ -1119,10 +1119,10 @@ class Data(PyTreeNode):
   _impl: Union[DataC, DataJAX]
 
   @property
-  def backend_impl(self) -> BackendImpl:
+  def impl(self) -> Impl:
     return {
-        DataC: BackendImpl.C,
-        DataJAX: BackendImpl.JAX,
+        DataC: Impl.C,
+        DataJAX: Impl.JAX,
     }[type(self._impl)]
 
   def __getattr__(self, name: str):

From a4ab35c194ea6fd96c4932395ba6bd45947f32bd Mon Sep 17 00:00:00 2001
From: Kevin Sayed <ksayed@google.com>
Date: Thu, 12 Jun 2025 11:38:03 -0700
Subject: [PATCH 16/82] update scrubs and set next version

PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
---
 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 3cab120d..91eaacad 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.3.3
+  VERSION 3.3.4
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/dist/mujoco.rc b/dist/mujoco.rc
index 6191980f..37227828 100644
--- a/dist/mujoco.rc
+++ b/dist/mujoco.rc
@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,3,3,0
-PRODUCTVERSION 3,3,3,0
+FILEVERSION 3,3,4,0
+PRODUCTVERSION 3,3,4,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.3"
+      VALUE "ProductVersion", "3.3.4"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.3"
+      VALUE "FileVersion", "3.3.4"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"
diff --git a/dist/simulate.rc b/dist/simulate.rc
index fca19ae2..aaf59660 100644
--- a/dist/simulate.rc
+++ b/dist/simulate.rc
@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,3,3,0
-PRODUCTVERSION 3,3,3,0
+FILEVERSION 3,3,4,0
+PRODUCTVERSION 3,3,4,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.3"
+      VALUE "ProductVersion", "3.3.4"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.3"
+      VALUE "FileVersion", "3.3.4"
       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 11077782..5f6d824f 100644
--- a/doc/APIreference/APIglobals.rst
+++ b/doc/APIreference/APIglobals.rst
@@ -517,7 +517,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 333
+     - 334
      - 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 876a96a6..aec5a7b6 100644
--- a/doc/unity.rst
+++ b/doc/unity.rst
@@ -37,14 +37,14 @@ _____
 
 The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
 a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.3.3.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.3.4.dylib`` (it can be
 found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
 
 Linux
 _____
 
 Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
-``~/.mujoco/mujoco-3.3.3/lib/libmujoco.so.3.3.3`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.3.4/lib/libmujoco.so.3.3.4`` and rename it as ``libmujoco.so``.
 
 Windows
 _______
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index bc9242a2..944e5b21 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -16,7 +16,7 @@
 #define MUJOCO_MUJOCO_H_
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 333
+#define mjVERSION_HEADER 334
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index ee03aa0a..5bcb53b0 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.3.3"
+version = "3.3.4"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -30,7 +30,7 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.3.3.dev0",
+    "mujoco>=3.3.4.dev0",
     "scipy",
     "trimesh",
 ]
@@ -41,9 +41,9 @@ mjx-viewer = "mujoco.mjx.viewer:main"
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.3.3"
+Documentation = "https://mujoco.readthedocs.io/en/3.3.4"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.3.3/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.3.4/changelog.html"
 
 [tool.isort]
 force_single_line = true
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index e103f9c0..87441234 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -84,7 +84,7 @@ if(NOT TARGET mujoco)
     if(MUJOCO_FRAMEWORK)
       message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
       set(MUJOCO_LIBRARY
-          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.3.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.4.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.3.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.3.4 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 475027c5..0838e2bd 100644
--- a/python/mujoco/mjpython/Info.plist
+++ b/python/mujoco/mjpython/Info.plist
@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.3.3</string>
+    <string>3.3.4</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.3.3</string>
+    <string>3.3.4</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.3.3</string>
+    <string>3.3.4</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.3.3</string>
+    <string>3.3.4</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>
diff --git a/python/pyproject.toml b/python/pyproject.toml
index c178ad79..1735c6c5 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.3.3"
+version = "3.3.4"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -35,9 +35,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.3.3"
+Documentation = "https://mujoco.readthedocs.io/en/3.3.4"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.3.3/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.3.4/changelog.html"
 
 [tool.setuptools]
 include-package-data = false
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index f9457f2c..3be0e9ec 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.3.3
+  VERSION 3.3.4
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 6489c562..85ffaa4e 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.3.3
+  VERSION 3.3.4
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
index 2173879a..001fb8e3 100644
--- a/src/engine/engine_support.c
+++ b/src/engine/engine_support.c
@@ -41,8 +41,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 333
-#define mjVERSIONSTRING "3.3.3"
+ #define mjVERSION 334
+#define mjVERSIONSTRING "3.3.4"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
index 3ff96ab5..85f05f1b 100644
--- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs
+++ b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
@@ -37,7 +37,7 @@ public class MujocoBinaryRetriever {
           if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
             File.Copy(
                 "/Applications/MuJoCo.app/Contents/Frameworks" +
-                "/mujoco.framework/Versions/Current/libmujoco.3.3.3.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.3.4.dylib",
                 mujocoPath + "/mujoco.dylib");
             AssetDatabase.Refresh();
           }
@@ -45,7 +45,7 @@ public class MujocoBinaryRetriever {
           if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
             File.Copy(
                 Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
-                "/.mujoco/mujoco-3.3.3/lib/libmujoco.so.3.3.3",
+                "/.mujoco/mujoco-3.3.4/lib/libmujoco.so.3.3.4",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 11698ed6..b7448e56 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -110,7 +110,7 @@ public const int mjMAXLINEPNT = 1000;
 public const int mjMAXPLANEGRID = 200;
 public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 333;
+public const int mjVERSION_HEADER = 334;
 
 
 // ------------------------------------Enums------------------------------------
diff --git a/unity/package.json b/unity/package.json
index c91c5d6c..d548ea5a 100644
--- a/unity/package.json
+++ b/unity/package.json
@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.3.3",
+  "version": "3.3.4",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

From 41eb966c9bb3a56fe97b72553246e6f67da4eb65 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Fri, 13 Jun 2025 12:27:10 -0700
Subject: [PATCH 17/82] Resolve deprecation warnings in playground.

PiperOrigin-RevId: 771184565
Change-Id: Ic2056ad82a6a0c20897a02ea39c37b3f44a80513
---
 mjx/mujoco/mjx/_src/io.py | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index e851d1e2..d5743082 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -477,7 +477,7 @@ def _make_data_contact_jax(
 
 
 def _make_data_jax(
-    m: types.Model,
+    m: Union[types.Model, mujoco.MjModel],
     device: Optional[jax.Device] = None,
 ) -> types.Data:
   """Allocate and initialize Data for the JAX implementation."""
@@ -565,7 +565,7 @@ def _make_data_jax(
 
 
 def _make_data_c(
-    m: types.Model,
+    m: Union[types.Model, mujoco.MjModel],
     device: Optional[jax.Device] = None,
 ) -> types.Data:
   """Allocate and initialize Data for the C implementation."""
@@ -583,11 +583,14 @@ def _make_data_c(
   # TODO(stunya): remove the JAX contact from C data.
   contact = _make_data_contact_jax(dim, efc_address)
 
-  nflexvert = m.nflexvert
-  nflexedge = m.nflexedge
-  nflexelem = m.nflexelem
-  nbvh = m.nbvh
-  nbvhdynamic = m.nbvhdynamic
+  def get(m, name: str):
+    return getattr(m._impl, name) if hasattr(m, '_impl') else getattr(m, name)  # pylint: disable=protected-access
+
+  nflexvert = get(m, 'nflexvert')
+  nflexedge = get(m, 'nflexedge')
+  nflexelem = get(m, 'nflexelem')
+  nbvh = get(m, 'nbvh')
+  nbvhdynamic = get(m, 'nbvhdynamic')
   zero_impl_fields = {
       'solver_niter': (int_,),
       'cdof': (m.nv, 6, float_),
@@ -627,7 +630,7 @@ def _make_data_c(
       'qLDiagInv': (m.nv, float_),
       'ten_velocity': (m.ntendon, float_),
       'actuator_velocity': (m.nu, float_),
-      'plugin_data': (m.nplugin, np.uint64),
+      'plugin_data': (get(m, 'nplugin'), np.uint64),
       'B_rownnz': (m.nbody, np.int32),
       'B_rowadr': (m.nbody, np.int32),
       'B_colind': (m.nB, np.int32),

From 3969cac614d7c116031c8da10ada2f292eacec8f Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 16 Jun 2025 04:25:55 -0700
Subject: [PATCH 18/82] Fix tinyxml include

This came up as a code suggestion, presumably for consistency.

PiperOrigin-RevId: 771966921
Change-Id: Ic29afc9a9eb1e0b87dd7d9ac04a5ad9790f86f0d
---
 src/experimental/usd/plugins/mjcf/mjcf_file_format.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
index 904c84fd..b7e75bf5 100644
--- a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
+++ b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
@@ -21,6 +21,7 @@
 
 #include <mujoco/mujoco.h>
 #include "mjcf/mujoco_to_usd.h"
+#include "third_party/tinyxml2/tinyxml2.h"
 #include <pxr/base/tf/diagnostic.h>
 #include <pxr/base/tf/enum.h>
 #include <pxr/base/tf/pathUtils.h>
@@ -37,7 +38,6 @@
 #include <pxr/usd/sdf/fileFormat.h>
 #include <pxr/usd/sdf/layer.h>
 #include <pxr/usd/usd/usdaFileFormat.h>
-#include "tinyxml2.h"
 
 PXR_NAMESPACE_OPEN_SCOPE
 

From bb1b2db3a979ede90779dc81e85761026c702ec9 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 16 Jun 2025 06:00:14 -0700
Subject: [PATCH 19/82] Add support for normal maps in mujoco file format
 plugin

PiperOrigin-RevId: 771992722
Change-Id: Ifeae9e12f1071018112e697402361caa84095ff2
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  52 ++++++++++++++----
 .../usd/plugins/mjcf/mjcf_file_format_test.cc |  19 ++++++-
 .../usd/plugins/mjcf/testdata/materials.xml   |  10 +++-
 .../plugins/mjcf/testdata/textures/normal.png | Bin 0 -> 1124917 bytes
 4 files changed, 64 insertions(+), 17 deletions(-)
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/normal.png

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index aa5f7232..ba60584c 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -21,6 +21,7 @@
 #include <utility>
 #include <vector>
 
+#include <mujoco/mjspec.h>
 #include <mujoco/mujoco.h>
 #include "third_party/mujoco/src/experimental/usd/mjcPhysics/tokens.h"
 #include "mjcf/utils.h"
@@ -94,6 +95,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          ((inputsMetallic, "inputs:metallic"))
                          (repeat)
                          ((sourceMesh, pxr::UsdGeomTokens->Mesh))
+                         ((inputsNormal, "inputs:normal"))
                         );
 
 // Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
@@ -630,12 +632,10 @@ class ModelWriter {
     }
   }
 
-  pxr::SdfPath AddTextureShader(const pxr::SdfPath &material_path,
-                                const char *texture_file) {
-    // Shader "uvmap"
+  pxr::SdfPath AddUVTextureShader(const pxr::SdfPath &material_path,
+                                  const pxr::TfToken &name) {
     pxr::SdfPath uvmap_shader_path =
-        CreatePrimSpec(data_, material_path, pxr::TfToken("uvmap"),
-                       pxr::UsdShadeTokens->Shader);
+        CreatePrimSpec(data_, material_path, name, pxr::UsdShadeTokens->Shader);
 
     pxr::SdfPath uvmap_info_id_attr = CreateAttributeSpec(
         data_, uvmap_shader_path, pxr::UsdShadeTokens->infoId,
@@ -652,10 +652,15 @@ class ModelWriter {
         CreateAttributeSpec(data_, uvmap_shader_path, kTokens->outputsSt,
                             pxr::SdfValueTypeNames->Float2);
 
-    // Shader "texture"
+    return uvmap_st_output_attr;
+  }
+
+  pxr::SdfPath AddTextureShader(const pxr::SdfPath &material_path,
+                                const char *texture_file,
+                                const pxr::TfToken &name,
+                                const pxr::SdfPath &uvmap_st_output_attr) {
     pxr::SdfPath texture_shader_path =
-        CreatePrimSpec(data_, material_path, pxr::TfToken("texture"),
-                       pxr::UsdShadeTokens->Shader);
+        CreatePrimSpec(data_, material_path, name, pxr::UsdShadeTokens->Shader);
     pxr::SdfPath texture_info_id_attr = CreateAttributeSpec(
         data_, texture_shader_path, pxr::UsdShadeTokens->infoId,
         pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
@@ -715,21 +720,44 @@ class ModelWriter {
                             pxr::UsdShadeTokens->outputsDisplacement,
                             pxr::SdfValueTypeNames->Token);
 
+    const pxr::SdfPath &uvmap_st_output_attr =
+        AddUVTextureShader(material_path, pxr::TfToken("uvmap"));
+
+    // Find the normal texture if specified.
+    const mjStringVec &textures = *(material->textures);
+    if (mjTEXROLE_NORMAL < textures.size()) {
+      std::string normal_texture_name = textures[mjTEXROLE_NORMAL];
+      mjsTexture *normal_texture = mjs_asTexture(
+          mjs_findElement(spec_, mjOBJ_TEXTURE, normal_texture_name.c_str()));
+      if (normal_texture) {
+        pxr::SdfPath normal_attr = CreateAttributeSpec(
+            data_, preview_surface_shader_path, kTokens->inputsNormal,
+            pxr::SdfValueTypeNames->Normal3f);
+        // Create the normal map shader and connect its output to the preview
+        // surface normal attr.
+        pxr::SdfPath normal_map_output_attr =
+            AddTextureShader(material_path, normal_texture->file->c_str(),
+                             pxr::TfToken("normal"), uvmap_st_output_attr);
+        AddAttributeConnection(data_, normal_attr, normal_map_output_attr);
+      }
+    }
+
     pxr::SdfPath diffuse_color_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, kTokens->inputsDiffuseColor,
         pxr::SdfValueTypeNames->Color3f);
 
     // Find the main texture if specified.
-    std::string main_texture_name = (*material->textures)[mjTEXROLE_RGB];
+    std::string main_texture_name = textures[mjTEXROLE_RGB];
     mjsTexture *main_texture = mjs_asTexture(
         mjs_findElement(spec_, mjOBJ_TEXTURE, main_texture_name.c_str()));
     if (main_texture) {
       // Create the texture shader and connect it to the diffuse color
       // attribute.
-      pxr::SdfPath texture_rgb_output_attr =
-          AddTextureShader(material_path, main_texture->file->c_str());
+      pxr::SdfPath texture_diffuse_output_attr =
+          AddTextureShader(material_path, main_texture->file->c_str(),
+                           pxr::TfToken("diffuse"), uvmap_st_output_attr);
       AddAttributeConnection(data_, diffuse_color_attr,
-                             texture_rgb_output_attr);
+                             texture_diffuse_output_attr);
     } else {
       // If no texture is specified, use the rgba diffuse color.
       SetAttributeDefault(data_, diffuse_color_attr,
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index b8f57bca..a2990bca 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -148,15 +148,28 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
   EXPECT_PRIM_VALID(stage,
                     "/mesh_test/Materials/material_texture/PreviewSurface");
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/uvmap");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/texture");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/diffuse");
   ExpectAttributeHasConnection(
       stage,
       "/mesh_test/Materials/material_texture/"
       "PreviewSurface.inputs:diffuseColor",
-      "/mesh_test/Materials/material_texture/texture.outputs:rgb");
+      "/mesh_test/Materials/material_texture/diffuse.outputs:rgb");
   ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_texture/texture.inputs:file",
+      stage, "/mesh_test/Materials/material_texture/diffuse.inputs:file",
       pxr::SdfAssetPath("textures/cube.png"));
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/uvmap");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/diffuse");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/normal");
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_layered/"
+    "PreviewSurface.inputs:normal",
+    "/mesh_test/Materials/material_layered/normal.outputs:rgb");
+  ExpectAttributeEqual(
+    stage, "/mesh_test/Materials/material_layered/normal.inputs:file",
+    pxr::SdfAssetPath("textures/normal.png"));
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
diff --git a/test/experimental/usd/plugins/mjcf/testdata/materials.xml b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
index 735a789d..e8cb2a0c 100644
--- a/test/experimental/usd/plugins/mjcf/testdata/materials.xml
+++ b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
@@ -1,8 +1,14 @@
 <mujoco model="mesh test">
   <asset>
-    <texture name="texture" file="textures/cube.png" type="2d" />
+    <texture name="diffuse_tex" file="textures/cube.png" type="2d" />
+    <texture name="normal_tex" file="textures/normal.png" type="2d" />
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-    <material name="material_texture" texture="texture" />
+    <material name="material_texture" texture="diffuse_tex" />
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diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/normal.png b/test/experimental/usd/plugins/mjcf/testdata/textures/normal.png
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HcmV?d00001


From 1f0e4891c26bb5be21fbb9473d2061bfe63a3bde Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Mon, 16 Jun 2025 08:13:51 -0700
Subject: [PATCH 20/82] Add some autoformatting changes to mujoco_to_usd.cc

PiperOrigin-RevId: 772032458
Change-Id: I94a80e7f7928b2956e76268c0d89fb862a228c41
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc            | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index ba60584c..4984fa42 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -819,22 +819,23 @@ class ModelWriter {
                    MjcPhysicsTokens->PhysicsActuatorAPI);
 
     if (!actuator->refsite->empty()) {
-      int refsite_id = mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
+      int refsite_id =
+          mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
       pxr::SdfPath refsite_path = site_paths_[refsite_id];
       CreateRelationshipSpec(data_, transmission_path,
-                             MjcPhysicsTokens->mjcRefSite,
-                             refsite_path, pxr::SdfVariabilityUniform);
+                             MjcPhysicsTokens->mjcRefSite, refsite_path,
+                             pxr::SdfVariabilityUniform);
     }
 
     if (!actuator->slidersite->empty()) {
-      int slidersite_id = mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str());
+      int slidersite_id =
+          mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str());
       pxr::SdfPath slidersite_path = site_paths_[slidersite_id];
       CreateRelationshipSpec(data_, transmission_path,
-                             MjcPhysicsTokens->mjcSliderSite,
-                             slidersite_path, pxr::SdfVariabilityUniform);
+                             MjcPhysicsTokens->mjcSliderSite, slidersite_path,
+                             pxr::SdfVariabilityUniform);
     }
 
-
     const std::vector<std::pair<pxr::TfToken, int>> limited_attributes = {
         {MjcPhysicsTokens->mjcCtrlLimited, actuator->ctrllimited},
         {MjcPhysicsTokens->mjcForceLimited, actuator->forcelimited},
@@ -900,7 +901,6 @@ class ModelWriter {
         MjcPhysicsTokens->mjcDynPrm,
         pxr::VtDoubleArray(actuator->dynprm, actuator->dynprm + 10));
 
-
     pxr::TfToken gain_type;
     if (actuator->gaintype == mjtGain::mjGAIN_FIXED) {
       gain_type = MjcPhysicsTokens->fixed;

From e2e2932fe6b344c128f023f0fee1ba2499a43290 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 16 Jun 2025 11:59:42 -0700
Subject: [PATCH 21/82] Mark all single-argument constructors in user_objects.h
 as explicit.

This avoids accidental implicit conversions.

Also included some constructors with multiple arguments, where default values mean that the single-argument constructor is valid.

PiperOrigin-RevId: 772117936
Change-Id: I57e54a373593080e9d68961b00488c7a70f1aff8
---
 src/user/user_objects.h | 50 ++++++++++++++++++++---------------------
 1 file changed, 25 insertions(+), 25 deletions(-)

diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index fc8cf459..b9977f7f 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -388,8 +388,8 @@ class mjCBody : public mjCBody_, private mjsBody {
   friend class mjXURDF;
 
  public:
-  mjCBody(mjCModel*);  // constructor
-  ~mjCBody();          // destructor
+  explicit mjCBody(mjCModel*);
+  ~mjCBody();
 
   // API for adding objects to body
   mjCBody*    AddBody(mjCDef* = 0);
@@ -571,7 +571,7 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
   friend class mjXURDF;
 
  public:
-  mjCJoint(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCJoint(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCJoint(const mjCJoint& other);
   mjCJoint& operator=(const mjCJoint& other);
 
@@ -651,7 +651,7 @@ class mjCGeom : public mjCGeom_, private mjsGeom {
   friend class mjXURDF;
 
  public:
-  mjCGeom(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCGeom(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCGeom(const mjCGeom& other);
   mjCGeom& operator=(const mjCGeom& other);
 
@@ -716,7 +716,7 @@ class mjCSite : public mjCSite_, private mjsSite {
   friend class mjXURDF;
 
  public:
-  mjCSite(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCSite(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCSite(const mjCSite& other);
   mjCSite& operator=(const mjCSite& other);
 
@@ -766,7 +766,7 @@ class mjCCamera : public mjCCamera_, private mjsCamera {
   friend class mjXWriter;
 
  public:
-  mjCCamera(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCCamera(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCCamera(const mjCCamera& other);
   mjCCamera& operator=(const mjCCamera& other);
 
@@ -812,7 +812,7 @@ class mjCLight : public mjCLight_, private mjsLight {
   friend class mjXWriter;
 
  public:
-  mjCLight(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCLight(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCLight(const mjCLight& other);
   mjCLight& operator=(const mjCLight& other);
 
@@ -897,7 +897,7 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
   friend class mjXWriter;
 
  public:
-  mjCFlex(mjCModel* = nullptr);
+  explicit mjCFlex(mjCModel* = nullptr);
   mjCFlex(const mjCFlex& other);
   mjCFlex& operator=(const mjCFlex& other);
 
@@ -997,7 +997,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   friend class mjCModel;
 
  public:
-  mjCMesh(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCMesh(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCMesh(const mjCMesh& other);
   mjCMesh& operator=(const mjCMesh& other);
   ~mjCMesh();
@@ -1200,7 +1200,7 @@ class mjCSkin: public mjCSkin_, private mjsSkin {
   friend class mjXWriter;
 
  public:
-  mjCSkin(mjCModel* = nullptr);
+  explicit mjCSkin(mjCModel* = nullptr);
   mjCSkin(const mjCSkin& other);
   mjCSkin& operator=(const mjCSkin& other);
   ~mjCSkin();
@@ -1258,7 +1258,7 @@ class mjCHField : public mjCHField_, private mjsHField {
   friend class mjXWriter;
 
  public:
-  mjCHField(mjCModel* model);
+  explicit mjCHField(mjCModel* model);
   mjCHField(const mjCHField& other);
   mjCHField& operator=(const mjCHField& other);
   ~mjCHField();
@@ -1310,7 +1310,7 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
   friend class mjXWriter;
 
  public:
-  mjCTexture(mjCModel*);
+  explicit mjCTexture(mjCModel*);
   mjCTexture(const mjCTexture& other);
   mjCTexture& operator=(const mjCTexture& other);
   ~mjCTexture();
@@ -1371,7 +1371,7 @@ class mjCMaterial : public mjCMaterial_, private mjsMaterial {
   friend class mjXWriter;
 
  public:
-  mjCMaterial(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCMaterial(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCMaterial(const mjCMaterial& other);
   mjCMaterial& operator=(const mjCMaterial& other);
 
@@ -1411,7 +1411,7 @@ class mjCPair : public mjCPair_, private mjsPair {
   friend class mjXWriter;
 
  public:
-  mjCPair(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCPair(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCPair(const mjCPair& other);
   mjCPair& operator=(const mjCPair& other);
 
@@ -1460,7 +1460,7 @@ class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
   friend class mjCModel;
 
  public:
-  mjCBodyPair(mjCModel*);
+  explicit mjCBodyPair(mjCModel*);
   mjCBodyPair(const mjCBodyPair& other);
   mjCBodyPair& operator=(const mjCBodyPair& other);
 
@@ -1506,7 +1506,7 @@ class mjCEquality : public mjCEquality_, private mjsEquality {
   friend class mjXWriter;
 
  public:
-  mjCEquality(mjCModel* = 0, mjCDef* = 0);
+  explicit mjCEquality(mjCModel* = 0, mjCDef* = 0);
   mjCEquality(const mjCEquality& other);
   mjCEquality& operator=(const mjCEquality& other);
 
@@ -1545,7 +1545,7 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
   friend class mjXWriter;
 
  public:
-  mjCTendon(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCTendon(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCTendon(const mjCTendon& other);
   mjCTendon& operator=(const mjCTendon& other);
   ~mjCTendon();
@@ -1641,7 +1641,7 @@ class mjCPlugin : public mjCPlugin_ {
   friend class mjXWriter;
 
  public:
-  mjCPlugin(mjCModel*);
+  explicit mjCPlugin(mjCModel*);
   mjCPlugin(const mjCPlugin& other);
   mjCPlugin& operator=(const mjCPlugin& other);
 
@@ -1689,7 +1689,7 @@ class mjCActuator : public mjCActuator_, private mjsActuator {
   friend class mjXWriter;
 
  public:
-  mjCActuator(mjCModel* = nullptr, mjCDef* = nullptr);
+  explicit mjCActuator(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCActuator(const mjCActuator& other);
   mjCActuator& operator=(const mjCActuator& other);
 
@@ -1750,7 +1750,7 @@ class mjCSensor : public mjCSensor_, private mjsSensor {
   friend class mjXWriter;
 
  public:
-  mjCSensor(mjCModel*);
+  explicit mjCSensor(mjCModel*);
   mjCSensor(const mjCSensor& other);
   mjCSensor& operator=(const mjCSensor& other);
 
@@ -1791,7 +1791,7 @@ class mjCNumeric : public mjCNumeric_, private mjsNumeric {
   friend class mjXWriter;
 
  public:
-  mjCNumeric(mjCModel*);
+  explicit mjCNumeric(mjCModel*);
   mjCNumeric(const mjCNumeric& other);
   mjCNumeric& operator=(const mjCNumeric& other);
   ~mjCNumeric();
@@ -1823,7 +1823,7 @@ class mjCText : public mjCText_, private mjsText {
   friend class mjXWriter;
 
  public:
-  mjCText(mjCModel*);
+  explicit mjCText(mjCModel*);
   mjCText(const mjCText& other);
   mjCText& operator=(const mjCText& other);
   ~mjCText();
@@ -1860,7 +1860,7 @@ class mjCTuple : public mjCTuple_, private mjsTuple {
   friend class mjXWriter;
 
  public:
-  mjCTuple(mjCModel*);
+  explicit mjCTuple(mjCModel*);
   mjCTuple(const mjCTuple& other);
   mjCTuple& operator=(const mjCTuple& other);
   ~mjCTuple();
@@ -1904,7 +1904,7 @@ class mjCKey : public mjCKey_, private mjsKey {
   friend class mjXWriter;
 
  public:
-  mjCKey(mjCModel*);
+  explicit mjCKey(mjCModel*);
   mjCKey(const mjCKey& other);
   mjCKey& operator=(const mjCKey& other);
   ~mjCKey();
@@ -1930,7 +1930,7 @@ class mjCDef : public mjsElement {
 
  public:
   mjCDef();
-  mjCDef(mjCModel*);
+  explicit mjCDef(mjCModel*);
   mjCDef(const mjCDef& other);
   mjCDef& operator=(const mjCDef& other);
   mjCDef& operator+=(const mjCDef& other);

From ea949f1ceea477542dd3c14d03448a6e97cc3d32 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Tue, 17 Jun 2025 01:44:17 -0700
Subject: [PATCH 22/82] Add support for ORM maps in mujoco file format plugin

The ORM texture is a packed-channel map, with ambient occlusion in Red, roughness in Green, and metallic in Blue channel.

PiperOrigin-RevId: 772367369
Change-Id: I88a4dee2477daa1e3c0b00197bfbe2b276ba9937
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  96 +++++++++++++-----
 .../usd/plugins/mjcf/mjcf_file_format_test.cc |  28 +++++
 .../usd/plugins/mjcf/testdata/materials.xml   |   3 +
 .../plugins/mjcf/testdata/textures/orm.png    | Bin 0 -> 490981 bytes
 4 files changed, 104 insertions(+), 23 deletions(-)
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/orm.png

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 4984fa42..da053e1c 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -92,7 +92,12 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          ((inputsWrapT, "inputs:wrapT"))
                          ((inputsDiffuseColor, "inputs:diffuseColor"))
                          ((outputsRgb, "outputs:rgb"))
+                         ((outputsR, "outputs:r"))
+                         ((outputsG, "outputs:g"))
+                         ((outputsB, "outputs:b"))
                          ((inputsMetallic, "inputs:metallic"))
+                         ((inputsOcclusion, "inputs:occlusion"))
+                         ((inputsRoughness, "inputs:roughness"))
                          (repeat)
                          ((sourceMesh, pxr::UsdGeomTokens->Mesh))
                          ((inputsNormal, "inputs:normal"))
@@ -655,10 +660,10 @@ class ModelWriter {
     return uvmap_st_output_attr;
   }
 
-  pxr::SdfPath AddTextureShader(const pxr::SdfPath &material_path,
-                                const char *texture_file,
-                                const pxr::TfToken &name,
-                                const pxr::SdfPath &uvmap_st_output_attr) {
+  std::vector<pxr::SdfPath> AddTextureShader(
+      const pxr::SdfPath &material_path, const char *texture_file,
+      const pxr::TfToken &name, const pxr::SdfPath &uvmap_st_output_attr,
+      const std::vector<pxr::TfToken> &output_channels) {
     pxr::SdfPath texture_shader_path =
         CreatePrimSpec(data_, material_path, name, pxr::UsdShadeTokens->Shader);
     pxr::SdfPath texture_info_id_attr = CreateAttributeSpec(
@@ -688,11 +693,19 @@ class ModelWriter {
                             pxr::SdfValueTypeNames->Token);
     SetAttributeDefault(data_, texture_wrap_t_attr, kTokens->repeat);
 
-    pxr::SdfPath texture_rgb_output_attr =
-        CreateAttributeSpec(data_, texture_shader_path, kTokens->outputsRgb,
-                            pxr::SdfValueTypeNames->Float3);
-
-    return texture_rgb_output_attr;
+    std::vector<pxr::SdfPath> texture_output_attrs;
+    for (const auto &output_channel : output_channels) {
+      pxr::SdfValueTypeName value_type;
+      if (output_channel == kTokens->outputsRgb) {
+        value_type = pxr::SdfValueTypeNames->Float3;
+      } else {
+        // Assume the other specified channels are outputR, outputG, outputB.
+        value_type = pxr::SdfValueTypeNames->Float;
+      }
+      texture_output_attrs.push_back(CreateAttributeSpec(
+          data_, texture_shader_path, output_channel, value_type));
+    }
+    return texture_output_attrs;
   }
 
   void WriteMaterial(mjsMaterial *material, const pxr::SdfPath &parent_path) {
@@ -722,9 +735,44 @@ class ModelWriter {
 
     const pxr::SdfPath &uvmap_st_output_attr =
         AddUVTextureShader(material_path, pxr::TfToken("uvmap"));
-
-    // Find the normal texture if specified.
     const mjStringVec &textures = *(material->textures);
+
+    // Set the values of metallic and roughness. These can come from an ORM
+    // texture or as a value defined in mjsMaterial_. Occlusion is only present
+    // in the ORM texture.
+    pxr::SdfPath metallic_attr = CreateAttributeSpec(
+        data_, preview_surface_shader_path, kTokens->inputsMetallic,
+        pxr::SdfValueTypeNames->Float);
+    pxr::SdfPath roughness_attr = CreateAttributeSpec(
+        data_, preview_surface_shader_path, kTokens->inputsRoughness,
+        pxr::SdfValueTypeNames->Float);
+    // Find the ORM (occlusion, roughness, metallic) packed-channel texture if
+    // specified.
+    if (mjTEXROLE_ORM < textures.size()) {
+      std::string orm_texture_name = textures[mjTEXROLE_ORM];
+      mjsTexture *orm_texture = mjs_asTexture(
+          mjs_findElement(spec_, mjOBJ_TEXTURE, orm_texture_name.c_str()));
+      if (orm_texture) {
+        // Create the ORM shader and connect its output to the preview
+        // surface ORM attrs.
+        const std::vector<pxr::SdfPath> orm_output_attrs = AddTextureShader(
+            material_path, orm_texture->file->c_str(),
+            pxr::TfToken("orm_packed"), uvmap_st_output_attr,
+            {kTokens->outputsR, kTokens->outputsG, kTokens->outputsB});
+        if (orm_output_attrs.size() == 3) {
+          pxr::SdfPath occlusion_attr = CreateAttributeSpec(
+              data_, preview_surface_shader_path, kTokens->inputsOcclusion,
+              pxr::SdfValueTypeNames->Float);
+          AddAttributeConnection(data_, occlusion_attr, orm_output_attrs[0]);
+          AddAttributeConnection(data_, roughness_attr, orm_output_attrs[1]);
+          AddAttributeConnection(data_, metallic_attr, orm_output_attrs[2]);
+        }
+      } else {
+        SetAttributeDefault(data_, metallic_attr, material->metallic);
+        SetAttributeDefault(data_, roughness_attr, material->roughness);
+      }
+    }
+    // Find the normal texture if specified.
     if (mjTEXROLE_NORMAL < textures.size()) {
       std::string normal_texture_name = textures[mjTEXROLE_NORMAL];
       mjsTexture *normal_texture = mjs_asTexture(
@@ -735,10 +783,14 @@ class ModelWriter {
             pxr::SdfValueTypeNames->Normal3f);
         // Create the normal map shader and connect its output to the preview
         // surface normal attr.
-        pxr::SdfPath normal_map_output_attr =
+        const std::vector<pxr::SdfPath> normal_map_output_attrs =
             AddTextureShader(material_path, normal_texture->file->c_str(),
-                             pxr::TfToken("normal"), uvmap_st_output_attr);
-        AddAttributeConnection(data_, normal_attr, normal_map_output_attr);
+                             pxr::TfToken("normal"), uvmap_st_output_attr,
+                             {kTokens->outputsRgb});
+        if (normal_map_output_attrs.size() == 1) {
+          AddAttributeConnection(data_, normal_attr,
+                                 normal_map_output_attrs[0]);
+        }
       }
     }
 
@@ -753,11 +805,14 @@ class ModelWriter {
     if (main_texture) {
       // Create the texture shader and connect it to the diffuse color
       // attribute.
-      pxr::SdfPath texture_diffuse_output_attr =
+      const std::vector<pxr::SdfPath> texture_diffuse_output_attrs =
           AddTextureShader(material_path, main_texture->file->c_str(),
-                           pxr::TfToken("diffuse"), uvmap_st_output_attr);
-      AddAttributeConnection(data_, diffuse_color_attr,
-                             texture_diffuse_output_attr);
+                           pxr::TfToken("diffuse"), uvmap_st_output_attr,
+                           {kTokens->outputsRgb});
+      if (texture_diffuse_output_attrs.size() == 1) {
+        AddAttributeConnection(data_, diffuse_color_attr,
+                               texture_diffuse_output_attrs[0]);
+      }
     } else {
       // If no texture is specified, use the rgba diffuse color.
       SetAttributeDefault(data_, diffuse_color_attr,
@@ -765,11 +820,6 @@ class ModelWriter {
                                        material->rgba[2]));
     }
 
-    pxr::SdfPath metallic_attr = CreateAttributeSpec(
-        data_, preview_surface_shader_path, kTokens->inputsMetallic,
-        pxr::SdfValueTypeNames->Float);
-    SetAttributeDefault(data_, metallic_attr, material->metallic);
-
     pxr::SdfPath material_surface_output_attr = CreateAttributeSpec(
         data_, material_path, pxr::UsdShadeTokens->outputsSurface,
         pxr::SdfValueTypeNames->Token);
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index a2990bca..446f009e 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -161,6 +161,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered");
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/uvmap");
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/diffuse");
+
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/normal");
   ExpectAttributeHasConnection(
     stage,
@@ -170,6 +171,33 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
   ExpectAttributeEqual(
     stage, "/mesh_test/Materials/material_layered/normal.inputs:file",
     pxr::SdfAssetPath("textures/normal.png"));
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/orm_packed");
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_layered/"
+    "PreviewSurface.inputs:occlusion",
+    "/mesh_test/Materials/material_layered/orm_packed.outputs:r");
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_layered/"
+    "PreviewSurface.inputs:roughness",
+    "/mesh_test/Materials/material_layered/orm_packed.outputs:g");
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_layered/"
+    "PreviewSurface.inputs:metallic",
+    "/mesh_test/Materials/material_layered/orm_packed.outputs:b");
+  ExpectAttributeEqual(
+    stage, "/mesh_test/Materials/material_layered/orm_packed.inputs:file",
+    pxr::SdfAssetPath("textures/orm.png"));
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_metallic");
+  EXPECT_PRIM_VALID(stage,
+                    "/mesh_test/Materials/material_metallic/PreviewSurface");
+  ExpectAttributeEqual(stage,
+    "/mesh_test/Materials/material_metallic/PreviewSurface.inputs:metallic",
+    0.6f);
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
diff --git a/test/experimental/usd/plugins/mjcf/testdata/materials.xml b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
index e8cb2a0c..175c3ec8 100644
--- a/test/experimental/usd/plugins/mjcf/testdata/materials.xml
+++ b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
@@ -2,11 +2,14 @@
   <asset>
     <texture name="diffuse_tex" file="textures/cube.png" type="2d" />
     <texture name="normal_tex" file="textures/normal.png" type="2d" />
+    <texture name="orm_tex" file="textures/orm.png" type="2d" />
     <material name="material_red" rgba="0.8 0 0 1" />
     <material name="material_texture" texture="diffuse_tex" />
+    <material name="material_metallic" rgba="0.8 0 0 1" metallic="0.6"/>
     <material name="material_layered">
       <layer texture="diffuse_tex" role="rgb"/>
       <layer texture="normal_tex" role="normal"/>
+      <layer texture="orm_tex" role="orm"/>
     </material>
     2d texture="diffuse" normal="normal" />
     <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/orm.png b/test/experimental/usd/plugins/mjcf/testdata/textures/orm.png
new file mode 100644
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GIT binary patch
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HcmV?d00001


From 998769a9959e7a277db66e5a678ffb56ab74e259 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 17 Jun 2025 04:26:10 -0700
Subject: [PATCH 23/82] Return the total non-zeros from
 `mju_sqrMatTDSparseCount`.

PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
---
 src/engine/engine_core_constraint.c |  9 +++------
 src/engine/engine_solver.c          | 15 +++++++--------
 src/engine/engine_util_sparse.c     | 12 +++++++-----
 src/engine/engine_util_sparse.h     | 10 +++++-----
 4 files changed, 22 insertions(+), 24 deletions(-)

diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 3e625f49..5b688bf4 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -2193,12 +2193,9 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
     }
 
     // pre-count A nonzeros (compute AR_rownnz, AR_rowadr)
-    mju_sqrMatTDSparseCount(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc,
-                            BT_rownnz, BT_rowadr, BT_colind,
-                            B_rownnz, B_rowadr, B_colind, B_rowsuper, d, /*flg_upper=*/1);
-
-    // nA = total number of nonzeros in A
-    d->nA = d->efc_AR_rownnz[nefc - 1] + d->efc_AR_rowadr[nefc - 1];
+    d->nA = mju_sqrMatTDSparseCount(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc,
+                                    BT_rownnz, BT_rowadr, BT_colind,
+                                    B_rownnz, B_rowadr, B_colind, B_rowsuper, d, /*flg_upper=*/1);
 
     // allocate A values and column indices on arena
     d->efc_AR = mj_arenaAllocByte(d, sizeof(mjtNum) * d->nA, _Alignof(mjtNum));
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index 635fa6af..16286d4a 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1533,15 +1533,14 @@ static void MakeHessian(mjData* d, mjCGContext* ctx) {
 
   // sparse
   if (ctx->is_sparse) {
-    // initialize Hessian rowadr, rownnz
-    mju_sqrMatTDSparseCount(ctx->H_rownnz, ctx->H_rowadr, nv,
-                            ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-                            ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind,
-                            ctx->JT_rowsuper, d, /*flg_upper=*/0);
+    // initialize Hessian rowadr, rownnz; get total nonzeros
+    ctx->nH = mju_sqrMatTDSparseCount(ctx->H_rownnz, ctx->H_rowadr, nv,
+                                      ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
+                                      ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind,
+                                      ctx->JT_rowsuper, d, /*flg_upper=*/0);
 
-    // add nC to Hessian total nonzeros (unavoidable overcounting since H_colind is still unknown)
-    ctx->nH = ctx->M_rowadr[nv - 1] + ctx->M_rownnz[nv - 1] +
-              ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
+    // add M nonzeros to Hessian total (unavoidable overcounting since H_colind is still unknown)
+    ctx->nH += ctx->M_rowadr[nv - 1] + ctx->M_rownnz[nv - 1];
 
     // shift H row addresses to make room for C
     int shift = 0;
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index c9cf3bab..ad38edb7 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -636,11 +636,11 @@ void mju_superSparse(int nr, int* rowsuper,
 }
 
 
-// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
-void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
-                             const int* rownnz, const int* rowadr, const int* colind,
-                             const int* rownnzT, const int* rowadrT, const int* colindT,
-                             const int* rowsuperT, mjData* d, int flg_upper) {
+// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse, return total non-zeros
+int mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
+                            const int* rownnz, const int* rowadr, const int* colind,
+                            const int* rownnzT, const int* rowadrT, const int* colindT,
+                            const int* rowsuperT, mjData* d, int flg_upper) {
   mj_markStack(d);
   int* chain = mjSTACKALLOC(d, 2*nr, int);
   int nchain = 0;
@@ -726,6 +726,8 @@ void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
   }
 
   mj_freeStack(d);
+
+  return res_rowadr[nr-1] + res_rownnz[nr-1];
 }
 
 
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
index f6c2f7c2..4bf82472 100644
--- a/src/engine/engine_util_sparse.h
+++ b/src/engine/engine_util_sparse.h
@@ -120,11 +120,11 @@ MJAPI void mju_sqrMatTDSparse_row(mjtNum* res, const mjtNum* mat, const mjtNum*
                                   const int* colindT, const int* rowsuperT,
                                   mjData* d, int* diagind);
 
-// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
-MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
-                                   const int* rownnz, const int* rowadr, const int* colind,
-                                   const int* rownnzT, const int* rowadrT, const int* colindT,
-                                   const int* rowsuperT, mjData* d, int flg_upper);
+// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse, return total non-zeros
+MJAPI int mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
+                                  const int* rownnz, const int* rowadr, const int* colind,
+                                  const int* rownnzT, const int* rowadrT, const int* colindT,
+                                  const int* rowsuperT, mjData* d, int flg_upper);
 
 // precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
 MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);

From d9aae1521a524358d609aff55186b26f82dfae6b Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 17 Jun 2025 08:33:38 -0700
Subject: [PATCH 24/82] Remove confusing operator overload in user_api.cc

Explicitly add const_cast. This doesn't change the previous behaviour, just makes it explicit.

PiperOrigin-RevId: 772486471
Change-Id: I942bd4effed93a366089411ca18461cad52bff88
---
 src/user/user_api.cc | 28 ++++++++--------------------
 1 file changed, 8 insertions(+), 20 deletions(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index eea4aa93..be326503 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -41,24 +41,6 @@ using mujoco::user::StringToVector;
 static constexpr std::size_t kGlobalCacheSize = 500 * (1 << 20);
 
 
-// prepend prefix
-template <typename T>
-static T& operator+(std::string_view prefix, T& base) {
-  base.prefix = std::string(prefix);
-  return base;
-}
-
-
-
-// append suffix
-template <typename T>
-static T& operator+(T& base, std::string_view suffix) {
-  base.suffix = std::string(suffix);
-  return base;
-}
-
-
-
 // create model
 mjSpec* mj_makeSpec() {
   mjCModel* modelC = new mjCModel;
@@ -135,8 +117,11 @@ static void SetFrame(mjsBody* body, mjtObj objtype, mjsFrame* frame) {
 // attach body to a frame of the parent
 static mjsElement* attachBody(mjCFrame* parent, const mjCBody* child,
                               const char* prefix, const char* suffix) {
+  mjCBody* mutable_child = const_cast<mjCBody*>(child);
+  mutable_child->prefix = prefix;
+  mutable_child->suffix = suffix;
   try {
-    *parent += std::string(prefix) + *(mjCBody*)child + std::string(suffix);
+    *parent += *mutable_child;
   } catch (mjCError& e) {
     parent->model->SetError(e);
     return nullptr;
@@ -151,8 +136,11 @@ static mjsElement* attachBody(mjCFrame* parent, const mjCBody* child,
 // attach frame to a parent body
 static mjsElement* attachFrame(mjCBody* parent, const mjCFrame* child,
                                const char* prefix, const char* suffix) {
+  mjCFrame* mutable_child = const_cast<mjCFrame*>(child);
+  mutable_child->prefix = prefix;
+  mutable_child->suffix = suffix;
   try {
-    *parent += std::string(prefix) + *(mjCFrame*)child + std::string(suffix);
+    *parent += *mutable_child;
   } catch (mjCError& e) {
     parent->model->SetError(e);
     return nullptr;

From d2501eff682d752ba9980fcbbf561f9eeb5cc8b0 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 17 Jun 2025 09:29:52 -0700
Subject: [PATCH 25/82] Use procedural model creation in plugin tests.

This will be useful for simplifying the mjSpec API for plugins.

PiperOrigin-RevId: 772505558
Change-Id: I8eb57d7e129e0f6430fb4c610a543e0dc0f3b295
---
 python/mujoco/specs_test.py |  2 +-
 test/user/user_api_test.cc  | 51 ++++++++++++++++++++-----------------
 2 files changed, 29 insertions(+), 24 deletions(-)

diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index bf712505..08d47c0d 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -861,7 +861,7 @@ class SpecsTest(absltest.TestCase):
 
     body = spec.worldbody.add_body()
     body.plugin = plugin
-    body.plugin.plugin_name = 'mujoco.elasticity.cable'
+    body.plugin.name = 'instance_name'
     body.plugin.active = True
 
     geom = body.add_geom()
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index a415d740..52df9153 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -18,6 +18,8 @@
 #include <cstddef>
 #include <cstdint>
 #include <filesystem>
+#include <functional>
+#include <map>
 #include <memory>
 #include <string>
 #include <vector>
@@ -343,32 +345,35 @@ TEST_F(PluginTest, AttachExplicitPlugin) {
       </worldbody>
     </mujoco>)";
 
-  static constexpr char xml_child[] = R"(
-    <mujoco>
-      <extension>
-        <plugin plugin="mujoco.sensor.touch_grid"/>
-      </extension>
-      <worldbody>
-        <body name="body">
-          <geom type="sphere" size=".1" />
-          <site name="touch2" size="0.001"/>
-        </body>
-      </worldbody>
-      <sensor>
-        <plugin name="touch2" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch2">
-          <config key="size" value="8 12"/>
-          <config key="fov" value="10 13"/>
-          <config key="gamma" value="0"/>
-          <config key="nchannel" value="1"/>
-        </plugin>
-      </sensor>
-    </mujoco>)";
-
   std::array<char, 1000> err;
   mjSpec* parent = mj_parseXMLString(xml_parent, 0, err.data(), err.size());
   ASSERT_THAT(parent, NotNull()) << err.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, err.data(), err.size());
-  ASSERT_THAT(child, NotNull()) << err.data();
+
+  mjSpec* child = mj_makeSpec();
+  mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0);
+  mjsGeom* geom = mjs_addGeom(body, 0);
+  mjsSite* site = mjs_addSite(body, 0);
+  mjsSensor* sensor = mjs_addSensor(child);
+  mjsPlugin* plugin = mjs_addPlugin(child);
+  mjs_activatePlugin(child, "mujoco.sensor.touch_grid");
+  mjs_setString(plugin->plugin_name, "mujoco.sensor.touch_grid");
+  mjs_setString(sensor->plugin.plugin_name, "mujoco.sensor.touch_grid");
+  mjs_setString(body->name, "body");
+  mjs_setString(sensor->name, "touch2");
+  mjs_setString(sensor->objname, "touch2");
+  mjs_setString(site->name, "touch2");
+  geom->size[0] = 0.1;
+  site->size[0] = 0.001;
+  sensor->type = mjSENS_PLUGIN;
+  sensor->objtype = mjOBJ_SITE;
+  sensor->plugin.element = plugin->element;
+  sensor->plugin.active = true;
+  std::map<std::string, std::string, std::less<> > config_attribs;
+  config_attribs["size"] = "8 12";
+  config_attribs["fov"] = "10 13";
+  config_attribs["gamma"] = "0";
+  config_attribs["nchannel"] = "1";
+  mjs_setPluginAttributes(plugin, &config_attribs);
 
   mjsBody* body_parent = mjs_findBody(parent, "body");
   EXPECT_THAT(body_parent, NotNull());

From 3a035fc0a91cf44e7cf48519211483ebb2942cf4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Tue, 17 Jun 2025 19:32:24 +0200
Subject: [PATCH 26/82] Remove trailing whitespaces from MjMeshfilter

---
 unity/Runtime/Components/Shapes/MjMeshFilter.cs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/unity/Runtime/Components/Shapes/MjMeshFilter.cs b/unity/Runtime/Components/Shapes/MjMeshFilter.cs
index e509da12..3f6fec32 100644
--- a/unity/Runtime/Components/Shapes/MjMeshFilter.cs
+++ b/unity/Runtime/Components/Shapes/MjMeshFilter.cs
@@ -41,7 +41,7 @@ public class MjMeshFilter : MonoBehaviour {
       return;
     }
 
-    if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) { 
+    if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) {
       MjMeshShape meshShape = _geom.Shape as MjMeshShape;
       _meshFilter.sharedMesh = meshShape.Mesh;
       return;
@@ -67,7 +67,6 @@ public class MjMeshFilter : MonoBehaviour {
       uvs[i] = new Vector2(mesh.vertices[i].x, mesh.vertices[i].z);
     }
     mesh.uv = uvs;
-    
     mesh.RecalculateNormals();
     mesh.RecalculateTangents();
   }

From 8084b06a35a20a1bf58b3ad830273e60d9fe78fa Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 17 Jun 2025 12:50:56 -0700
Subject: [PATCH 27/82] Add tendon armature with sparse qM to MJX. Fixes #2681.

PiperOrigin-RevId: 772583693
Change-Id: I827d61aacada33f53500bf54613ccb8145bc854b
---
 mjx/mujoco/mjx/_src/smooth.py      | 46 +++++++++++++++---------------
 mjx/mujoco/mjx/_src/smooth_test.py | 14 +++++----
 2 files changed, 32 insertions(+), 28 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index bef176d6..169e5a25 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -1194,19 +1194,23 @@ def tendon_armature(m: Model, d: Data) -> Data:
   if not m.ntendon:
     return d
 
-  if not support.is_sparse(m):
-    return d.tree_replace({
-        '_impl.qM': (
-            d._impl.qM
-            + d._impl.ten_J.T
-            @ jax.vmap(jp.multiply)(d._impl.ten_J, m.tendon_armature)
-        )
-    })
-  else:
-    # TODO(taylorhowell): implement tendon armature with sparse qM
-    raise NotImplementedError(
-        'Tendon armature with sparse qM is not implemented.'
-    )
+  # TODO(taylorhowell): if sparse, compute sparse JTAJ
+  JTAJ = d._impl.ten_J.T @ jax.vmap(jp.multiply)(
+      d._impl.ten_J, m.tendon_armature
+  )
+
+  if support.is_sparse(m):
+    ij = []
+    for i in range(m.nv):
+      j = i
+      while j > -1:
+        ij.append((i, j))
+        j = m.dof_parentid[j]
+
+    i, j = (jp.array(x) for x in zip(*ij))
+    JTAJ = JTAJ[(i, j)]
+
+  return d.tree_replace({'_impl.qM': d._impl.qM + JTAJ})
 
 
 def tendon_dot(m: Model, d: Data) -> jax.Array:
@@ -1329,13 +1333,9 @@ def tendon_bias(m: Model, d: Data) -> Data:
   # add bias term: qfrc += ten_J * armature * ten_Jdot @ qvel
   coef = m.tendon_armature * jp.dot(ten_Jdot, d.qvel)
 
-  if not support.is_sparse(m):
-    return d.tree_replace({
-        'qfrc_bias': (
-            d.qfrc_bias
-            + jp.sum(jax.vmap(jp.multiply)(d._impl.ten_J, coef), axis=0)
-        )
-    })
-  else:
-    # TODO(taylorhowell): implement tendon bias with sparse qM
-    raise NotImplementedError('Tendon bias with sparse qM is not implemented.')
+  return d.tree_replace({
+      'qfrc_bias': (
+          d.qfrc_bias
+          + jp.sum(jax.vmap(jp.multiply)(d._impl.ten_J, coef), axis=0)
+      )
+  })
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 6c038522..506d8109 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -22,6 +22,7 @@ import mujoco
 from mujoco import mjx
 from mujoco.mjx._src import test_util
 from mujoco.mjx._src.types import ConeType  # pylint: disable=g-importing-member
+from mujoco.mjx._src.types import JacobianType  # pylint: disable=g-importing-member
 import numpy as np
 
 # tolerance for difference between MuJoCo and MJX smooth calculations - mostly
@@ -317,7 +318,8 @@ class TendonTest(parameterized.TestCase):
     _assert_eq(d.wrap_obj, dx._impl.wrap_obj, 'wrap_obj')
     _assert_eq(d.wrap_xpos, dx._impl.wrap_xpos, 'wrap_xpos')
 
-  def test_tendon_armature(self):
+  @parameterized.parameters(JacobianType.DENSE, JacobianType.SPARSE)
+  def test_tendon_armature(self, jacobian):
     """Tests MJX tendon armature matches MuJoCo."""
     m = mujoco.MjModel.from_xml_string("""
         <mujoco>
@@ -345,14 +347,11 @@ class TendonTest(parameterized.TestCase):
           </keyframe>
         </mujoco>
         """)
-
+    m.opt.jacobian = jacobian
     d = mujoco.MjData(m)
     mujoco.mj_resetDataKeyframe(m, d, 0)
     mujoco.mj_forward(m, d)
 
-    qM = np.zeros((m.nv, m.nv))  # pylint: disable=invalid-name
-    mujoco.mj_fullM(m, qM, d.qM)
-
     mx = mjx.put_model(m)
     dx = mjx.put_data(m, d)
 
@@ -363,6 +362,11 @@ class TendonTest(parameterized.TestCase):
     dx = mjx.crb(mx, dx)
     dx = mjx.tendon_armature(mx, dx)
 
+    if jacobian == JacobianType.DENSE:
+      qM = np.zeros((m.nv, m.nv))  # pylint: disable=invalid-name
+      mujoco.mj_fullM(m, qM, d.qM)
+    else:
+      qM = d.qM  # pylint: disable=invalid-name
     _assert_eq(dx._impl.qM, qM, 'qM')
 
     dx = mjx.rne(mx, dx)

From a64f1fd33526944a9a32391b98f7820d4e2bcb4b Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 17 Jun 2025 13:20:14 -0700
Subject: [PATCH 28/82] Compute M in mjx._get_data_into.

PiperOrigin-RevId: 772594295
Change-Id: I7da992e9e5590c6060fbe1e2c1e40ccbd3c9b2b9
---
 mjx/mujoco/mjx/_src/io.py      |  4 ++++
 mjx/mujoco/mjx/_src/io_test.py | 20 ++++++++++++++++++++
 2 files changed, 24 insertions(+)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index d5743082..82551c86 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -1210,6 +1210,10 @@ def _get_data_into(
       else:
         setattr(result_i, field.name, value)
 
+    # TODO(taylorhowell): remove mapping once qM is deprecated
+    # map inertia (sparse) to reduced inertia (compressed sparse) representation
+    result_i.M[:] = result_i.qM[result_i.mapM2M]
+
     # recalculate qLD and qLDiagInv as MJX and MuJoCo have different
     # representations of the Cholesky decomposition.
     mujoco.mj_factorM(m, result_i)
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 4bac5e3c..c8670597 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -28,6 +28,7 @@ from mujoco.mjx._src import test_util
 # pylint: disable=g-importing-member
 from mujoco.mjx._src.types import ConeType
 from mujoco.mjx._src.types import Impl
+from mujoco.mjx._src.types import JacobianType
 # pylint: enable=g-importing-member
 import numpy as np
 
@@ -656,6 +657,25 @@ class DataIOTest(parameterized.TestCase):
     with self.assertRaises(NotImplementedError):
       mjx.put_model(m, impl='jax')
 
+  @parameterized.parameters(JacobianType.DENSE, JacobianType.SPARSE)
+  def test_qm_mapm2m(self, jacobian):
+    """Test that qM is mapped to M."""
+    m = test_util.load_test_file('humanoid/humanoid.xml')
+    m.opt.jacobian = jacobian
+    d = mujoco.MjData(m)
+    mx = mjx.put_model(m, impl='jax')
+    dx = mjx.make_data(m, impl='jax')
+    dx = mjx.forward(mx, dx)
+
+    mjx.get_data_into(d, m, dx)
+
+    res_mj = np.zeros((1, m.nv))
+    mujoco.mj_solveM(m, d, res_mj, np.ones((1, m.nv)))
+
+    res = mjx._src.smooth.solve_m(mx, dx, jp.ones(m.nv))
+
+    np.testing.assert_allclose(res_mj[0], res, rtol=1e-3, atol=1e-3)
+
 
 class FullCompatTest(parameterized.TestCase):
   """Tests for the _full_compat flag."""

From bb1d31378073bba925a9524585d17675e279b7ed Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 17 Jun 2025 16:06:50 -0700
Subject: [PATCH 29/82] Update docs reflecting MJX now has good support for
 implicitfast.

PiperOrigin-RevId: 772660862
Change-Id: I2ba27b39bb6885b48f65ca1afdc6b83ec027a26d
---
 doc/computation/index.rst | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index ff87af05..aca4c663 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -583,8 +583,7 @@ Fast implicit-in-velocity (``implicitfast``)
     performance.
 
     **Euler**:
-     Use ``Euler`` for compatibillity with older models and :ref:`MJX<Mjx>`. Specifically for MJX,
-     setting the :ref:`eulerdamp<option-flag-eulerdamp>` disable flag can :ref:`improve performance<MjxPerformance>`.
+     Use ``Euler`` for compatibillity with older models.
     **implicitfast**:
      The ``implicitfast`` integrator has similar computational cost to ``Euler``, yet provides
      increased stability, and is therefore a strict improvement. It is the recommended integrator for most models.

From 6b309b5251a95c11a2dc400b723af71925d47149 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 18 Jun 2025 04:41:32 -0700
Subject: [PATCH 30/82] Display equality constraints in the simulate UI.

Add section for toggling constraint activity to the UI, similar to actuators or joint controls.

PiperOrigin-RevId: 772866923
Change-Id: I017b9195fcf67b5865e9d44d6c8aded64c8bc46d
---
 simulate/simulate.cc | 61 ++++++++++++++++++++++++++++++++++++++++++++
 simulate/simulate.h  |  5 ++++
 2 files changed, 66 insertions(+)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index b6a1b9e4..273b7f7a 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -112,6 +112,7 @@ enum {
   // right ui
   SECT_JOINT = 0,
   SECT_CONTROL,
+  SECT_EQUALITY,
   NSECT1
 };
 
@@ -1127,6 +1128,36 @@ void MakeControlSection(mj::Simulate* sim) {
   }
 }
 
+// make equality section of UI
+void MakeEqualitySection(mj::Simulate* sim) {
+  mjuiDef defEquality[] = {
+    {mjITEM_SECTION, "Equality", mjPRESERVE, nullptr, "AE"},
+    {mjITEM_END}
+  };
+  mjuiDef defCheckBox[] = {
+    {mjITEM_CHECKBYTE, "", 2, nullptr, ""},
+    {mjITEM_END}
+  };
+
+  // add section
+  mjui_add(&sim->ui1, defEquality);
+
+  // add equalities, exit if UI limit reached
+  for (int i= 0; i < sim->m_->neq && i<mjMAXUIITEM; i++) {
+    // set data
+    defCheckBox[0].pdata = &sim->d_->eq_active[i];
+
+    // set name
+    if (!sim->equality_names_[i].empty()) {
+      mju::strcpy_arr(defCheckBox[0].name, sim->equality_names_[i].c_str());
+    } else {
+      mju::sprintf_arr(defCheckBox[0].name, "equality %d", i);
+    }
+
+    mjui_add(&sim->ui1, defCheckBox);
+  }
+}
+
 // make model-dependent UI sections
 void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
   // clear model-dependent sections of UI
@@ -1140,6 +1171,7 @@ void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
   MakeGroupSection(sim);
   MakeJointSection(sim);
   MakeControlSection(sim);
+  MakeEqualitySection(sim);
 }
 
 //---------------------------------- utility functions ---------------------------------------------
@@ -1931,6 +1963,18 @@ void Simulate::Sync() {
     }
   }
 
+  for (int i = 0; i < m_->neq; ++i) {
+    if (eq_active_[i] != eq_active_prev_[i]) {
+      d_->eq_active[i] = eq_active_[i];
+    } else {
+      eq_active_[i] = d_->eq_active[i];
+    }
+    if (eq_active_prev_[i] != eq_active_[i]) {
+      pending_.ui_update_equality = true;
+      eq_active_prev_[i] = eq_active_[i];
+    }
+  }
+
   // in passive mode, synchronize user's mjModel with changes made via the UI
   if (is_passive_) {
     // synchronize mjModel.opt
@@ -2261,6 +2305,12 @@ void Simulate::LoadOnRenderThread() {
     actuator_names_.emplace_back(this->m_->names + this->m_->name_actuatoradr[i]);
   }
 
+  equality_names_.clear();
+  equality_names_.reserve(this->m_->neq);
+  for (int i = 0; i < this->m_->neq; ++i) {
+    equality_names_.emplace_back(this->m_->names + this->m_->name_eqadr[i]);
+  }
+
   qpos_.resize(this->m_->nq);
   std::memcpy(qpos_.data(), this->d_->qpos, sizeof(this->d_->qpos[0]) * this->m_->nq);
   qpos_prev_ = qpos_;
@@ -2269,6 +2319,10 @@ void Simulate::LoadOnRenderThread() {
   std::memcpy(ctrl_.data(), this->d_->ctrl, sizeof(this->d_->ctrl[0]) * this->m_->nu);
   ctrl_prev_ = ctrl_;
 
+  eq_active_.resize(this->m_->neq);
+  std::memcpy(eq_active_.data(), this->d_->eq_active, sizeof(this->d_->eq_active[0]) * this->m_->neq);
+  eq_active_prev_ = eq_active_;
+
   // allocate history buffer: smaller of {2000 states, 100 MB}
   if (!this->is_passive_) {
     constexpr int kMaxHistoryBytes = 1e8;
@@ -2518,6 +2572,13 @@ void Simulate::Render() {
     pending_.ui_update_ctrl = false;
   }
 
+  if (pending_.ui_update_equality) {
+    if (this->ui1_enable && this->ui1.sect[SECT_EQUALITY].state) {
+      mjui_update(SECT_EQUALITY, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
+    }
+    pending_.ui_update_equality = false;
+  }
+
   // render scene
   mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
 
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 38234e4c..03c0a0b1 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -122,6 +122,8 @@ class Simulate {
   std::vector<std::optional<std::pair<mjtNum, mjtNum>>> actuator_ctrlrange_;
   std::vector<std::string> actuator_names_;
 
+  std::vector<std::string> equality_names_;
+
   std::vector<mjtNum> history_;  // history buffer (nhistory x state_size)
 
   // mjModel and mjData fields that can be modified by the user through the GUI
@@ -129,6 +131,8 @@ class Simulate {
   std::vector<mjtNum> qpos_prev_;
   std::vector<mjtNum> ctrl_;
   std::vector<mjtNum> ctrl_prev_;
+  std::vector<mjtByte> eq_active_;
+  std::vector<mjtByte> eq_active_prev_;
 
   // in passive mode the user owns m_ and d_, these "passive" instances are
   // owned by Simulate, updated from the user by the Sync() method
@@ -167,6 +171,7 @@ class Simulate {
     bool ui_update_visualization;
     bool ui_update_joint;
     bool ui_update_ctrl;
+    bool ui_update_equality;
     bool ui_remake_ctrl;
   } pending_ = {};
 

From 9e2c21a17d10be185bdc7568f319c3f2f36e1bf5 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Wed, 18 Jun 2025 04:59:46 -0700
Subject: [PATCH 31/82] Return stricter type from mjCModel::operator+=(mjDef&).

PiperOrigin-RevId: 772871198
Change-Id: I4c840389b38e2d8d6bcf92311fad3242324fa3af
---
 src/user/user_model.cc | 2 +-
 src/user/user_model.h  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 8ce68cd7..c05a2bff 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -653,7 +653,7 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
 
 
 // add default tree to this model
-mjCModel_& mjCModel::operator+=(mjCDef& subtree) {
+mjCModel& mjCModel::operator+=(mjCDef& subtree) {
   defaults_.push_back(&subtree);
   def_map[subtree.name] = &subtree;
   subtree.model = this;
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 4bb1927e..d0bf43fa 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -187,7 +187,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCModel& operator=(const mjCModel& other);     // copy other into this, if they are not the same
   mjCModel& operator+=(const mjCModel& other);    // add other into this, even if they are the same
   mjCModel& operator-=(const mjCBody& subtree);   // remove subtree and all references from model
-  mjCModel_& operator+=(mjCDef& subtree);         // add default tree to this model
+  mjCModel& operator+=(mjCDef& subtree);          // add default tree to this model
   mjCModel& operator-=(const mjCDef& subtree);    // remove default tree from this model
 
   mjSpec spec;

From 92bc486558034c9833602c5ebd073f6f314af281 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 18 Jun 2025 05:53:16 -0700
Subject: [PATCH 32/82] Make mjs_findElement find textures by file name.

This is done if the model is uncompiled and their name is empty.

PiperOrigin-RevId: 772885774
Change-Id: I827d5b679637fa0571cfb0a69833ed688df16304
---
 python/mujoco/specs_test.py |  8 ++++++++
 src/user/user_api.cc        |  2 ++
 src/user/user_model.cc      | 18 ++++++++++++++++++
 src/user/user_model.h       |  1 +
 4 files changed, 29 insertions(+)

diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 08d47c0d..82e05e4a 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -1001,6 +1001,14 @@ class SpecsTest(absltest.TestCase):
     texture.data = np.zeros((2, 2, 3), dtype=np.uint8).tobytes()
     spec.compile()
 
+  def test_find_unnamed_texture(self):
+    spec = mujoco.MjSpec()
+    texture_file = spec.add_texture(file='file.png')
+    texture_name = spec.add_texture(name='name')
+    self.assertEqual(spec.texture('file'), texture_file)
+    self.assertEqual(spec.texture('name'), texture_name)
+    self.assertIsNone(spec.texture('none'))
+
   def test_attach_units(self):
     child = mujoco.MjSpec()
     parent = mujoco.MjSpec()
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index be326503..c8bde69c 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -936,6 +936,8 @@ mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
     case mjOBJ_LIGHT:
     case mjOBJ_FRAME:
       return model->FindTree(model->GetWorld(), type, std::string(name));  // recursive search
+    case mjOBJ_TEXTURE:
+      return model->FindTexture(std::string(name));  // check filename too
     default:
       return model->FindObject(type, std::string(name));  // always available
   }
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index c05a2bff..a02ad654 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -24,6 +24,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <exception>
+#include <filesystem>  // NOLINT(build/c++17)
 #include <functional>
 #include <mutex>
 #include <string>
@@ -1369,6 +1370,23 @@ static T* findobject(std::string_view name, const vector<T*>& list, const mjKeyM
   return list[id->second];
 }
 
+
+
+mjCBase* mjCModel::FindTexture(std::string_view name) const {
+  for (unsigned int i=0; i < textures_.size(); i++) {
+    if (textures_[i]->name == name) {
+      return textures_[i];
+    }
+    if (textures_[i]->name.empty() &&
+        std::filesystem::path(textures_[i]->spec_file_).filename().stem() == name) {
+      return textures_[i];
+    }
+  }
+  return nullptr;
+}
+
+
+
 // find object in global lists given string type and name
 mjCBase* mjCModel::FindObject(mjtObj type, string name) const {
   if (!object_lists_[type]) {
diff --git a/src/user/user_model.h b/src/user/user_model.h
index d0bf43fa..cd03914d 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -248,6 +248,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCDef* FindDefault(std::string name);                            // find defaults class name
   mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr);   // add defaults class to array
   mjCBase* FindObject(mjtObj type, std::string name) const;         // find object given type and name
+  mjCBase* FindTexture(std::string_view name) const;                // find texture given name
   mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name);  // find tree object given name
   mjSpec* FindSpec(std::string name) const;                         // find spec given name
   mjSpec* FindSpec(const mjsCompiler* compiler_);                   // find spec given mjsCompiler

From 335a9ce0c2ba8354444c0ea9da4da4939af3a1ca Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 18 Jun 2025 07:44:23 -0700
Subject: [PATCH 33/82] Use early-exit to improve readability of
 mj_instantiateEquality.

PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab
---
 src/engine/engine_core_constraint.c | 468 ++++++++++++++--------------
 1 file changed, 235 insertions(+), 233 deletions(-)

diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 5b688bf4..52befb97 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -430,244 +430,246 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
 
   // find active equality constraints
   for (int i=0; i < m->neq; i++) {
-    if (d->eq_active[i]) {
-      // get constraint data
-      data = m->eq_data + mjNEQDATA*i;
-      id[0] = m->eq_obj1id[i];
-      id[1] = m->eq_obj2id[i];
-      size = 0;
-      NV = 0;
-      NV2 = 0;
-      int body_id[2];
+    if (!d->eq_active[i]) {
+      continue;
+    }
 
-      // process according to type
-      switch ((mjtEq) m->eq_type[i]) {
-      case mjEQ_CONNECT:              // connect bodies with ball joint
-        // find global points, body semantic
-        if (m->eq_objtype[i] == mjOBJ_BODY) {
-          for (int j=0; j < 2; j++) {
-            mju_mulMatVec3(pos[j], d->xmat + 9*id[j], data + 3*j);
-            mju_addTo3(pos[j], d->xpos + 3*id[j]);
-            body_id[j] = id[j];
-          }
+    // get constraint data
+    data = m->eq_data + mjNEQDATA*i;
+    id[0] = m->eq_obj1id[i];
+    id[1] = m->eq_obj2id[i];
+    size = 0;
+    NV = 0;
+    NV2 = 0;
+    int body_id[2];
+
+    // process according to type
+    switch ((mjtEq) m->eq_type[i]) {
+    case mjEQ_CONNECT:              // connect bodies with ball joint
+      // find global points, body semantic
+      if (m->eq_objtype[i] == mjOBJ_BODY) {
+        for (int j=0; j < 2; j++) {
+          mju_mulMatVec3(pos[j], d->xmat + 9*id[j], data + 3*j);
+          mju_addTo3(pos[j], d->xpos + 3*id[j]);
+          body_id[j] = id[j];
         }
-
-        // find global points, site semantic
-        else {
-          for (int j=0; j < 2; j++) {
-            mju_copy3(pos[j], d->site_xpos + 3*id[j]);
-            body_id[j] = m->site_bodyid[id[j]];
-          }
-        }
-
-        // compute position error
-        mju_sub3(cpos, pos[0], pos[1]);
-
-        // compute Jacobian difference (opposite of contact: 0 - 1)
-        NV = mj_jacDifPair(m, d, chain, body_id[1], body_id[0], pos[1], pos[0],
-                           jac[1], jac[0], jacdif, NULL, NULL, NULL);
-
-        // copy difference into jac[0]
-        mju_copy(jac[0], jacdif, 3*NV);
-
-        size = 3;
-        break;
-
-      case mjEQ_WELD:                 // fix relative position and orientation
-        // find global points, body semantic
-        if (m->eq_objtype[i] == mjOBJ_BODY) {
-          for (int j=0; j < 2; j++) {
-            mjtNum* anchor = data + 3*(1-j);
-            mju_mulMatVec3(pos[j], d->xmat + 9*id[j], anchor);
-            mju_addTo3(pos[j], d->xpos + 3*id[j]);
-            body_id[j] = id[j];
-          }
-        }
-
-        // find global points, site semantic
-        else {
-          for (int j=0; j < 2; j++) {
-            mju_copy3(pos[j], d->site_xpos + 3*id[j]);
-            body_id[j] = m->site_bodyid[id[j]];
-          }
-        }
-
-        // compute position error
-        mju_sub3(cpos, pos[0], pos[1]);
-
-        // get torquescale coefficient
-        mjtNum torquescale = data[10];
-
-        // compute error Jacobian (opposite of contact: 0 - 1)
-        NV = mj_jacDifPair(m, d, chain, body_id[1], body_id[0], pos[1], pos[0],
-                           jac[1], jac[0], jacdif,
-                           jac[1]+3*nv, jac[0]+3*nv, jacdif+3*nv);
-
-        // copy difference into jac[0], compress translation:rotation if sparse
-        mju_copy(jac[0], jacdif, 3*NV);
-        mju_copy(jac[0]+3*NV, jacdif+3*nv, 3*NV);
-
-        // orientation, body semantic
-        if (m->eq_objtype[i] == mjOBJ_BODY) {
-          // compute orientation error: neg(q1) * q0 * relpose (axis components only)
-          mjtNum* relpose = data+6;
-          mju_mulQuat(quat, d->xquat+4*id[0], relpose);   // quat = q0*relpose
-          mju_negQuat(quat1, d->xquat+4*id[1]);           // quat1 = neg(q1)
-        }
-
-        // orientation, site semantic
-        else {
-          mjtNum quat_site1[4];
-          mju_mulQuat(quat, d->xquat+4*body_id[0], m->site_quat+4*id[0]);
-          mju_mulQuat(quat_site1, d->xquat+4*body_id[1], m->site_quat+4*id[1]);
-          mju_negQuat(quat1, quat_site1);
-        }
-
-        mju_mulQuat(quat2, quat1, quat);
-        mju_scl3(cpos+3, quat2+1, torquescale);         // scale axis components by torquescale
-
-        // correct rotation Jacobian: 0.5 * neg(q1) * (jac0-jac1) * q0 * relpose
-        for (int j=0; j < NV; j++) {
-          // axis = [jac0-jac1]_col(j)
-          axis[0] = jac[0][3*NV+j];
-          axis[1] = jac[0][4*NV+j];
-          axis[2] = jac[0][5*NV+j];
-
-          // apply formula
-          mju_mulQuatAxis(quat2, quat1, axis);    // quat2 = neg(q1)*(jac0-jac1)
-          mju_mulQuat(quat3, quat2, quat);        // quat3 = neg(q1)*(jac0-jac1)*q0*relpose
-
-          // correct Jacobian
-          jac[0][3*NV+j] = 0.5*quat3[1];
-          jac[0][4*NV+j] = 0.5*quat3[2];
-          jac[0][5*NV+j] = 0.5*quat3[3];
-        }
-
-        // scale rotational jacobian by torquescale
-        mju_scl(jac[0]+3*NV, jac[0]+3*NV, torquescale, 3*NV);
-
-        size = 6;
-        break;
-
-      case mjEQ_JOINT:                // couple joint values with cubic
-      case mjEQ_TENDON:               // couple tendon lengths with cubic
-        // get scalar positions and their Jacobians
-        for (int j=0; j < 1+(id[1] >= 0); j++) {
-          if (m->eq_type[i] == mjEQ_JOINT) {    // joint object
-            pos[j][0] = d->qpos[m->jnt_qposadr[id[j]]];
-            ref[j] = m->qpos0[m->jnt_qposadr[id[j]]];
-
-            // make Jacobian: sparse or dense
-            if (issparse) {
-              // add first or second joint
-              if (j == 0) {
-                NV = 1;
-                chain[0] = m->jnt_dofadr[id[j]];
-                jac[j][0] = 1;
-              } else {
-                NV2 = 1;
-                chain2[0] = m->jnt_dofadr[id[j]];
-                jac[j][0] = 1;
-              }
-            } else {
-              mju_zero(jac[j], nv);
-              jac[j][m->jnt_dofadr[id[j]]] = 1;
-            }
-          } else {                            // tendon object
-            pos[j][0] = d->ten_length[id[j]];
-            ref[j] = m->tendon_length0[id[j]];
-
-            // set tendon_efcadr
-            if (d->tendon_efcadr[id[j]] == -1) {
-              d->tendon_efcadr[id[j]] = i;
-            }
-
-            // copy Jacobian: sparse or dense
-            if (issparse) {
-              // add first or second chain
-              if (j == 0) {
-                NV = d->ten_J_rownnz[id[j]];
-                mju_copyInt(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV);
-                mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV);
-              } else {
-                NV2 = d->ten_J_rownnz[id[j]];
-                mju_copyInt(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2);
-                mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV2);
-              }
-            } else {
-              mju_copy(jac[j], d->ten_J+id[j]*nv, nv);
-            }
-          }
-        }
-
-        // both objects defined
-        if (id[1] >= 0) {
-          // compute position error
-          dif = pos[1][0] - ref[1];
-          cpos[0] = pos[0][0] - ref[0] - data[0] -
-                    (data[1]*dif + data[2]*dif*dif + data[3]*dif*dif*dif + data[4]*dif*dif*dif*dif);
-
-          // compute derivative
-          deriv = data[1] + 2*data[2]*dif + 3*data[3]*dif*dif + 4*data[4]*dif*dif*dif;
-
-          // compute Jacobian: sparse or dense
-          if (issparse) {
-            NV = mju_combineSparse(jac[0], jac[1], 1, -deriv, NV, NV2, chain,
-                                   chain2, sparse_buf, buf_ind);
-          } else {
-            mju_addToScl(jac[0], jac[1], -deriv, nv);
-          }
-        }
-
-        // only one object defined
-        else {
-          // compute position error
-          cpos[0] = pos[0][0] - ref[0] - data[0];
-
-          // jac[0] already has the correct Jacobian
-        }
-
-        size = 1;
-        break;
-
-      case mjEQ_FLEX:
-        flex_edgeadr = m->flex_edgeadr[id[0]];
-        flex_edgenum = m->flex_edgenum[id[0]];
-        // add one constraint per non-rigid edge
-        for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
-          // skip rigid
-          if (m->flexedge_rigid[e]) {
-            continue;
-          }
-
-          // position error
-          cpos[0] = d->flexedge_length[e] - m->flexedge_length0[e];
-
-          // add constraint: sparse or dense
-          if (issparse) {
-            mj_addConstraint(m, d, d->flexedge_J+d->flexedge_J_rowadr[e], cpos, 0, 0,
-                             1, mjCNSTR_EQUALITY, i,
-                             d->flexedge_J_rownnz[e],
-                             d->flexedge_J_colind+d->flexedge_J_rowadr[e]);
-          } else {
-            mj_addConstraint(m, d, d->flexedge_J+e*nv, cpos, 0, 0,
-                             1, mjCNSTR_EQUALITY, i,
-                             0, NULL);
-          }
-        }
-        break;
-
-      default:                    // SHOULD NOT OCCUR
-        mjERROR("invalid equality constraint type %d", m->eq_type[i]);
       }
 
-      // add constraint
-      if (size) {
-        mj_addConstraint(m, d, jac[0], cpos, 0, 0,
-                         size, mjCNSTR_EQUALITY, i,
-                         issparse ? NV : 0,
-                         issparse ? chain : NULL);
+      // find global points, site semantic
+      else {
+        for (int j=0; j < 2; j++) {
+          mju_copy3(pos[j], d->site_xpos + 3*id[j]);
+          body_id[j] = m->site_bodyid[id[j]];
+        }
       }
+
+      // compute position error
+      mju_sub3(cpos, pos[0], pos[1]);
+
+      // compute Jacobian difference (opposite of contact: 0 - 1)
+      NV = mj_jacDifPair(m, d, chain, body_id[1], body_id[0], pos[1], pos[0],
+                          jac[1], jac[0], jacdif, NULL, NULL, NULL);
+
+      // copy difference into jac[0]
+      mju_copy(jac[0], jacdif, 3*NV);
+
+      size = 3;
+      break;
+
+    case mjEQ_WELD:                 // fix relative position and orientation
+      // find global points, body semantic
+      if (m->eq_objtype[i] == mjOBJ_BODY) {
+        for (int j=0; j < 2; j++) {
+          mjtNum* anchor = data + 3*(1-j);
+          mju_mulMatVec3(pos[j], d->xmat + 9*id[j], anchor);
+          mju_addTo3(pos[j], d->xpos + 3*id[j]);
+          body_id[j] = id[j];
+        }
+      }
+
+      // find global points, site semantic
+      else {
+        for (int j=0; j < 2; j++) {
+          mju_copy3(pos[j], d->site_xpos + 3*id[j]);
+          body_id[j] = m->site_bodyid[id[j]];
+        }
+      }
+
+      // compute position error
+      mju_sub3(cpos, pos[0], pos[1]);
+
+      // get torquescale coefficient
+      mjtNum torquescale = data[10];
+
+      // compute error Jacobian (opposite of contact: 0 - 1)
+      NV = mj_jacDifPair(m, d, chain, body_id[1], body_id[0], pos[1], pos[0],
+                          jac[1], jac[0], jacdif,
+                          jac[1]+3*nv, jac[0]+3*nv, jacdif+3*nv);
+
+      // copy difference into jac[0], compress translation:rotation if sparse
+      mju_copy(jac[0], jacdif, 3*NV);
+      mju_copy(jac[0]+3*NV, jacdif+3*nv, 3*NV);
+
+      // orientation, body semantic
+      if (m->eq_objtype[i] == mjOBJ_BODY) {
+        // compute orientation error: neg(q1) * q0 * relpose (axis components only)
+        mjtNum* relpose = data+6;
+        mju_mulQuat(quat, d->xquat+4*id[0], relpose);   // quat = q0*relpose
+        mju_negQuat(quat1, d->xquat+4*id[1]);           // quat1 = neg(q1)
+      }
+
+      // orientation, site semantic
+      else {
+        mjtNum quat_site1[4];
+        mju_mulQuat(quat, d->xquat+4*body_id[0], m->site_quat+4*id[0]);
+        mju_mulQuat(quat_site1, d->xquat+4*body_id[1], m->site_quat+4*id[1]);
+        mju_negQuat(quat1, quat_site1);
+      }
+
+      mju_mulQuat(quat2, quat1, quat);
+      mju_scl3(cpos+3, quat2+1, torquescale);         // scale axis components by torquescale
+
+      // correct rotation Jacobian: 0.5 * neg(q1) * (jac0-jac1) * q0 * relpose
+      for (int j=0; j < NV; j++) {
+        // axis = [jac0-jac1]_col(j)
+        axis[0] = jac[0][3*NV+j];
+        axis[1] = jac[0][4*NV+j];
+        axis[2] = jac[0][5*NV+j];
+
+        // apply formula
+        mju_mulQuatAxis(quat2, quat1, axis);    // quat2 = neg(q1)*(jac0-jac1)
+        mju_mulQuat(quat3, quat2, quat);        // quat3 = neg(q1)*(jac0-jac1)*q0*relpose
+
+        // correct Jacobian
+        jac[0][3*NV+j] = 0.5*quat3[1];
+        jac[0][4*NV+j] = 0.5*quat3[2];
+        jac[0][5*NV+j] = 0.5*quat3[3];
+      }
+
+      // scale rotational jacobian by torquescale
+      mju_scl(jac[0]+3*NV, jac[0]+3*NV, torquescale, 3*NV);
+
+      size = 6;
+      break;
+
+    case mjEQ_JOINT:                // couple joint values with cubic
+    case mjEQ_TENDON:               // couple tendon lengths with cubic
+      // get scalar positions and their Jacobians
+      for (int j=0; j < 1+(id[1] >= 0); j++) {
+        if (m->eq_type[i] == mjEQ_JOINT) {    // joint object
+          pos[j][0] = d->qpos[m->jnt_qposadr[id[j]]];
+          ref[j] = m->qpos0[m->jnt_qposadr[id[j]]];
+
+          // make Jacobian: sparse or dense
+          if (issparse) {
+            // add first or second joint
+            if (j == 0) {
+              NV = 1;
+              chain[0] = m->jnt_dofadr[id[j]];
+              jac[j][0] = 1;
+            } else {
+              NV2 = 1;
+              chain2[0] = m->jnt_dofadr[id[j]];
+              jac[j][0] = 1;
+            }
+          } else {
+            mju_zero(jac[j], nv);
+            jac[j][m->jnt_dofadr[id[j]]] = 1;
+          }
+        } else {                            // tendon object
+          pos[j][0] = d->ten_length[id[j]];
+          ref[j] = m->tendon_length0[id[j]];
+
+          // set tendon_efcadr
+          if (d->tendon_efcadr[id[j]] == -1) {
+            d->tendon_efcadr[id[j]] = i;
+          }
+
+          // copy Jacobian: sparse or dense
+          if (issparse) {
+            // add first or second chain
+            if (j == 0) {
+              NV = d->ten_J_rownnz[id[j]];
+              mju_copyInt(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV);
+              mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV);
+            } else {
+              NV2 = d->ten_J_rownnz[id[j]];
+              mju_copyInt(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2);
+              mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV2);
+            }
+          } else {
+            mju_copy(jac[j], d->ten_J+id[j]*nv, nv);
+          }
+        }
+      }
+
+      // both objects defined
+      if (id[1] >= 0) {
+        // compute position error
+        dif = pos[1][0] - ref[1];
+        cpos[0] = pos[0][0] - ref[0] - data[0] -
+                  (data[1]*dif + data[2]*dif*dif + data[3]*dif*dif*dif + data[4]*dif*dif*dif*dif);
+
+        // compute derivative
+        deriv = data[1] + 2*data[2]*dif + 3*data[3]*dif*dif + 4*data[4]*dif*dif*dif;
+
+        // compute Jacobian: sparse or dense
+        if (issparse) {
+          NV = mju_combineSparse(jac[0], jac[1], 1, -deriv, NV, NV2, chain,
+                                  chain2, sparse_buf, buf_ind);
+        } else {
+          mju_addToScl(jac[0], jac[1], -deriv, nv);
+        }
+      }
+
+      // only one object defined
+      else {
+        // compute position error
+        cpos[0] = pos[0][0] - ref[0] - data[0];
+
+        // jac[0] already has the correct Jacobian
+      }
+
+      size = 1;
+      break;
+
+    case mjEQ_FLEX:
+      flex_edgeadr = m->flex_edgeadr[id[0]];
+      flex_edgenum = m->flex_edgenum[id[0]];
+      // add one constraint per non-rigid edge
+      for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
+        // skip rigid
+        if (m->flexedge_rigid[e]) {
+          continue;
+        }
+
+        // position error
+        cpos[0] = d->flexedge_length[e] - m->flexedge_length0[e];
+
+        // add constraint: sparse or dense
+        if (issparse) {
+          mj_addConstraint(m, d, d->flexedge_J+d->flexedge_J_rowadr[e], cpos, 0, 0,
+                            1, mjCNSTR_EQUALITY, i,
+                            d->flexedge_J_rownnz[e],
+                            d->flexedge_J_colind+d->flexedge_J_rowadr[e]);
+        } else {
+          mj_addConstraint(m, d, d->flexedge_J+e*nv, cpos, 0, 0,
+                            1, mjCNSTR_EQUALITY, i,
+                            0, NULL);
+        }
+      }
+      break;
+
+    default:                    // SHOULD NOT OCCUR
+      mjERROR("invalid equality constraint type %d", m->eq_type[i]);
+    }
+
+    // add constraint
+    if (size) {
+      mj_addConstraint(m, d, jac[0], cpos, 0, 0,
+                       size, mjCNSTR_EQUALITY, i,
+                       issparse ? NV : 0,
+                       issparse ? chain : NULL);
     }
   }
 

From 35665c5cb33ffaea4caa16e6fa2d57f612d49fd6 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 18 Jun 2025 08:23:24 -0700
Subject: [PATCH 34/82] Skip mesh geoms in touch sensor.

Also, use geom_rbound for the sensor size and check that there is at least one collision geom.

PiperOrigin-RevId: 772928954
Change-Id: I56f1577df66213a70fb1dc12488fbcd2f8a4b8b4
---
 plugin/sensor/touch_stress.cc | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/plugin/sensor/touch_stress.cc b/plugin/sensor/touch_stress.cc
index ba7b1d4c..7ec924f7 100644
--- a/plugin/sensor/touch_stress.cc
+++ b/plugin/sensor/touch_stress.cc
@@ -213,14 +213,21 @@ TouchStress::TouchStress(const mjModel* m, mjData* d, int instance,
 
   // Get parent weld id.
   int site_id = m->sensor_objid[id_];
-  int parent_body = m->body_weldid[m->site_bodyid[site_id]];
+  int parent_body = m->site_bodyid[site_id];
   parent_weld_ = m->body_weldid[parent_body];
 
   // Get geom id.
-  if (m->body_geomnum[parent_body] != 1) {
-    mju_error("Touch sensor must be attached to a body with exactly one geom");
+  int collision_geoms = 0;
+  for (int i = 0; i < m->body_geomnum[parent_body]; ++i) {
+    int geom_id = m->body_geomadr[parent_body]+i;
+    if (m->geom_contype[geom_id] || m->geom_conaffinity[geom_id]) {
+      collision_geoms++;
+      geom_id_ = geom_id;
+    }
+  }
+  if (collision_geoms == 0) {
+    mju_error("Touch sensor requires a body with at least one collision geom");
   }
-  geom_id_ = m->body_geomadr[parent_body];
 
   // Create bin edges.
   x_edges_.assign(size[0] + 1, 0);
@@ -236,7 +243,7 @@ TouchStress::TouchStress(const mjModel* m, mjData* d, int instance,
       mjtNum aer[3];
       aer[0] = 0.5*(x_edges_[i+1]+x_edges_[i]);
       aer[1] = 0.5*(y_edges_[j+1]+y_edges_[j]);
-      aer[2] = m->geom_size[3*geom_id_];
+      aer[2] = m->geom_rbound[geom_id_];
       SphericalToCartesian(aer, pos_.data() + 3 * (i * size[1] + j));
       dist_[i*size[1]+j] = mju_abs(aer[2]);
       TangentFrame(aer, mat_.data() + 9 * (i * size[1] + j));
@@ -302,6 +309,11 @@ void TouchStress::Compute(const mjModel* m, mjData* d, int instance) {
       geomtype[0] = (mjtGeom)m->geom_type[geom];
     }
 
+    // Skip mesh geoms.
+    if (geomtype[0] == mjGEOM_MESH) {
+      continue;
+    }
+
     // Set SDF parameters.
     mjSDF geom_sdf;
     geom_sdf.id = &sdf_instance[0];

From f1b3897ea78659c16fe56e571bd81ed680e30623 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 19 Jun 2025 08:27:55 -0700
Subject: [PATCH 35/82] Fix missing namespace in test_utils.

PiperOrigin-RevId: 773354912
Change-Id: Ic19ba6f1ed4c3ae37a9c143f64da8b7ddc3b3e86
---
 test/experimental/usd/test_utils.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/test/experimental/usd/test_utils.cc b/test/experimental/usd/test_utils.cc
index aedb13b7..165f82ce 100644
--- a/test/experimental/usd/test_utils.cc
+++ b/test/experimental/usd/test_utils.cc
@@ -97,7 +97,8 @@ void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim) {
 
       for (const pxr::SdfPropertySpecHandle& spec : propStack) {
         // We only care about attribute specs.
-        if (auto attrSpec = TfDynamic_cast<pxr::SdfAttributeSpecHandle>(spec)) {
+        if (auto attrSpec =
+                pxr::TfDynamic_cast<pxr::SdfAttributeSpecHandle>(spec)) {
           // 3. Check if this spec has an authored `typeName`.
           if (attrSpec->HasField(pxr::SdfFieldKeys->TypeName)) {
             const pxr::TfToken authoredTypeName =

From 86e6a0415b01b848fc8594e15b42c4409855caae Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 19 Jun 2025 08:28:01 -0700
Subject: [PATCH 36/82] Add missing PLUG_INFO_LIBRARY_PATH to mjcPhysics
 plugInfo.json

This gets replaced during build installation time to have the actual path to the plugin shared lib.

PiperOrigin-RevId: 773354944
Change-Id: Ib4a78d6308f97654fdd995460ac05c1c4cfbd70f
---
 src/experimental/usd/mjcPhysics/plugInfo.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index 908651ba..12f8beae 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -58,7 +58,7 @@
           }
         }
       },
-      "LibraryPath": "",
+      "LibraryPath": "@PLUG_INFO_LIBRARY_PATH@",
       "Name": "mjcPhysics",
       "ResourcePath": "",
       "Root": ".",

From 2ca9602d3ca36349a0cae979d7256b1c8b3a4418 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 19 Jun 2025 09:30:10 -0700
Subject: [PATCH 37/82] Remove crank site from ActuatorAPI generated code.

The generated code was stale and no longer reflected the current schema.

PiperOrigin-RevId: 773369007
Change-Id: Ife3fa373309e668430453351f6fd10998edfdd8a
---
 src/experimental/usd/mjcPhysics/actuatorAPI.cpp |  9 ---------
 src/experimental/usd/mjcPhysics/actuatorAPI.h   | 17 -----------------
 .../usd/mjcPhysics/generatedSchema.usda         |  3 ---
 src/experimental/usd/mjcPhysics/tokens.cpp      |  2 --
 src/experimental/usd/mjcPhysics/tokens.h        |  4 ----
 5 files changed, 35 deletions(-)

diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
index fb43eee7..1ba5dae1 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
@@ -325,15 +325,6 @@ UsdRelationship MjcPhysicsActuatorAPI::CreateMjcRefSiteRel() const {
                                       /* custom = */ false);
 }
 
-UsdRelationship MjcPhysicsActuatorAPI::GetMjcCrankSiteRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcCrankSite);
-}
-
-UsdRelationship MjcPhysicsActuatorAPI::CreateMjcCrankSiteRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcCrankSite,
-                                      /* custom = */ false);
-}
-
 UsdRelationship MjcPhysicsActuatorAPI::GetMjcSliderSiteRel() const {
   return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSliderSite);
 }
diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.h b/src/experimental/usd/mjcPhysics/actuatorAPI.h
index 49e6721a..c914ef77 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.h
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.h
@@ -775,23 +775,6 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
   MJCPHYSICS_API
   UsdRelationship CreateMjcRefSiteRel() const;
 
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCRANKSITE
-  // --------------------------------------------------------------------- //
-  /// If specified, the actuator acts on a slider-crank mechanism which is
-  /// implicitly determined by the actuator (i.e., it is not a separate model
-  /// element). The target site corresponds to the pin joining the crank and the
-  /// connecting rod.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcCrankSiteRel() const;
-
-  /// See GetMjcCrankSiteRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcCrankSiteRel() const;
-
  public:
   // --------------------------------------------------------------------- //
   // MJCSLIDERSITE
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index b911cf59..91b0f7fd 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -277,9 +277,6 @@ class "PhysicsActuatorAPI" (
     uniform double mjc:crankLength = 0 (
         doc = "Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects this value to be positive when a slider-crank transmission is present."
     )
-    rel mjc:crankSite (
-        doc = "If specified, the actuator acts on a slider-crank mechanism which is implicitly determined by the actuator (i.e., it is not a separate model element). The target site corresponds to the pin joining the crank and the connecting rod."
-    )
     uniform token mjc:ctrlLimited = "auto" (
         allowedTokens = ["false", "true", "auto"]
         doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index 2f33d763..dcbfc393 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -41,7 +41,6 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
       mjcBiasType("mjc:biasType", TfToken::Immortal),
       mjcCrankLength("mjc:crankLength", TfToken::Immortal),
-      mjcCrankSite("mjc:crankSite", TfToken::Immortal),
       mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
       mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
       mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
@@ -151,7 +150,6 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcBiasPrm,
                  mjcBiasType,
                  mjcCrankLength,
-                 mjcCrankSite,
                  mjcCtrlLimited,
                  mjcCtrlRangeMax,
                  mjcCtrlRangeMin,
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/src/experimental/usd/mjcPhysics/tokens.h
index 862d2ef8..999f6015 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/src/experimental/usd/mjcPhysics/tokens.h
@@ -162,10 +162,6 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcCrankLength;
-  /// \brief "mjc:crankSite"
-  ///
-  /// MjcPhysicsActuatorAPI
-  const TfToken mjcCrankSite;
   /// \brief "mjc:ctrlLimited"
   ///
   /// MjcPhysicsActuatorAPI

From 4ce62932176ecaeaaad7506fb0b6dfbb37f7cb36 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 20 Jun 2025 02:23:53 -0700
Subject: [PATCH 38/82] Fix bug in inverse dynamics when tendon armature is
 present.

PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
---
 doc/changelog.rst           |  8 ++++++++
 src/engine/engine_inverse.c | 19 +++++++++++++------
 test/testdata/model.xml     |  2 +-
 3 files changed, 22 insertions(+), 7 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 6469e9f4..dec65676 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,6 +2,14 @@
 Changelog
 =========
 
+Upcoming version (not yet released)
+-----------------------------------
+
+Bug fixes
+^^^^^^^^^
+- Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
+  now fixed.
+
 Version 3.3.3 (June 10, 2025)
 -----------------------------
 
diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
index de8b9a52..b16b0d02 100644
--- a/src/engine/engine_inverse.c
+++ b/src/engine/engine_inverse.c
@@ -46,8 +46,8 @@ void mj_invPosition(const mjModel* m, mjData* d) {
   mj_tendon(m, d);
   TM_END(mjTIMER_POS_KINEMATICS);
 
-  mj_makeM(m, d);           // timed internally (POS_INERTIA)
-  mj_factorM(m, d);         // timed internally (POS_INERTIA)
+  mj_makeM(m, d);      // timed internally (POS_INERTIA)
+  mj_factorM(m, d);    // timed internally (POS_INERTIA)
 
   mj_collision(m, d);  // timed internally (POS_COLLISION)
 
@@ -226,15 +226,22 @@ void mj_inverseSkip(const mjModel* m, mjData* d,
 
   // acceleration-dependent
   mj_invConstraint(m, d);
-  mj_rne(m, d, 1, d->qfrc_inverse);
+
+  // sum of bias forces in qfrc_inverse = centripetal + Coriolis + tendon bias
+  mj_rne(m, d, 0, d->qfrc_inverse);
+  mj_tendonBias(m, d, d->qfrc_inverse);
+
   if (!skipsensor) {
     mj_sensorAcc(m, d);
   }
 
-  // qfrc_inverse += armature*qacc - qfrc_passive - qfrc_constraint
+  // compute Ma = M*qacc
+  mjtNum* Ma = mjSTACKALLOC(d, nv, mjtNum);
+  mj_mulM(m, d, Ma, d->qacc);
+
+  // qfrc_inverse += Ma - qfrc_passive - qfrc_constraint
   for (int i=0; i < nv; i++) {
-    d->qfrc_inverse[i] += m->dof_armature[i]*d->qacc[i]
-                          - d->qfrc_passive[i] - d->qfrc_constraint[i];
+    d->qfrc_inverse[i] += Ma[i] - d->qfrc_passive[i] - d->qfrc_constraint[i];
   }
 
   if (mjENABLED(mjENBL_INVDISCRETE)) {
diff --git a/test/testdata/model.xml b/test/testdata/model.xml
index 5a1f9c81..ce7ea048 100644
--- a/test/testdata/model.xml
+++ b/test/testdata/model.xml
@@ -129,7 +129,7 @@
       <geom geom="wrapping" sidesite="sidesite"/>
       <site site="anchor2"/>
     </spatial>
-    <spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1">
+    <spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1" armature="0.1">
       <site site="anchor_knee"/>
       <site site="knee_2"/>
     </spatial>

From 0488d9f4ebde88161f09f98f0db81a540cff89bc Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 20 Jun 2025 04:11:14 -0700
Subject: [PATCH 39/82] Replace mjs_detachBody and mjs_detachDefault with
 mjs_detach.

In a follow-up, mjs_detach will be changed to only remove without deleting an element.

PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
---
 doc/APIreference/functions.rst        |  19 ++---
 doc/changelog.rst                     |   7 ++
 doc/includes/references.h             |   5 +-
 doc/python.rst                        |   2 +-
 include/mujoco/mujoco.h               |   9 +--
 python/mjspec.ipynb                   |   4 +-
 python/mujoco/introspect/functions.py |  38 +++------
 python/mujoco/specs.cc                | 107 +++++++++++++++++---------
 python/mujoco/specs_test.py           |   8 +-
 src/user/user_api.cc                  |  58 ++++++--------
 src/user/user_api.h                   |   9 +--
 src/user/user_model.cc                |  54 +++++++------
 src/user/user_model.h                 |   3 -
 src/xml/xml_native_reader.cc          |   2 +-
 test/user/user_api_test.cc            |  31 +++-----
 15 files changed, 177 insertions(+), 179 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 2bba2a3c..8c252a0f 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -3783,23 +3783,14 @@ Attachment
 
 Attach child to a parent, return the attached element if success or NULL otherwise.
 
-.. _mjs_detachBody:
+.. _mjs_detach:
 
-`mjs_detachBody <#mjs_detachBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`mjs_detach <#mjs_detach>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. mujoco-include:: mjs_detachBody
+.. mujoco-include:: mjs_detach
 
-Delete body and descendants from mjSpec, remove all references, return 0 on success.
-
-.. _mjs_detachDefault:
-
-`mjs_detachDefault <#mjs_detachDefault>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_detachDefault
-
-Delete default class and descendants from mjSpec, remove all references, return 0 on success.
+Detach but not delete object corresponding to the given element, return 0 on success.
 
 .. _AddTreeElements:
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index dec65676..02d2cacf 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -5,6 +5,13 @@ Changelog
 Upcoming version (not yet released)
 -----------------------------------
 
+.. admonition:: Breaking API changes
+   :class: attention
+
+   - The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`. Additionally,
+     `:ref:mjs_detach` was added in order to remove an element from the spec without deleting it.
+   - The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.
+
 Bug fixes
 ^^^^^^^^^
 - Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 1d539d56..2e1ef149 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3410,8 +3410,7 @@ void mju_defaultTask(mjTask* task);
 void mju_taskJoin(mjTask* task);
 mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                        const char* prefix, const char* suffix);
-int mjs_detachBody(mjSpec* s, mjsBody* b);
-int mjs_detachDefault(mjSpec* s, mjsDefault* d);
+int mjs_detach(mjSpec* spec, mjsElement* element);
 mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
 mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
 mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
@@ -3420,7 +3419,7 @@ mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
 mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
 mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
-int mjs_delete(mjsElement* element);
+int mjs_delete(mjSpec* spec, mjsElement* element);
 mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
 mjsSensor* mjs_addSensor(mjSpec* s);
 mjsFlex* mjs_addFlex(mjSpec* s);
diff --git a/doc/python.rst b/doc/python.rst
index 61ebcdc8..251cce46 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -607,7 +607,7 @@ For elements that can have children (bodies and defaults), the methods ``spec.de
 ``spec.detach_default(def)`` remove, respectively, ``body`` and ``def`` from the spec, together with all of their
 children. When detaching body subtrees, all elements which reference elements in the subtree, will also be removed. For
 all other elements, the method ``delete()`` removes the corresponding element from the spec, e.g.
-``spec.geom('my_geom').delete()`` will remove the geom named "my_geom" and all of the elements that reference it.
+``spec.delete(spec.geom('my_geom'))`` will remove the geom named "my_geom" and all of the elements that reference it.
 
 Tree traversal
 ^^^^^^^^^^^^^^
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 944e5b21..b824e9f7 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1411,11 +1411,8 @@ MJAPI void mju_taskJoin(mjTask* task);
 MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                              const char* prefix, const char* suffix);
 
-// Delete body and descendants from mjSpec, remove all references, return 0 on success.
-MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
-
-// Delete default class and descendants from mjSpec, remove all references, return 0 on success.
-MJAPI int mjs_detachDefault(mjSpec* s, mjsDefault* d);
+// Detach but not delete object corresponding to the given element, return 0 on success.
+MJAPI int mjs_detach(mjSpec* spec, mjsElement* element);
 
 //---------------------------------- Tree elements -------------------------------------------------
 
@@ -1444,7 +1441,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
 // Delete object corresponding to the given element, return 0 on success.
-MJAPI int mjs_delete(mjsElement* element);
+MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
 
 
 //---------------------------------- Non-tree elements ---------------------------------------------
diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index ff4b997e..49b1f54f 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -2000,7 +2000,7 @@
     "\n",
     "# Delete all key frames to avoid name conflicts\n",
     "while humanoid.keys:\n",
-    "  humanoid.keys[-1].delete()\n",
+    "  humanoid.delete(keys[-1])\n",
     "\n",
     "# Create a grid of humanoids by attaching humanoid to spec multiple times\n",
     "for i in range(4):\n",
@@ -2335,7 +2335,7 @@
     "fly = mj.MjSpec.from_file(fly_file)\n",
     "# Remove lights from fly so they are not duplicated in line-up\n",
     "for light in fly.lights:\n",
-    "  light.delete()\n",
+    "  fly.delete(light)\n",
     "\n",
     "small_fly = scale_spec(fly, 1.25)\n",
     "large_fly = scale_spec(fly, 2)\n",
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 680122a1..fe713dc6 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -8987,45 +8987,25 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Attach child to a parent, return the attached element if success or NULL otherwise.',  # pylint: disable=line-too-long
      )),
-    ('mjs_detachBody',
+    ('mjs_detach',
      FunctionDecl(
-         name='mjs_detachBody',
+         name='mjs_detach',
          return_type=ValueType(name='int'),
          parameters=(
              FunctionParameterDecl(
-                 name='s',
+                 name='spec',
                  type=PointerType(
                      inner_type=ValueType(name='mjSpec'),
                  ),
              ),
              FunctionParameterDecl(
-                 name='b',
+                 name='element',
                  type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
+                     inner_type=ValueType(name='mjsElement'),
                  ),
              ),
          ),
-         doc='Delete body and descendants from mjSpec, remove all references, return 0 on success.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_detachDefault',
-     FunctionDecl(
-         name='mjs_detachDefault',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault'),
-                 ),
-             ),
-         ),
-         doc='Delete default class and descendants from mjSpec, remove all references, return 0 on success.',  # pylint: disable=line-too-long
+         doc='Detach but not delete object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
      )),
     ('mjs_addBody',
      FunctionDecl(
@@ -9202,6 +9182,12 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          name='mjs_delete',
          return_type=ValueType(name='int'),
          parameters=(
+             FunctionParameterDecl(
+                 name='spec',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjSpec'),
+                 ),
+             ),
              FunctionParameterDecl(
                  name='element',
                  type=PointerType(
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index b2d081e6..a6a9139e 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -397,7 +397,7 @@ PYBIND11_MODULE(_specs, m) {
       },
       py::return_value_policy::reference_internal);
   mjSpec.def("detach_default", [](MjSpec& self, raw::MjsDefault& def) {
-    if (mjs_detachDefault(self.ptr, &def) != 0) {
+    if (mjs_delete(self.ptr, def.element) != 0) {
       throw pybind11::value_error(mjs_getError(self.ptr));
     }
   });
@@ -408,7 +408,7 @@ PYBIND11_MODULE(_specs, m) {
       },
       py::return_value_policy::reference_internal);
   mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
-    mjs_detachBody(self.ptr, &body);
+    mjs_delete(self.ptr, body.element);
   });
   mjSpec.def(
       "attach",
@@ -759,7 +759,9 @@ PYBIND11_MODULE(_specs, m) {
 
 
   // ============================= MJSFRAME ====================================
-  mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsFrame& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
     if (mjs_setFrame(self.element, &frame) != 0) {
       throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -796,7 +798,9 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSGEOM =====================================
-  mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsGeom& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
     if (mjs_setFrame(self.element, &frame) != 0) {
       throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -824,7 +828,9 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSJOINT ====================================
-  mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsJoint& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
     if (mjs_setFrame(self.element, &frame) != 0) {
       throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -852,7 +858,9 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSSITE =====================================
-  mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsSite& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
     if (mjs_setFrame(self.element, &frame) != 0) {
       throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -897,8 +905,9 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSCAMERA ===================================
-  mjsCamera.def("delete",
-                [](raw::MjsCamera& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsCamera& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
     if (mjs_setFrame(self.element, &frame) != 0) {
       throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -926,7 +935,9 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSLIGHT ====================================
-  mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsLight& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
     if (mjs_setFrame(self.element, &frame) != 0) {
       throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -954,8 +965,9 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSMATERIAL =================================
-  mjsMaterial.def("delete",
-                  [](raw::MjsMaterial& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsMaterial& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsMaterial.def_property(
       "classname",
       [](raw::MjsMaterial& self) -> raw::MjsDefault* {
@@ -966,7 +978,9 @@ PYBIND11_MODULE(_specs, m) {
       });
 
   // ============================= MJSMESH =====================================
-  mjsMesh.def("delete", [](raw::MjsMesh& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsMesh& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsMesh.def_property(
       "classname",
       [](raw::MjsMesh& self) -> raw::MjsDefault* {
@@ -977,7 +991,9 @@ PYBIND11_MODULE(_specs, m) {
       });
 
   // ============================= MJSPAIR =====================================
-  mjsPair.def("delete", [](raw::MjsPair& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsPair& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsPair.def_property(
       "classname",
       [](raw::MjsPair& self) -> raw::MjsDefault* {
@@ -988,8 +1004,9 @@ PYBIND11_MODULE(_specs, m) {
       });
 
   // ============================= MJSEQUAL ====================================
-  mjsEquality.def("delete",
-                  [](raw::MjsEquality& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsEquality& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsEquality.def_property(
       "classname",
       [](raw::MjsEquality& self) -> raw::MjsDefault* {
@@ -1000,8 +1017,9 @@ PYBIND11_MODULE(_specs, m) {
       });
 
   // ============================= MJSACTUATOR =================================
-  mjsActuator.def("delete",
-                  [](raw::MjsActuator& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsActuator& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsActuator.def_property(
       "classname",
       [](raw::MjsActuator& self) -> raw::MjsDefault* {
@@ -1101,8 +1119,9 @@ PYBIND11_MODULE(_specs, m) {
       py::arg("gain"));
 
   // ============================= MJSTENDON ===================================
-  mjsTendon.def("delete",
-                [](raw::MjsTendon& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsTendon& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsTendon.def(
       "default",
       [](raw::MjsTendon& self) -> raw::MjsDefault* {
@@ -1135,39 +1154,54 @@ PYBIND11_MODULE(_specs, m) {
       py::return_value_policy::reference_internal);
 
   // ============================= MJSSENSOR ===================================
-  mjsSensor.def("delete",
-                [](raw::MjsSensor& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsSensor& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSFLEX =====================================
-  mjsFlex.def("delete", [](raw::MjsFlex& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsFlex& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSHFIELD ===================================
-  mjsHField.def("delete",
-                [](raw::MjsHField& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsHField& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSSKIN =====================================
-  mjsSkin.def("delete", [](raw::MjsSkin& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsSkin& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSTEXTURE ==================================
-  mjsTexture.def("delete",
-                 [](raw::MjsTexture& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsTexture& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSKEY ======================================
-  mjsKey.def("delete", [](raw::MjsKey& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsKey& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSTEXT =====================================
-  mjsText.def("delete", [](raw::MjsText& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsText& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSNUMERIC ==================================
-  mjsNumeric.def("delete",
-                 [](raw::MjsNumeric& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsNumeric& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSEXCLUDE ==================================
-  mjsExclude.def("delete",
-                 [](raw::MjsExclude& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsExclude& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSTUPLE ====================================
-  mjsTuple.def("delete", [](raw::MjsTuple& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsTuple& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
 
   // ============================= MJSPLUGIN ===================================
   mjsPlugin.def_property(
@@ -1176,8 +1210,9 @@ PYBIND11_MODULE(_specs, m) {
       [](raw::MjsPlugin& self, raw::MjsPlugin* other) {
         self.element = other->element;
       });
-  mjsPlugin.def("delete",
-                [](raw::MjsPlugin& self) { mjs_delete(self.element); });
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsPlugin& obj) {
+    mjs_delete(self.ptr, obj.element);
+  });
   mjsPlugin.def_property(
       "config",
       [](raw::MjsPlugin& self) -> py::dict {
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 82e05e4a..4020d4f2 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -838,9 +838,9 @@ class SpecsTest(absltest.TestCase):
     self.assertIsNotNone(site)
     self.assertEqual(site, spec.site('head'))
 
-    site.delete()
-    spec.sensors[-1].delete()
-    spec.sensors[-1].delete()
+    spec.delete(site)
+    spec.delete(spec.sensors[-1])
+    spec.delete(spec.sensors[-1])
 
     model = spec.compile()
     self.assertIsNotNone(model)
@@ -930,7 +930,7 @@ class SpecsTest(absltest.TestCase):
     """)
     plugin = spec.plugins[0]
     self.assertIsNotNone(plugin)
-    plugin.delete()
+    spec.delete(plugin)
 
     model = spec.compile()
     self.assertIsNotNone(model)
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index c8bde69c..a823573a 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -284,35 +284,18 @@ const char* mjs_getError(mjSpec* s) {
 
 
 // detach body from mjSpec, return 0 on success
-int mjs_detachBody(mjSpec* s, mjsBody* b) {
+int mjs_detach(mjSpec* s, mjsElement* element) {
   mjCModel* model = static_cast<mjCModel*>(s->element);
-  mjCBody* body = static_cast<mjCBody*>(b->element);
-  try {
-    *model -= *body;
-  } catch (mjCError& e) {
-    model->SetError(e);
+  if (!element) {
+    model->SetError(mjCError(0, "Element is null."));
     return -1;
   }
-  model->Detach(body);
-  return 0;
+  mjCError e(0, "Detach is not implemented yet.");
+  model->SetError(e);
+  return -1;
 }
 
-// detach default from mjSpec, return 0 on success
-int mjs_detachDefault(mjSpec* s, mjsDefault* def) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  if (!def) {
-    modelC->SetError(mjCError(0, "Cannot detach, default is null"));
-    return -1;
-  }
-  mjCDef* defC = static_cast<mjCDef*>(def->element);
-  try {
-    *modelC -= *defC;
-  } catch (mjCError& e) {
-    modelC->SetError(e);
-    return -1;
-  }
-  return 0;
-}
+
 
 // check if model has warnings
 int mjs_isWarning(mjSpec* s) {
@@ -372,15 +355,24 @@ int mj_copyBack(mjSpec* s, const mjModel* m) {
 
 
 // delete object, return 0 on success
-int mjs_delete(mjsElement* element) {
-  mjCModel* model;
-  if (element->elemtype == mjOBJ_DEFAULT)
-    model = static_cast<mjCDef*>(element)->model;
-  else
-    model = static_cast<mjCBase*>(element)->model;
+int mjs_delete(mjSpec* s, mjsElement* element) {
+  mjCModel* model = static_cast<mjCModel*>(s->element);
+  if (!element) {
+    model->SetError(mjCError(0, "Element is null."));
+    return -1;
+  }
   try {
-    // it will call the appropriate destructor since ~mjCBase is virtual
-    model->DeleteElement(element);
+    if (element->elemtype == mjOBJ_BODY) {
+      mjCBody* body = static_cast<mjCBody*>(element);
+      *model -= *body;
+      model->DeleteElement(body);
+    } else if (element->elemtype == mjOBJ_DEFAULT) {
+      mjCDef* def = static_cast<mjCDef*>(element);
+      *model -= *def;
+    } else {
+      // it will call the appropriate destructor since ~mjCBase is virtual
+      model->DeleteElement(element);
+    }
     return 0;
   } catch (mjCError& e) {
     model->SetError(e);
@@ -1035,7 +1027,7 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
 mjsFrame* mjs_bodyToFrame(mjsBody** body) {
   mjCBody* bodyC = static_cast<mjCBody*>((*body)->element);
   mjCFrame* frameC = bodyC->ToFrame();
-  bodyC->model->Detach(bodyC);
+  bodyC->model->DeleteElement((*body)->element);
   *body = nullptr;
   return &frameC->spec;
 }
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 37825a76..89863d8f 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -76,11 +76,8 @@ MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
 MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                              const char* prefix, const char* suffix);
 
-// Detach body from mjSpec, remove all references and delete the body, return 0 on success.
-MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
-
-// Detach default from mjSpec, remove all references and delete the default, return 0 on success.
-MJAPI int mjs_detachDefault(mjSpec* s, mjsDefault* d);
+// Detach but not delete object corresponding to the given element, return 0 on success.
+MJAPI int mjs_detach(mjSpec* s, mjsElement* element);
 
 //---------------------------------- Add tree elements ---------------------------------------------
 
@@ -109,7 +106,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
 // Delete object corresponding to the given element, return 0 on success.
-MJAPI int mjs_delete(mjsElement* element);
+MJAPI int mjs_delete(mjSpec* s, mjsElement* element);
 
 
 //---------------------------------- Add non-tree elements -----------------------------------------
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index a02ad654..cc22560e 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -742,15 +742,44 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
 
 
 
+// recursively delete all plugins in the subtree
+static void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
+  mjsPlugin* plugin = &(subtree->spec.plugin);
+  if (plugin->active && plugin->name->empty()) {
+    model->DeleteElement(plugin->element);
+  }
+  for (auto* body : subtree->Bodies()) {
+    deletesubtreeplugin(body, model);
+  }
+}
+
+
+
 // discard all invalid elements from all lists
 void mjCModel::DeleteElement(mjsElement* el) {
   ResetTreeLists();
 
+  if (el->elemtype != mjOBJ_DEFAULT) {
+    if (static_cast<mjCBase*>(el)->model != this) {
+      throw mjCError(nullptr, "element is not in this model");
+    }
+  } else {
+    if (static_cast<mjCDef*>(el)->model != this) {
+      throw mjCError(nullptr, "default is not in this model");
+    }
+  }
+
   switch (el->elemtype) {
     case mjOBJ_BODY:
+    {
       MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
-      throw mjCError(nullptr, "bodies cannot be deleted, use detach instead");
+      mjCBody* subtree = static_cast<mjCBody*>(el);
+      if (subtree->GetRef() == 1)  {
+        deletesubtreeplugin(subtree, this);
+      }
+      subtree->Release();
       break;
+    }
 
     case mjOBJ_DEFAULT:
       MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
@@ -828,29 +857,6 @@ void mjCModel::DeleteElement(mjsElement* el) {
 
 
 
-// recursively delete all plugins in the subtree
-void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
-  mjsPlugin* plugin = &(subtree->spec.plugin);
-  if (plugin->active && plugin->name->empty()) {
-    model->DeleteElement(plugin->element);
-  }
-  for (auto* body : subtree->Bodies()) {
-    deletesubtreeplugin(body, model);
-  }
-}
-
-
-
-// deletes all plugins in the subtree and then the subtree itself
-void mjCModel::Detach(mjCBody* subtree) {
-  if (subtree->GetRef() == 1)  {
-    deletesubtreeplugin(subtree, this);
-  }
-  subtree->Release();
-}
-
-
-
 // TODO: we should not use C-type casting with multiple C++ inheritance
 void mjCModel::CreateObjectLists() {
   for (int i = 0; i < mjNOBJECT; ++i) {
diff --git a/src/user/user_model.h b/src/user/user_model.h
index cd03914d..e3f1d9c0 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -232,9 +232,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // delete default and all descendants
   void RemoveDefault(mjCDef* def);
 
-  // detach subtree from model
-  void Detach(mjCBody* subtree);
-
   // 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
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index e8a7dc13..f5994e0a 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -3554,7 +3554,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
       }
 
       // delete subtree
-      if (mjs_detachBody(spec, subtree)) {
+      if (mjs_delete(spec, subtree->element)) {
         throw mjXError(elem, mjs_getError(spec));
       }
     }
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 52df9153..d0fc8e6e 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -219,7 +219,7 @@ TEST_F(PluginTest, DeletePlugin) {
   EXPECT_THAT(model->actuator_plugin[0], 0);
 
   // delete actuator
-  mjs_delete(actuator->element);
+  mjs_delete(spec, actuator->element);
 
   // recompile and check that the plugin is not present
   mjModel* newmodel = mj_compile(spec, NULL);
@@ -326,7 +326,7 @@ TEST_F(PluginTest, DetachPlugin) {
   // detach the body and compile
   mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
   EXPECT_THAT(body_to_detach, NotNull());
-  EXPECT_THAT(mjs_detachBody(parent, body_to_detach), 0);
+  EXPECT_THAT(mjs_delete(parent, body_to_detach->element), 0);
   mjModel* model = mj_compile(parent, nullptr);
   EXPECT_THAT(model, NotNull());
   EXPECT_THAT(model->nbody, 2);
@@ -1368,12 +1368,8 @@ void TestDetachBody(bool compile) {
   mjsBody* body = mjs_findBody(child, "body");
   EXPECT_THAT(body, NotNull());
 
-  // get an error if trying to delete the body
-  EXPECT_EQ(mjs_delete(body->element), -1);
-  EXPECT_THAT(mjs_getError(child), HasSubstr("use detach instead"));
-
-  // detach subtree
-  EXPECT_THAT(mjs_detachBody(child, body), 0);
+  // delete subtree
+  EXPECT_THAT(mjs_delete(child, body->element), 0);
 
   // try saving to XML before compiling again
   std::array<char, 1024> e;
@@ -1898,12 +1894,12 @@ TEST_F(MujocoTest, PreserveState) {
   // detach subtree
   mjsBody* body = mjs_findBody(spec, "detachable");
   EXPECT_THAT(body, NotNull());
-  EXPECT_THAT(mjs_detachBody(spec, body), 0);
+  EXPECT_THAT(mjs_delete(spec, body->element), 0);
 
   // detach mocap
   mjsBody* mocap_body = mjs_findBody(spec, "mocap_detach");
   EXPECT_THAT(mocap_body, NotNull());
-  EXPECT_THAT(mjs_detachBody(spec, mocap_body), 0);
+  EXPECT_THAT(mjs_delete(spec, mocap_body->element), 0);
 
   // add body
   mjsBody* newbody = mjs_addBody(mjs_findBody(spec, "world"), 0);
@@ -2787,25 +2783,20 @@ TEST_F(MujocoTest, DetachDefault) {
   mjsDefault* child = mjs_findDefault(spec, "child1");
   EXPECT_THAT(child, NotNull());
 
-  // try using mjs_delete to remove default, should fail
-  EXPECT_EQ(mjs_delete(child->element), -1);
-
-  // detach default
-  EXPECT_EQ(mjs_detachDefault(spec, child), 0);
+  // delete default
+  EXPECT_EQ(mjs_delete(spec, child->element), 0);
   child = mjs_findDefault(spec, "child1");
   EXPECT_THAT(child, IsNull());
 
   // try and detach previously detached default, should fail
-  EXPECT_EQ(mjs_detachDefault(spec, child), -1);
+  EXPECT_EQ(mjs_delete(spec, nullptr), -1);
   child = mjs_findDefault(spec, "child1");
   EXPECT_THAT(child, IsNull());
-  EXPECT_THAT(mjs_getError(spec),
-              HasSubstr("Cannot detach, default is null"));
 
   // detach parent
   mjsDefault* parent = mjs_findDefault(spec, "parent");
   EXPECT_THAT(parent, NotNull());
-  mjs_detachDefault(spec, parent);
+  mjs_delete(spec, parent->element);
 
   // both parent and remaining child should be removed
   parent = mjs_findDefault(spec, "parent");
@@ -2816,7 +2807,7 @@ TEST_F(MujocoTest, DetachDefault) {
   // error when trying to detach the 'main' default
   mjsDefault* main = mjs_findDefault(spec, "main");
   EXPECT_THAT(main, NotNull());
-  EXPECT_EQ(mjs_detachDefault(spec, main), -1);
+  EXPECT_EQ(mjs_delete(spec, main->element), -1);
   EXPECT_THAT(mjs_getError(spec),
               HasSubstr("cannot remove the global default ('main')"));
 

From 60955d7e888c3bbf5d52ca5ab71b1c23cb847536 Mon Sep 17 00:00:00 2001
From: Tom Power <tjpower@google.com>
Date: Fri, 20 Jun 2025 04:43:06 -0700
Subject: [PATCH 40/82] Fix rollout notebook, update `light.directional` to
 `light.type`.

PiperOrigin-RevId: 773646227
Change-Id: I3bb54e548b1a74d7523aaa91be0fc3cb980866f3
---
 python/rollout.ipynb | 275 +++++++++++++++++++++++++++++++------------
 1 file changed, 197 insertions(+), 78 deletions(-)

diff --git a/python/rollout.ipynb b/python/rollout.ipynb
index 5df4ba50..2f7b067d 100644
--- a/python/rollout.ipynb
+++ b/python/rollout.ipynb
@@ -5,6 +5,7 @@
    "id": "6adc68e0-a943-44ab-9af5-4bc62cc19f34",
    "metadata": {
     "editable": true,
+    "id": "6adc68e0-a943-44ab-9af5-4bc62cc19f34",
     "tags": []
    },
    "source": [
@@ -16,7 +17,7 @@
     "\n",
     "This notebook describes the `rollout` module included in the MuJoCo Python library. It performs simulation \"rollouts\" with an underlying C++ function. The rollouts can be multithreaded.\n",
     "\n",
-    "Below, the usage of each argument is explained with examples. Then some examples for advanced use cases are provided. Finally, `rollout` is benchmarked against pure python and MJX. \n",
+    "Below, the usage of each argument is explained with examples. Then some examples for advanced use cases are provided. Finally, `rollout` is benchmarked against pure python and MJX.\n",
     "\n",
     "Note the benchmarks were designed to run on >16 thread CPU and an RTX 4090 or A100. They do not run in a reasonable amount of time on a typical free colab runtime.\n",
     "\n",
@@ -41,6 +42,7 @@
    "id": "5d8a6604-0948-4a42-a48d-249c7f0c462b",
    "metadata": {
     "editable": true,
+    "id": "5d8a6604-0948-4a42-a48d-249c7f0c462b",
     "tags": []
    },
    "source": [
@@ -53,6 +55,7 @@
    "id": "0f9fbad1-59d0-40ac-b2b6-99f37313670f",
    "metadata": {
     "editable": true,
+    "id": "0f9fbad1-59d0-40ac-b2b6-99f37313670f",
     "tags": [
      "hide-input"
     ]
@@ -154,7 +157,9 @@
   {
    "cell_type": "markdown",
    "id": "fc69d0f4",
-   "metadata": {},
+   "metadata": {
+    "id": "fc69d0f4"
+   },
    "source": [
     "# Helper Functions"
    ]
@@ -165,6 +170,7 @@
    "id": "082482c7",
    "metadata": {
     "editable": true,
+    "id": "082482c7",
     "tags": [
      "hide-input"
     ]
@@ -251,7 +257,7 @@
     "          light.cutoff = 45\n",
     "          light.diffuse = [0.8, 0.8, 0.8]\n",
     "          light.dir = [0, 0, -1]\n",
-    "          light.directional = 0\n",
+    "          light.type = mujoco.mjtLightType.mjLIGHT_SPOT\n",
     "          light.exponent = 10\n",
     "          light.headlight = 0\n",
     "          light.specular = [0.3, 0.3, 0.3]\n",
@@ -267,7 +273,9 @@
   {
    "cell_type": "markdown",
    "id": "c0570c2c",
-   "metadata": {},
+   "metadata": {
+    "id": "c0570c2c"
+   },
    "source": [
     "# Using `rollout`\n",
     "\n",
@@ -280,9 +288,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "849b93e5",
-   "metadata": {},
+   "metadata": {
+    "id": "849b93e5"
+   },
    "outputs": [],
    "source": [
     "#@title Benchmarked models\n",
@@ -368,7 +378,9 @@
   {
    "cell_type": "markdown",
    "id": "55d171f7-541b-4441-aa18-da86d6716410",
-   "metadata": {},
+   "metadata": {
+    "id": "55d171f7-541b-4441-aa18-da86d6716410"
+   },
    "source": [
     "## Usage\n",
     "\n",
@@ -380,9 +392,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "9cd2f94a-11df-4247-986c-5a56af69a1f5",
-   "metadata": {},
+   "metadata": {
+    "id": "9cd2f94a-11df-4247-986c-5a56af69a1f5"
+   },
    "outputs": [],
    "source": [
     "print(rollout.rollout.__doc__)"
@@ -392,6 +406,7 @@
    "cell_type": "markdown",
    "id": "b6f7a094-8352-4b07-99ee-5278e3036cd5",
    "metadata": {
+    "id": "b6f7a094-8352-4b07-99ee-5278e3036cd5",
     "tags": []
    },
    "source": [
@@ -403,9 +418,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "849af5f2-9de1-4cb9-bc3a-c9b7acf0e3fe",
-   "metadata": {},
+   "metadata": {
+    "id": "849af5f2-9de1-4cb9-bc3a-c9b7acf0e3fe"
+   },
    "outputs": [],
    "source": [
     "nbatch = 100 # Simulate this many tops\n",
@@ -437,16 +454,20 @@
   {
    "cell_type": "markdown",
    "id": "aa2cf151-bf9a-4a23-b7fe-6a766979d93f",
-   "metadata": {},
+   "metadata": {
+    "id": "aa2cf151-bf9a-4a23-b7fe-6a766979d93f"
+   },
    "source": [
     "Our model has an angular velocity sensor the middle of the top. Let's plot the response using the `sensordata` array that rollout returns."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "957b8566-da31-410b-b385-e78241c5247a",
-   "metadata": {},
+   "metadata": {
+    "id": "957b8566-da31-410b-b385-e78241c5247a"
+   },
    "outputs": [],
    "source": [
     "plt.figure(figsize=(12, 8))\n",
@@ -462,7 +483,9 @@
   {
    "cell_type": "markdown",
    "id": "58044bc1-f98c-4bbf-a703-40ba075552a0",
-   "metadata": {},
+   "metadata": {
+    "id": "58044bc1-f98c-4bbf-a703-40ba075552a0"
+   },
    "source": [
     "### Example: different models\n",
     "100 gray tops is kind of boring. It would be better if they were colorful and different sizes!\n",
@@ -474,9 +497,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "7c39e79e-8942-4fea-b306-ea0cb3c826e2",
-   "metadata": {},
+   "metadata": {
+    "id": "7c39e79e-8942-4fea-b306-ea0cb3c826e2"
+   },
    "outputs": [],
    "source": [
     "# Make 100 tippe tops with different colors and sizes\n",
@@ -544,16 +569,20 @@
   {
    "cell_type": "markdown",
    "id": "cf485c08-72be-4169-89b6-9d93df8ebbe3",
-   "metadata": {},
+   "metadata": {
+    "id": "cf485c08-72be-4169-89b6-9d93df8ebbe3"
+   },
    "source": [
     "Because the models are now different, the measurements of the gyro sensor are not consistent even though the initial state for each rollout was the same."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "b8a5d3d4-24e7-41a1-b3bd-7b63c1812b03",
-   "metadata": {},
+   "metadata": {
+    "id": "b8a5d3d4-24e7-41a1-b3bd-7b63c1812b03"
+   },
    "outputs": [],
    "source": [
     "plt.figure(figsize=(12, 8))\n",
@@ -569,7 +598,9 @@
   {
    "cell_type": "markdown",
    "id": "3841a669-6cd1-427e-a629-20a10a6e3a34",
-   "metadata": {},
+   "metadata": {
+    "id": "3841a669-6cd1-427e-a629-20a10a6e3a34"
+   },
    "source": [
     "### Example: control inputs\n",
     "Open loop controls can be passed to `rollout` via the `control` argument. If passed, `nstep` no longer needs to be specified as it can be inferred from the size of `control`.\n",
@@ -579,9 +610,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "2a184873-8d24-45da-b444-8d21f5dcd733",
-   "metadata": {},
+   "metadata": {
+    "id": "2a184873-8d24-45da-b444-8d21f5dcd733"
+   },
    "outputs": [],
    "source": [
     "# Episode parameters.\n",
@@ -632,7 +665,9 @@
   {
    "cell_type": "markdown",
    "id": "4d89e4fb-7711-4d23-8ff3-eb5030fa8bf7",
-   "metadata": {},
+   "metadata": {
+    "id": "4d89e4fb-7711-4d23-8ff3-eb5030fa8bf7"
+   },
    "source": [
     "`rollout`'s `control_spec` argument can be used to indicate `control` contains values for actuators, generalized forces, cartesian forces, mocap poses, and/or the activation/deactivation of equality constraints. Internally, this is managed through [mj_setState](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mj-setstate) and `control_spec` corresponds to `mj_setState`'s `spec` argument.\n",
     "\n",
@@ -641,9 +676,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "4b02bb61-912d-47de-a956-aadfcd4c5cd5",
-   "metadata": {},
+   "metadata": {
+    "id": "4b02bb61-912d-47de-a956-aadfcd4c5cd5"
+   },
    "outputs": [],
    "source": [
     "xfrc_size = mujoco.mj_stateSize(humanoid_model, mujoco.mjtState.mjSTATE_XFRC_APPLIED)\n",
@@ -676,7 +713,9 @@
   {
    "cell_type": "markdown",
    "id": "0961c3ec-a691-4875-9a55-227a3d29c472",
-   "metadata": {},
+   "metadata": {
+    "id": "0961c3ec-a691-4875-9a55-227a3d29c472"
+   },
    "source": [
     "# Advanced usage"
    ]
@@ -684,7 +723,9 @@
   {
    "cell_type": "markdown",
    "id": "VfYIyXWcLKfg",
-   "metadata": {},
+   "metadata": {
+    "id": "VfYIyXWcLKfg"
+   },
    "source": [
     "## skip_checks\n",
     "\n",
@@ -706,9 +747,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "d02cc8e8-63cd-4852-ab3c-364a18025a95",
-   "metadata": {},
+   "metadata": {
+    "id": "d02cc8e8-63cd-4852-ab3c-364a18025a95"
+   },
    "outputs": [],
    "source": [
     "nbatch = 1000\n",
@@ -752,7 +795,9 @@
   {
    "cell_type": "markdown",
    "id": "92627030-4726-4689-be8b-f1ba75905104",
-   "metadata": {},
+   "metadata": {
+    "id": "92627030-4726-4689-be8b-f1ba75905104"
+   },
    "source": [
     "As expected, as `nstep` increases, the benefits of using skip checks fades quickly. However, at low nstep and high batch sizes, it can make a significant difference.\n",
     "\n",
@@ -762,7 +807,9 @@
   {
    "cell_type": "markdown",
    "id": "d32a77b5-24bd-4d17-80ac-15cc4d03731c",
-   "metadata": {},
+   "metadata": {
+    "id": "d32a77b5-24bd-4d17-80ac-15cc4d03731c"
+   },
    "source": [
     "## Reusing threadpools (`Rollout` class)\n",
     "\n",
@@ -773,9 +820,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "dd05bbdf-f389-4e4e-b389-d47fe976cb49",
-   "metadata": {},
+   "metadata": {
+    "id": "dd05bbdf-f389-4e4e-b389-d47fe976cb49"
+   },
    "outputs": [],
    "source": [
     "nbatch = 100\n",
@@ -813,7 +862,9 @@
   {
    "cell_type": "markdown",
    "id": "9b3e14a1-71f3-430d-a3c2-1aadcf6c2671",
-   "metadata": {},
+   "metadata": {
+    "id": "9b3e14a1-71f3-430d-a3c2-1aadcf6c2671"
+   },
    "source": [
     "## Reusing threadpools (`rollout` method)\n",
     "\n",
@@ -824,9 +875,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "b6aa6801",
-   "metadata": {},
+   "metadata": {
+    "id": "b6aa6801"
+   },
    "outputs": [],
    "source": [
     "nbatch = 1000\n",
@@ -846,16 +899,20 @@
   {
    "cell_type": "markdown",
    "id": "144378d3",
-   "metadata": {},
+   "metadata": {
+    "id": "144378d3"
+   },
    "source": [
     "Second, if `rollout` reuses the same threadpool between calls, it is no longer safe to call `rollout` from multiple threads. For example the following is not allowed (the offending lines are commented out to avoid crashing the interpreter):"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "7f46a6d8",
-   "metadata": {},
+   "metadata": {
+    "id": "7f46a6d8"
+   },
    "outputs": [],
    "source": [
     "thread1 = threading.Thread(target=lambda: rollout.rollout(top_model, top_datas, initial_states, nstep=nstep, persistent_pool=True))\n",
@@ -871,7 +928,9 @@
   {
    "cell_type": "markdown",
    "id": "78c1f864-5238-4e27-a7ec-d03c45484d9a",
-   "metadata": {},
+   "metadata": {
+    "id": "78c1f864-5238-4e27-a7ec-d03c45484d9a"
+   },
    "source": [
     "## chunk_size\n",
     "\n",
@@ -882,9 +941,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "a1be8f93",
-   "metadata": {},
+   "metadata": {
+    "id": "a1be8f93"
+   },
    "outputs": [],
    "source": [
     "nbatch = 100\n",
@@ -928,7 +989,9 @@
   {
    "cell_type": "markdown",
    "id": "84c746e0-5d2e-47dc-ac76-f2b6f790b7c7",
-   "metadata": {},
+   "metadata": {
+    "id": "84c746e0-5d2e-47dc-ac76-f2b6f790b7c7"
+   },
    "source": [
     "## Warmstarting\n",
     "\n",
@@ -941,9 +1004,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "d4d9f660-f83c-432e-a579-124a7ecab4fb",
-   "metadata": {},
+   "metadata": {
+    "id": "d4d9f660-f83c-432e-a579-124a7ecab4fb"
+   },
    "outputs": [],
    "source": [
     "top_model_cg = copy.copy(top_model)\n",
@@ -1004,7 +1069,9 @@
   {
    "cell_type": "markdown",
    "id": "7c2cf4fa",
-   "metadata": {},
+   "metadata": {
+    "id": "7c2cf4fa"
+   },
    "source": [
     "As expected, the middle animation (with warmstarting) matches the continuous rollout on the left. However, the model that did not use warmstarting diverged."
    ]
@@ -1012,7 +1079,9 @@
   {
    "cell_type": "markdown",
    "id": "7944637f",
-   "metadata": {},
+   "metadata": {
+    "id": "7944637f"
+   },
    "source": [
     "# Benchmarks\n",
     "\n",
@@ -1029,9 +1098,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "cb6355dd",
-   "metadata": {},
+   "metadata": {
+    "id": "cb6355dd"
+   },
    "outputs": [],
    "source": [
     "def python_rollout(model, data, nbatch, nstep):\n",
@@ -1043,7 +1114,9 @@
   {
    "cell_type": "markdown",
    "id": "6fe4a78b",
-   "metadata": {},
+   "metadata": {
+    "id": "6fe4a78b"
+   },
    "source": [
     "To run nbatch rollouts with `rollout`, we need to make an array of nbatch initial states to start the rollouts from.\n",
     "\n",
@@ -1055,9 +1128,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "74f143e2",
-   "metadata": {},
+   "metadata": {
+    "id": "74f143e2"
+   },
    "outputs": [],
    "source": [
     "def nthread_rollout(model, data, nbatch, nstep, nthread, rollout_):\n",
@@ -1071,7 +1146,9 @@
   {
    "cell_type": "markdown",
    "id": "b75dc44c",
-   "metadata": {},
+   "metadata": {
+    "id": "b75dc44c"
+   },
    "source": [
     "Next, we benchmark the Python loop and `rollout` in both single threaded and multithreaded modes. The three benchmarks take about 2.5 minutes in total to run in total on an AMD 5800X3D."
    ]
@@ -1081,7 +1158,8 @@
    "execution_count": 0,
    "id": "0301e3ee",
    "metadata": {
-    "cellView": "form"
+    "cellView": "form",
+    "id": "0301e3ee"
    },
    "outputs": [],
    "source": [
@@ -1204,16 +1282,20 @@
   {
    "cell_type": "markdown",
    "id": "08fb0c12",
-   "metadata": {},
+   "metadata": {
+    "id": "08fb0c12"
+   },
    "source": [
     "### Tippe Top Benchmark"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "f7e54830",
-   "metadata": {},
+   "metadata": {
+    "id": "f7e54830"
+   },
    "outputs": [],
    "source": [
     "nominal_nbatch = 256 # Batch size to use when testing different nstep\n",
@@ -1232,16 +1314,20 @@
   {
    "cell_type": "markdown",
    "id": "edefb26e",
-   "metadata": {},
+   "metadata": {
+    "id": "edefb26e"
+   },
    "source": [
     "### Humanoid Benchmark"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "c9e58c6c",
-   "metadata": {},
+   "metadata": {
+    "id": "c9e58c6c"
+   },
    "outputs": [],
    "source": [
     "nominal_nbatch = 256 # Batch size to use when testing different nstep\n",
@@ -1260,16 +1346,20 @@
   {
    "cell_type": "markdown",
    "id": "468903bb",
-   "metadata": {},
+   "metadata": {
+    "id": "468903bb"
+   },
    "source": [
     "### Humanoid100 Benchmark"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "83d775d4",
-   "metadata": {},
+   "metadata": {
+    "id": "83d775d4"
+   },
    "outputs": [],
    "source": [
     "nominal_nbatch = 128 # Batch size to use when testing different nstep\n",
@@ -1293,7 +1383,9 @@
   {
    "cell_type": "markdown",
    "id": "d1133084",
-   "metadata": {},
+   "metadata": {
+    "id": "d1133084"
+   },
    "source": [
     "# MJX versus `rollout`"
    ]
@@ -1301,7 +1393,9 @@
   {
    "cell_type": "markdown",
    "id": "c1638f2d",
-   "metadata": {},
+   "metadata": {
+    "id": "c1638f2d"
+   },
    "source": [
     "Next we will benchmark `rollout` and MJX using the tippe top and humanoid models (humanoid100 is not supported by MJX).\n",
     "\n",
@@ -1315,7 +1409,8 @@
    "execution_count": 0,
    "id": "7c86d157",
    "metadata": {
-    "cellView": "form"
+    "cellView": "form",
+    "id": "7c86d157"
    },
    "outputs": [],
    "source": [
@@ -1436,16 +1531,20 @@
   {
    "cell_type": "markdown",
    "id": "a2dafd2e",
-   "metadata": {},
+   "metadata": {
+    "id": "a2dafd2e"
+   },
    "source": [
     "### MJX Tippe Top Benchmark"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "98c580b0",
-   "metadata": {},
+   "metadata": {
+    "id": "98c580b0"
+   },
    "outputs": [],
    "source": [
     "nominal_nbatch = 16384 # Batch size to use when testing different nstep\n",
@@ -1461,16 +1560,20 @@
   {
    "cell_type": "markdown",
    "id": "205da5da",
-   "metadata": {},
+   "metadata": {
+    "id": "205da5da"
+   },
    "source": [
     "### MJX Humanoid Benchmark"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "53166ae1",
-   "metadata": {},
+   "metadata": {
+    "id": "53166ae1"
+   },
    "outputs": [],
    "source": [
     "nominal_nbatch = 4096 # Batch size to use when testing different nstep\n",
@@ -1486,7 +1589,9 @@
   {
    "cell_type": "markdown",
    "id": "fb2caa72",
-   "metadata": {},
+   "metadata": {
+    "id": "fb2caa72"
+   },
    "source": [
     "### MJX Multiple Humanoids in one model\n",
     "\n",
@@ -1499,9 +1604,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "3d6be608",
-   "metadata": {},
+   "metadata": {
+    "id": "3d6be608"
+   },
    "outputs": [],
    "source": [
     "max_humanoids = 10\n",
@@ -1549,9 +1656,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 0,
    "id": "b6c5fc2e",
-   "metadata": {},
+   "metadata": {
+    "id": "b6c5fc2e"
+   },
    "outputs": [],
    "source": [
     "#@title Plot MJX nhumanoid benchmark\n",
@@ -1584,6 +1693,16 @@
     "\n",
     "plot_mjx_nhumanoid_benchmark(t_rollout, t_mjx, nbatch, nstep, max_humanoids)"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 0,
+   "id": "UW0aoKXK7ALd",
+   "metadata": {
+    "id": "UW0aoKXK7ALd"
+   },
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {

From e23b39fbfa43d504903501a5d6e170a6f38c3383 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 20 Jun 2025 04:47:09 -0700
Subject: [PATCH 41/82] Increase test tolerance in `engine_solver_test`

PiperOrigin-RevId: 773647308
Change-Id: I11605518c4bb1d257763b7f3334de358bacc194c
---
 test/engine/engine_solver_test.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/engine/engine_solver_test.cc b/test/engine/engine_solver_test.cc
index 75b42cf7..66e9c3fd 100644
--- a/test/engine/engine_solver_test.cc
+++ b/test/engine/engine_solver_test.cc
@@ -123,7 +123,7 @@ TEST_F(SolverTest, IslandsEquivalentForward) {
   model->opt.tolerance = 0;                     // set tolerance to 0
   model->opt.ls_tolerance = 0;                  // set ls_tolerance to 0
 
-  mjtNum rtol = 2e-6;
+  mjtNum rtol = 3e-6;
 
   mjData* data_island = mj_makeData(model);
   mjData* data_noisland = mj_makeData(model);

From a2acd2d4ed9f0e5512b2a3e7bff463d8d8c96bce Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 20 Jun 2025 06:22:15 -0700
Subject: [PATCH 42/82] Rename `detach_default` and `detach_body` to `delete`
 in the mjSpec bindings.

PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
---
 doc/python.rst              | 9 ++++-----
 python/mjspec.ipynb         | 8 ++++----
 python/mujoco/specs.cc      | 4 ++--
 python/mujoco/specs_test.py | 2 +-
 4 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/doc/python.rst b/doc/python.rst
index 251cce46..7e669959 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -603,11 +603,10 @@ Lists of all elements in a spec can be accessed using named properties, using th
 
 Element removal
 ^^^^^^^^^^^^^^^
-For elements that can have children (bodies and defaults), the methods ``spec.detach_body(body)`` and
-``spec.detach_default(def)`` remove, respectively, ``body`` and ``def`` from the spec, together with all of their
-children. When detaching body subtrees, all elements which reference elements in the subtree, will also be removed. For
-all other elements, the method ``delete()`` removes the corresponding element from the spec, e.g.
-``spec.delete(spec.geom('my_geom'))`` will remove the geom named "my_geom" and all of the elements that reference it.
+The method ``delete()`` removes the corresponding element from the spec, e.g. ``spec.delete(spec.geom('my_geom'))`` will
+remove the geom named "my_geom" and all of the elements that reference it. For elements that can have children (bodies
+and defaults), ``delete`` removes also all of their children. When detaching body subtrees, all elements which reference
+elements in the subtree, will also be removed.
 
 Tree traversal
 ^^^^^^^^^^^^^^
diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
index 49b1f54f..2b98508c 100644
--- a/python/mjspec.ipynb
+++ b/python/mjspec.ipynb
@@ -1827,7 +1827,7 @@
     "\n",
     "# Remove all bodies in the list from the spec\n",
     "for body in delete_list:\n",
-    "  spec.detach_body(body)\n",
+    "  spec.delete(body)\n",
     "\n",
     "# # Add another humanoid\n",
     "spec_humanoid = mj.MjSpec.from_file(humanoid_file)\n",
@@ -1900,8 +1900,8 @@
     "shoulder_right = torso.add_frame(pos=arm_right.pos)\n",
     "\n",
     "# Remove the arms\n",
-    "spec.detach_body(arm_left)\n",
-    "spec.detach_body(arm_right)\n",
+    "spec.delete(arm_left)\n",
+    "spec.delete(arm_right)\n",
     "\n",
     "# Add new legs\n",
     "shoulder_left.attach_body(leg_left, 'shoulder', 'left')\n",
@@ -1942,7 +1942,7 @@
     "arm_right = spec.body('upper_arm_right')\n",
     "torso = spec.body('torso')\n",
     "shoulder_right = torso.add_frame(pos=arm_right.pos, quat=[0, 0.8509035, 0, 0.525322])\n",
-    "spec.detach_body(arm_right)\n",
+    "spec.delete(arm_right)\n",
     "\n",
     "# Attach Franka arm to humanoid\n",
     "franka_arm = franka.body('fr3_link2')\n",
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index a6a9139e..2b477c04 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -396,7 +396,7 @@ PYBIND11_MODULE(_specs, m) {
         return mjs_addDefault(spec->ptr, classname.c_str(), parent);
       },
       py::return_value_policy::reference_internal);
-  mjSpec.def("detach_default", [](MjSpec& self, raw::MjsDefault& def) {
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsDefault& def) {
     if (mjs_delete(self.ptr, def.element) != 0) {
       throw pybind11::value_error(mjs_getError(self.ptr));
     }
@@ -407,7 +407,7 @@ PYBIND11_MODULE(_specs, m) {
         return mjs_getSpecDefault(self.ptr);
       },
       py::return_value_policy::reference_internal);
-  mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsBody& body) {
     mjs_delete(self.ptr, body.element);
   });
   mjSpec.def(
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
index 4020d4f2..7f444c73 100644
--- a/python/mujoco/specs_test.py
+++ b/python/mujoco/specs_test.py
@@ -604,7 +604,7 @@ class SpecsTest(absltest.TestCase):
 
     # test delete default
     def1 = spec.find_default('def1')
-    spec.detach_default(def1)
+    spec.delete(def1)
     def1 = spec.find_default('def1')
     self.assertIsNone(def1)
 

From 7dc7a349c5ba2db2d3f8ab50a367d08e2f1afbbc Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 20 Jun 2025 07:02:38 -0700
Subject: [PATCH 43/82] Move detach from mjs_delete to mjs_detach.

PiperOrigin-RevId: 773686024
Change-Id: Ida2c032a6329104df80ed134cf904dde7259bd1e
---
 src/user/user_api.cc   | 44 ++++++++++++++++++++------------------
 src/user/user_model.cc | 48 +++++++++++++++++++++++++++---------------
 src/user/user_model.h  |  7 ++++++
 3 files changed, 62 insertions(+), 37 deletions(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index a823573a..66f6a977 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -283,20 +283,6 @@ const char* mjs_getError(mjSpec* s) {
 
 
 
-// detach body from mjSpec, return 0 on success
-int mjs_detach(mjSpec* s, mjsElement* element) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  if (!element) {
-    model->SetError(mjCError(0, "Element is null."));
-    return -1;
-  }
-  mjCError e(0, "Detach is not implemented yet.");
-  model->SetError(e);
-  return -1;
-}
-
-
-
 // check if model has warnings
 int mjs_isWarning(mjSpec* s) {
   mjCModel* modelC = static_cast<mjCModel*>(s->element);
@@ -354,6 +340,28 @@ int mj_copyBack(mjSpec* s, const mjModel* m) {
 
 
 
+// detach body from mjSpec, return 0 on success
+int mjs_detach(mjSpec* s, mjsElement* element) {
+  mjCModel* model = static_cast<mjCModel*>(s->element);
+  if (!element) {
+    model->SetError(mjCError(0, "Element is null."));
+    return -1;
+  }
+  try {
+    if (element->elemtype == mjOBJ_DEFAULT) {
+      throw mjCError(0, "Detach is not implemented for defaults.");
+    } else {
+      *model -= element;
+    }
+    return 0;
+  } catch (mjCError& e) {
+    model->SetError(e);
+    return -1;
+  }
+}
+
+
+
 // delete object, return 0 on success
 int mjs_delete(mjSpec* s, mjsElement* element) {
   mjCModel* model = static_cast<mjCModel*>(s->element);
@@ -362,15 +370,11 @@ int mjs_delete(mjSpec* s, mjsElement* element) {
     return -1;
   }
   try {
-    if (element->elemtype == mjOBJ_BODY) {
-      mjCBody* body = static_cast<mjCBody*>(element);
-      *model -= *body;
-      model->DeleteElement(body);
-    } else if (element->elemtype == mjOBJ_DEFAULT) {
+    if (element->elemtype == mjOBJ_DEFAULT) {
       mjCDef* def = static_cast<mjCDef*>(element);
       *model -= *def;
     } else {
-      // it will call the appropriate destructor since ~mjCBase is virtual
+      mjs_detach(s, element);
       model->DeleteElement(element);
     }
     return 0;
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index cc22560e..b9bd7bc9 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -733,7 +733,6 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
   for (int j = 0; j < list->size(); ++j) {
     list->at(j)->id = -1;
     if (list->at(j) == element) {
-      list->at(j)->Release();
       list->erase(list->begin() + j);
       j--;
     }
@@ -743,20 +742,33 @@ void deletefromlist(std::vector<T*>* list, mjsElement* element) {
 
 
 // recursively delete all plugins in the subtree
-static void deletesubtreeplugin(mjCBody* subtree, mjCModel* model) {
+void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
   mjsPlugin* plugin = &(subtree->spec.plugin);
   if (plugin->active && plugin->name->empty()) {
-    model->DeleteElement(plugin->element);
+    *this -= plugin->element;
+    detached_.push_back(static_cast<mjCBase*>(plugin->element));
   }
   for (auto* body : subtree->Bodies()) {
-    deletesubtreeplugin(body, model);
+    DeleteSubtreePlugin(body);
   }
 }
 
 
 
-// discard all invalid elements from all lists
+// delete an object from the model
 void mjCModel::DeleteElement(mjsElement* el) {
+  static_cast<mjCBase*>(el)->Release();
+}
+
+
+
+// remove the element from the model
+void mjCModel::operator-=(mjsElement* el) {
+  if (el->elemtype == mjOBJ_BODY) {
+    mjCBody* body = static_cast<mjCBody*>(el);
+    *this -= *body;
+  }
+
   ResetTreeLists();
 
   if (el->elemtype != mjOBJ_DEFAULT) {
@@ -774,10 +786,7 @@ void mjCModel::DeleteElement(mjsElement* el) {
     {
       MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
       mjCBody* subtree = static_cast<mjCBody*>(el);
-      if (subtree->GetRef() == 1)  {
-        deletesubtreeplugin(subtree, this);
-      }
-      subtree->Release();
+      DeleteSubtreePlugin(subtree);
       break;
     }
 
@@ -789,8 +798,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
     case mjOBJ_GEOM:
     {
       mjCGeom* geom = static_cast<mjCGeom*>(el);
-      if (geom->plugin.active && geom->plugin.name->empty() && geom->GetRef() == 1) {
-        DeleteElement(geom->plugin.element);
+      if (geom->plugin.active && geom->plugin.name->empty()) {
+        *this -= geom->plugin.element;
+        detached_.push_back(static_cast<mjCBase*>(geom->plugin.element));
       }
       deletefromlist(&(geom->body->geoms), el);
       break;
@@ -815,8 +825,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
     case mjOBJ_MESH:
     {
       mjCMesh* mesh = static_cast<mjCMesh*>(el);
-      if (mesh->plugin.active && mesh->plugin.name->empty() && mesh->GetRef() == 1) {
-        DeleteElement(mesh->plugin.element);
+      if (mesh->plugin.active && mesh->plugin.name->empty()) {
+        *this -= mesh->plugin.element;
+        detached_.push_back(static_cast<mjCBase*>(mesh->plugin.element));
       }
       deletefromlist(object_lists_[mjOBJ_MESH], el);
       break;
@@ -825,8 +836,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
     case mjOBJ_ACTUATOR:
     {
       mjCActuator* actuator = static_cast<mjCActuator*>(el);
-      if (actuator->plugin.active && actuator->plugin.name->empty() && actuator->GetRef() == 1) {
-        DeleteElement(actuator->plugin.element);
+      if (actuator->plugin.active && actuator->plugin.name->empty()) {
+        *this -= actuator->plugin.element;
+        detached_.push_back(static_cast<mjCBase*>(actuator->plugin.element));
       }
       deletefromlist(object_lists_[mjOBJ_ACTUATOR], el);
       break;
@@ -835,8 +847,9 @@ void mjCModel::DeleteElement(mjsElement* el) {
     case mjOBJ_SENSOR:
     {
       mjCSensor* sensor = static_cast<mjCSensor*>(el);
-      if (sensor->plugin.active && sensor->plugin.name->empty() && sensor->GetRef() == 1) {
-        DeleteElement(sensor->plugin.element);
+      if (sensor->plugin.active && sensor->plugin.name->empty()) {
+        *this -= sensor->plugin.element;
+        detached_.push_back(static_cast<mjCBase*>(sensor->plugin.element));
       }
       deletefromlist(object_lists_[mjOBJ_SENSOR], el);
       break;
@@ -946,6 +959,7 @@ mjCModel::~mjCModel() {
   for (int i=0; i < defaults_.size(); i++) delete defaults_[i];
   for (int i=0; i < specs_.size(); i++) mj_deleteSpec(specs_[i]);
   for (int i=0; i < plugins_.size(); i++) plugins_[i]->Release();
+  for (int i=0; i < detached_.size(); i++) detached_[i]->Release();
 
   // clear sizes and pointer lists created in Compile
   Clear();
diff --git a/src/user/user_model.h b/src/user/user_model.h
index e3f1d9c0..03f6c70e 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -227,6 +227,9 @@ class mjCModel : public mjCModel_, private mjSpec {
   template <class T> void DeleteAll(std::vector<T*>& elements);
 
   // delete object from the corresponding list
+  void operator-=(mjsElement* el);
+
+  // delete object
   void DeleteElement(mjsElement* el);
 
   // delete default and all descendants
@@ -450,11 +453,15 @@ class mjCModel : public mjCModel_, private mjSpec {
   template <class T>
   void ResolveReferences(std::vector<T*>& list, mjCBody* body = nullptr);
 
+  // delete all plugins created by the subtree
+  void DeleteSubtreePlugin(mjCBody* subtree);
+
   mjListKeyMap ids;   // map from object names to ids
   mjCError errInfo;   // last error info
   std::vector<mjKeyInfo> key_pending_;  // attached keyframes
   bool deepcopy_;     // copy objects when attaching
   bool attached_ = false;  // true if model is attached to a parent model
   std::unordered_map<const mjsCompiler*, mjSpec*> compiler2spec_;  // map from compiler to spec
+  std::vector<mjCBase*> detached_;  // list of detached objects
 };
 #endif  // MUJOCO_SRC_USER_USER_MODEL_H_

From 14dc7c2a60243b1c70c2b3ae3cfd6248d899a57c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 20 Jun 2025 11:39:59 -0700
Subject: [PATCH 44/82] Add "cameraid" attribute to `visual/global` specifying
 the default camera to use at model load.

PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
---
 doc/APIreference/functions.rst          |  4 ++--
 doc/APIreference/functions_override.rst |  8 ++++++++
 doc/XMLreference.rst                    |  6 ++++++
 doc/XMLschema.rst                       |  8 +++++---
 doc/changelog.rst                       |  5 +++++
 doc/includes/references.h               |  7 ++++---
 include/mujoco/mjmodel.h                |  7 ++++---
 python/mujoco/introspect/structs.py     |  5 +++++
 python/mujoco/structs.cc                |  1 +
 simulate/main.cc                        |  2 +-
 simulate/simulate.cc                    | 12 ++++++++++--
 src/engine/engine_io.c                  |  1 +
 src/xml/xml_native_reader.cc            |  6 ++++--
 src/xml/xml_native_writer.cc            |  1 +
 unity/Runtime/Bindings/MjBindings.cs    |  1 +
 15 files changed, 58 insertions(+), 16 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 8c252a0f..2205384a 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -418,7 +418,7 @@ and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h =
 
 .. mujoco-include:: mj_name2id
 
-Get id of object with the specified mjtObj type and name, returns -1 if id not found.
+Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
 
 .. _mj_id2name:
 
@@ -427,7 +427,7 @@ Get id of object with the specified mjtObj type and name, returns -1 if id not f
 
 .. mujoco-include:: mj_id2name
 
-Get name of object with the specified mjtObj type and id, returns NULL if name not found.
+Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
 
 .. _mj_fullM:
 
diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst
index 5d00db0a..da9c913a 100644
--- a/doc/APIreference/functions_override.rst
+++ b/doc/APIreference/functions_override.rst
@@ -231,6 +231,14 @@ generalized velocities to subtree angular momentum. More precisely if :math:`h`
 body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor)
 and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`.
 
+.. _mj_name2id:
+
+Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
+
+.. _mj_id2name:
+
+Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
+
 .. _mj_geomDistance:
 
 Returns the smallest signed distance between two geoms and optionally the segment from ``geom1`` to ``geom2``.
diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 4e867448..b36cd054 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -7534,6 +7534,12 @@ coordinated visual settings corresponding to a "theme", and then include this fi
 While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
 is effectively a miscellaneous subsection.
 
+.. _visual-global-cameraid:
+
+:at:`cameraid`: :at-val:`int, "-1"`
+   The id of the camera used when initially loading the model in the visualizer. The default value of -1 means the free
+   camera. In order to specify a :ref:`modeled camera<body-camera>`, use the camera's id as given by :ref:`mj_name2id`.
+
 .. _visual-global-orthographic:
 
 :at:`orthographic`: :at-val:`[false, true], "false"`
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 21272c90..b0ba5dd0 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -1298,11 +1298,13 @@
 | :ref:`global                       | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <visual-global>`                   |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`orthographic<visual-global-orthographic>`                 | :ref:`fovy<visual-global-fovy>`                                 | :ref:`ipd<visual-global-ipd>`                                   | :ref:`azimuth<visual-global-azimuth>`                           | |
+|                                    |    |    | :ref:`cameraid<visual-global-cameraid>`                         | :ref:`orthographic<visual-global-orthographic>`                 | :ref:`fovy<visual-global-fovy>`                                 | :ref:`ipd<visual-global-ipd>`                                   | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`elevation<visual-global-elevation>`                       | :ref:`linewidth<visual-global-linewidth>`                       | :ref:`glow<visual-global-glow>`                                 | :ref:`offwidth<visual-global-offwidth>`                         | |
+|                                    |    |    | :ref:`azimuth<visual-global-azimuth>`                           | :ref:`elevation<visual-global-elevation>`                       | :ref:`linewidth<visual-global-linewidth>`                       | :ref:`glow<visual-global-glow>`                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`offheight<visual-global-offheight>`                       | :ref:`realtime<visual-global-realtime>`                         | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`         | :ref:`bvactive<visual-global-bvactive>`                         | |
+|                                    |    |    | :ref:`offwidth<visual-global-offwidth>`                         | :ref:`offheight<visual-global-offheight>`                       | :ref:`realtime<visual-global-realtime>`                         | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`bvactive<visual-global-bvactive>`                         |                                                                 |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 02d2cacf..d2b5ce53 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -12,6 +12,11 @@ Upcoming version (not yet released)
      `:ref:mjs_detach` was added in order to remove an element from the spec without deleting it.
    - The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.
 
+General
+^^^^^^^
+- Added support for setting the initial camera in the viewer using
+  :ref:`visual/global/cameraid<visual-global-cameraid>`.
+
 Bug fixes
 ^^^^^^^^^
 - Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 2e1ef149..1ef080b9 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -795,8 +795,8 @@ struct mjLROpt_ {                 // options for mj_setLengthRange()
   mjtNum tolrange;                // convergence tolerance (relative to range)
 };
 typedef struct mjLROpt_ mjLROpt;
-struct mjVFS_ {                               // virtual file system for loading from memory
-  void* impl_;                                // internal pointer to VFS memory
+struct mjVFS_ {                   // virtual file system for loading from memory
+  void* impl_;                    // internal pointer to VFS memory
 };
 typedef struct mjVFS_ mjVFS;
 struct mjOption_ {                // physics options
@@ -844,7 +844,8 @@ struct mjOption_ {                // physics options
 typedef struct mjOption_ mjOption;
 struct mjVisual_ {                // visualization options
   struct {                        // global parameters
-    int orthographic;             // is the free camera orthographic (0: no, 1: yes)
+    int   cameraid;               // initial camera id (-1: free)
+    int   orthographic;           // is the free camera orthographic (0: no, 1: yes)
     float fovy;                   // y field-of-view of free camera (orthographic ? length : degree)
     float ipd;                    // inter-pupilary distance for free camera
     float azimuth;                // initial azimuth of free camera (degrees)
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 75eb3cd0..f0a80d79 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -452,8 +452,8 @@ typedef struct mjLROpt_ mjLROpt;
 
 //---------------------------------- mjVFS ---------------------------------------------------------
 
-struct mjVFS_ {                               // virtual file system for loading from memory
-  void* impl_;                                // internal pointer to VFS memory
+struct mjVFS_ {                   // virtual file system for loading from memory
+  void* impl_;                    // internal pointer to VFS memory
 };
 typedef struct mjVFS_ mjVFS;
 
@@ -508,7 +508,8 @@ typedef struct mjOption_ mjOption;
 
 struct mjVisual_ {                // visualization options
   struct {                        // global parameters
-    int orthographic;             // is the free camera orthographic (0: no, 1: yes)
+    int   cameraid;               // initial camera id (-1: free)
+    int   orthographic;           // is the free camera orthographic (0: no, 1: yes)
     float fovy;                   // y field-of-view of free camera (orthographic ? length : degree)
     float ipd;                    // inter-pupilary distance for free camera
     float azimuth;                // initial azimuth of free camera (degrees)
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 49b8752b..c12bab47 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -278,6 +278,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='global',
                  type=AnonymousStructDecl(
                      fields=(
+                         StructFieldDecl(
+                             name='cameraid',
+                             type=ValueType(name='int'),
+                             doc='initial camera id (-1: free)',
+                         ),
                          StructFieldDecl(
                              name='orthographic',
                              type=ValueType(name='int'),
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 1b92c61a..4501d593 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -175,6 +175,7 @@ PYBIND11_MODULE(_structs, m) {
                      });
   DefineStructFunctions(mjVisualGlobal);
 #define X(var) mjVisualGlobal.def_readwrite(#var, &raw::MjVisualGlobal::var)
+  X(cameraid);
   X(orthographic);
   X(fovy);
   X(ipd);
diff --git a/simulate/main.cc b/simulate/main.cc
index 8d70e6e8..1b5ccb65 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -353,7 +353,7 @@ void PhysicsLoop(mj::Simulate& sim) {
           // requested slow-down factor
           double slowdown = 100 / sim.percentRealTime[sim.real_time_index];
 
-          // misalignment condition: distance from target sim time is bigger than syncmisalign
+          // misalignment condition: distance from target sim time is bigger than syncMisalign
           bool misaligned =
               std::abs(Seconds(elapsedCPU).count()/slowdown - elapsedSim) > syncMisalign;
 
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 273b7f7a..b692302e 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1178,8 +1178,16 @@ void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
 
 // align and scale view
 void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
-  // use default free camera parameters
-  mjv_defaultFreeCamera(m, &sim->cam);
+  // if the id is valid, use the initial fixed camera
+  if (m->vis.global.cameraid >= 0 && m->vis.global.cameraid < m->ncam) {
+    sim->cam.fixedcamid = m->vis.global.cameraid;
+    sim->cam.type = mjCAMERA_FIXED;
+  }
+
+  // otherwise use default free camera
+  else {
+    mjv_defaultFreeCamera(m, &sim->cam);
+  }
 }
 
 
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 9a9ad366..54262a18 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -183,6 +183,7 @@ static void setf4(float* rgba, float r, float g, float b, float a) {
 // set visual options to default values
 void mj_defaultVisual(mjVisual* vis) {
   // global
+  vis->global.cameraid            = -1;
   vis->global.orthographic        = 0;
   vis->global.fovy                = 45;
   vis->global.ipd                 = 0.068;
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index f5994e0a..55d3c4ce 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -127,8 +127,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
 
     {"visual", "*", "0"},
     {"<"},
-        {"global", "?", "12", "orthographic", "fovy", "ipd", "azimuth", "elevation", "linewidth",
-            "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia", "bvactive"},
+        {"global", "?", "13", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation",
+            "linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia",
+            "bvactive"},
         {"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks",
             "numquads"},
         {"headlight", "?", "4", "ambient", "diffuse", "specular", "active"},
@@ -2998,6 +2999,7 @@ void mjXReader::Visual(XMLElement* section) {
 
     // global sub-element
     if (name == "global") {
+      ReadAttrInt(elem, "cameraid",     &vis->global.cameraid);
       if (MapValue(elem, "orthographic", &n, bool_map, 2)) {
         vis->global.orthographic = (n == 1);
       }
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 1b82b9fb..6b27bbc3 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -1130,6 +1130,7 @@ void mjXWriter::Visual(XMLElement* root) {
 
   // global
   elem = InsertEnd(section, "global");
+  WriteAttrInt(elem, "cameraid",       vis->global.cameraid,     visdef.global.cameraid);
   WriteAttrKey(elem, "orthographic",
                bool_map, 2, vis->global.orthographic, visdef.global.orthographic);
   WriteAttr(elem,    "fovy",      1,   &vis->global.fovy,        &visdef.global.fovy);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index b7448e56..23006d1d 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5114,6 +5114,7 @@ public unsafe struct mjOption_ {
 
 [StructLayout(LayoutKind.Sequential)]
 public unsafe struct global {
+  public int cameraid;
   public int orthographic;
   public float fovy;
   public float ipd;

From 2707eadc00fd12c351305d3e110fcc2277c83f6e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sat, 21 Jun 2025 04:48:07 -0700
Subject: [PATCH 45/82] Refactor `mj_crb` and `mj_tendonArmature` to use CSR
 `M`.

PiperOrigin-RevId: 774077388
Change-Id: Id57118a5d66c074766f5c69fd3b889ebc625cbf7
---
 src/engine/engine_core_smooth.c        | 76 ++++++++++++++------------
 src/engine/engine_io.c                 |  3 +
 test/engine/engine_core_smooth_test.cc |  1 +
 3 files changed, 45 insertions(+), 35 deletions(-)

diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
index d4deb5b3..14b2dfe6 100644
--- a/src/engine/engine_core_smooth.c
+++ b/src/engine/engine_core_smooth.c
@@ -1469,9 +1469,12 @@ void mj_transmission(const mjModel* m, mjData* d) {
 
 //-------------------------- inertia ---------------------------------------------------------------
 
-// add tendon armature to qM
+// add tendon armature to M
 void mj_tendonArmature(const mjModel* m, mjData* d) {
   int nv = m->nv, ntendon = m->ntendon, issparse = mj_isSparse(m);
+  const int* M_rownnz = d->M_rownnz;
+  const int* M_rowadr = d->M_rowadr;
+  const int* M_colind = d->M_colind;
 
   for (int k=0; k < ntendon; k++) {
     mjtNum armature = m->tendon_armature[k];
@@ -1482,11 +1485,19 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
 
     // dense
     if (!issparse) {
+      // M += armature * ten_J' * ten_J
       mjtNum* ten_J = d->ten_J + nv*k;
-      for (int i=0; i < m->nv; i++) {
-        int Madr = m->dof_Madr[i];
-        for (int j = i; j >= 0; j = m->dof_parentid[j]) {
-          d->qM[Madr++] += armature * ten_J[j] * ten_J[i];
+      for (int i=0; i < nv; i++) {
+        mjtNum ten_J_i = ten_J[i];
+        if (!ten_J_i) {
+          continue;
+        }
+
+        // M[i,:] += armature * ten_J[i] * ten_J
+        int start = M_rowadr[i];
+        int end = start + M_rownnz[i];
+        for (int adr = start; adr < end; adr++) {
+          d->M[adr] += armature * ten_J_i * ten_J[M_colind[adr]];
         }
       }
     }
@@ -1494,29 +1505,24 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
     // sparse
     else {
       // get sparse info for tendon k
-      int rowadr = d->ten_J_rowadr[k];
-      int rownnz = d->ten_J_rownnz[k];
-      const int* colind = d->ten_J_colind + rowadr;
-      mjtNum* ten_J = d->ten_J + rowadr;
+      int J_rowadr = d->ten_J_rowadr[k];
+      int J_rownnz = d->ten_J_rownnz[k];
+      const int* J_colind = d->ten_J_colind + J_rowadr;
+      mjtNum* ten_J = d->ten_J + J_rowadr;
 
-      // iterate forward on nonzero rows i
-      for (int adr_i=0; adr_i < rownnz; adr_i++) {
-        int i = colind[adr_i];
-        int Madr = m->dof_Madr[i];
-        int adr_j = rownnz - 1;
-
-        // iterate backward on ancestors of i, find matching column j
-        for (int j = i; j >= 0; j = m->dof_parentid[j]) {
-          // reduce adr_j until column index is no bigger than j
-          while (colind[adr_j] > j && adr_j >= 0) {
-            adr_j--;
-          }
-
-          // found match, update qM
-          if (colind[adr_j] == j) {
-            d->qM[Madr++] += armature * ten_J[adr_j] * ten_J[adr_i];
-          }
+      // M += armature * ten_J' * ten_J
+      for (int j=0; j < J_rownnz; j++) {
+        mjtNum ten_J_i = ten_J[j];
+        if (!ten_J_i) {
+          continue;
         }
+
+        // M[i,:] += armature * ten_J[i] * ten_J
+        int i = J_colind[j];
+        int M_adr = M_rowadr[i];
+        mju_addToSclSparseInc(d->M + M_adr, ten_J,
+                              M_rownnz[i], M_colind + M_adr,
+                              J_rownnz, J_colind, armature * ten_J_i);
       }
     }
   }
@@ -1526,22 +1532,22 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
 
 // composite rigid body inertia algorithm
 void mj_crb(const mjModel* m, mjData* d) {
+  int nv = m->nv;
   mjtNum buf[6];
   mjtNum* crb = d->crb;
-  int last_body = m->nbody - 1, nv = m->nv;
 
   // crb = cinert
   mju_copy(crb, d->cinert, 10*m->nbody);
 
   // backward pass over bodies, accumulate composite inertias
-  for (int i=last_body; i > 0; i--) {
+  for (int i=m->nbody - 1; i > 0; i--) {
     if (m->body_parentid[i] > 0) {
       mju_addTo(crb+10*m->body_parentid[i], crb+10*i, 10);
     }
   }
 
-  // clear qM
-  mju_zero(d->qM, m->nM);
+  // clear M
+  mju_zero(d->M, m->nC);
 
   // dense forward pass over dofs
   for (int i=0; i < nv; i++) {
@@ -1549,7 +1555,7 @@ void mj_crb(const mjModel* m, mjData* d) {
     if (m->dof_simplenum[i]) {
       int n = i + m->dof_simplenum[i];
       for (; i < n; i++) {
-        d->qM[m->dof_Madr[i]] = m->dof_M0[i];
+        d->M[d->M_rowadr[i]] = m->dof_M0[i];
       }
 
       // finish or else fall through with next row
@@ -1559,8 +1565,8 @@ void mj_crb(const mjModel* m, mjData* d) {
     }
 
     // init M(i,i) with armature inertia
-    int Madr_ij = m->dof_Madr[i];
-    d->qM[Madr_ij] = m->dof_armature[i];
+    int Madr_ij = d->M_rowadr[i] + d->M_rownnz[i] - 1;
+    d->M[Madr_ij] = m->dof_armature[i];
 
     // precompute buf = crb_body_i * cdof_i
     mju_mulInertVec(buf, crb+10*m->dof_bodyid[i], d->cdof+6*i);
@@ -1568,7 +1574,7 @@ void mj_crb(const mjModel* m, mjData* d) {
     // sparse backward pass over ancestors
     for (int j=i; j >= 0; j = m->dof_parentid[j]) {
       // M(i,j) += cdof_j * (crb_body_i * cdof_i)
-      d->qM[Madr_ij++] += mju_dot(d->cdof+6*j, buf, 6);
+      d->M[Madr_ij--] += mju_dot(d->cdof+6*j, buf, 6);
     }
   }
 }
@@ -1579,7 +1585,7 @@ void mj_makeM(const mjModel* m, mjData* d) {
   TM_START;
   mj_crb(m, d);
   mj_tendonArmature(m, d);
-  mju_gather(d->M, d->qM, d->mapM2M, m->nC);
+  mju_scatter(d->qM, d->M, d->mapM2M, m->nC);
   TM_END(mjTIMER_POS_INERTIA);
 }
 
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 54262a18..fdad5ec5 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1990,6 +1990,9 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   mju_zero(d->mocap_pos, 3*m->nmocap);
   mju_zero(d->mocap_quat, 4*m->nmocap);
 
+  // zero out qM, special case because scattring from M skips simple body off-diagonals
+  mju_zero(d->qM, m->nM);
+
   // copy qpos0 from model
   if (m->qpos0) {
     memcpy(d->qpos, m->qpos0, m->nq*sizeof(mjtNum));
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 880f3e7e..59e4ca3e 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -237,6 +237,7 @@ TEST_F(CoreSmoothTest, TendonArmature) {
 
     // put only CRB inertia in M2
     mj_crb(m, d);
+    mju_scatter(d->qM, d->M, d->mapM2M, m->nC);
     vector<mjtNum> M2(nv*nv);
     mj_fullM(m, M2.data(), d->qM);
 

From 419cdf1ff3a1858acbfe3e574adf28d3de1c2cfd Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sun, 22 Jun 2025 09:54:01 -0700
Subject: [PATCH 46/82] Add mesh fit image to XMLreference

PiperOrigin-RevId: 774458193
Change-Id: I3bae60e431c628ccc4cb96f96cc7b045dc365698
---
 doc/XMLreference.rst | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index b36cd054..c2e47857 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -724,13 +724,20 @@ has any effect. The settings here are global and apply to the entire model.
    compiler converts degrees into radians, and mjModel always uses radians. For URDF models the parser sets this
    attribute to "radian" internally, regardless of the XML setting.
 
+.. image:: images/changelog/meshfit.png
+   :align: right
+   :width: 40%
+
 .. _compiler-fitaabb:
 
 :at:`fitaabb`: :at-val:`[false, true], "false"`
    The compiler is able to replace a mesh with a geometric primitive fitted to that mesh; see :ref:`geom <body-geom>`
    below. If this attribute is "true", the fitting procedure uses the axis-aligned bounding box (aabb) of the mesh.
    Otherwise it uses the equivalent-inertia box of the mesh. The type of geometric primitive used for fitting is
-   specified separately for each geom.
+   specified separately for each geom. The models used to generate the image on the right can be found
+   `here <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/fitmesh_inertiabox.xml>`__ (fit inertia
+   box) and `here <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/fitmesh_aabb.xml>`__ (fit
+   aabb).
 
 .. _compiler-eulerseq:
 
@@ -1230,7 +1237,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
 
 :at:`content_type`: :at-val:`string, optional`
    If the file attribute is specified, then this sets the
-   `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (formerly known as MIME type) of the
+   `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`__ (formerly known as MIME type) of the
    file to be loaded. Any filename extensions will be overloaded.  Currently ``model/vnd.mujoco.msh``, ``model/obj``,
    and ``model/stl`` are supported.
 

From a00bfa819cc466e1f3456db954d271b346024d74 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Sun, 22 Jun 2025 10:14:40 -0700
Subject: [PATCH 47/82] Raise error when binding to a removed element.

PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
---
 doc/APIreference/functions.rst        |  9 ---------
 doc/includes/references.h             |  1 -
 include/mujoco/mujoco.h               |  4 +---
 mjx/mujoco/mjx/_src/support_test.py   | 13 +++++++++++++
 python/mujoco/introspect/functions.py | 22 +---------------------
 src/user/user_api.cc                  | 27 ++-------------------------
 src/user/user_api.h                   |  4 +---
 src/user/user_model.cc                | 13 +------------
 src/user/user_model.h                 |  3 ---
 9 files changed, 19 insertions(+), 77 deletions(-)

diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
index 2205384a..f43b0f20 100644
--- a/doc/APIreference/functions.rst
+++ b/doc/APIreference/functions.rst
@@ -3783,15 +3783,6 @@ Attachment
 
 Attach child to a parent, return the attached element if success or NULL otherwise.
 
-.. _mjs_detach:
-
-`mjs_detach <#mjs_detach>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_detach
-
-Detach but not delete object corresponding to the given element, return 0 on success.
-
 .. _AddTreeElements:
 
 Tree elements
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 1ef080b9..e8a694d3 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -3411,7 +3411,6 @@ void mju_defaultTask(mjTask* task);
 void mju_taskJoin(mjTask* task);
 mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                        const char* prefix, const char* suffix);
-int mjs_detach(mjSpec* spec, mjsElement* element);
 mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
 mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
 mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index b824e9f7..95dbda7d 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1411,8 +1411,6 @@ MJAPI void mju_taskJoin(mjTask* task);
 MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                              const char* prefix, const char* suffix);
 
-// Detach but not delete object corresponding to the given element, return 0 on success.
-MJAPI int mjs_detach(mjSpec* spec, mjsElement* element);
 
 //---------------------------------- Tree elements -------------------------------------------------
 
@@ -1440,7 +1438,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 // Add frame to body.
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
-// Delete object corresponding to the given element, return 0 on success.
+// Detach but not delete object corresponding to the given element, return 0 on success.
 MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
 
 
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
index 3303aa62..6268f14b 100644
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ b/mjx/mujoco/mjx/_src/support_test.py
@@ -379,6 +379,19 @@ class SupportTest(parameterized.TestCase):
         ' 15297169659434471387 != 2785811613804955188',
     )
 
+    # what happens when we bind to an actuator that was removed?
+    bygone_actuators = []
+    for act in s.actuators:
+      bygone_actuators.append(act)
+      s.delete(act)
+    m = s.compile()
+    d = mujoco.MjData(m)
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+    dx = mjx.step(mx, dx)
+    with self.assertRaisesRegex(KeyError, 'invalid id: -1'):
+      dx.bind(mx, bygone_actuators)
+
   _CONTACTS = """
     <mujoco>
       <worldbody>
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index fe713dc6..e2c6d9bc 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -8987,26 +8987,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Attach child to a parent, return the attached element if success or NULL otherwise.',  # pylint: disable=line-too-long
      )),
-    ('mjs_detach',
-     FunctionDecl(
-         name='mjs_detach',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='spec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Detach but not delete object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
-     )),
     ('mjs_addBody',
      FunctionDecl(
          name='mjs_addBody',
@@ -9195,7 +9175,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Delete object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
+         doc='Detach but not delete object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
      )),
     ('mjs_addActuator',
      FunctionDecl(
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 66f6a977..af4c18f6 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -341,28 +341,6 @@ int mj_copyBack(mjSpec* s, const mjModel* m) {
 
 
 // detach body from mjSpec, return 0 on success
-int mjs_detach(mjSpec* s, mjsElement* element) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  if (!element) {
-    model->SetError(mjCError(0, "Element is null."));
-    return -1;
-  }
-  try {
-    if (element->elemtype == mjOBJ_DEFAULT) {
-      throw mjCError(0, "Detach is not implemented for defaults.");
-    } else {
-      *model -= element;
-    }
-    return 0;
-  } catch (mjCError& e) {
-    model->SetError(e);
-    return -1;
-  }
-}
-
-
-
-// delete object, return 0 on success
 int mjs_delete(mjSpec* s, mjsElement* element) {
   mjCModel* model = static_cast<mjCModel*>(s->element);
   if (!element) {
@@ -374,8 +352,7 @@ int mjs_delete(mjSpec* s, mjsElement* element) {
       mjCDef* def = static_cast<mjCDef*>(element);
       *model -= *def;
     } else {
-      mjs_detach(s, element);
-      model->DeleteElement(element);
+      *model -= element;
     }
     return 0;
   } catch (mjCError& e) {
@@ -1031,7 +1008,7 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
 mjsFrame* mjs_bodyToFrame(mjsBody** body) {
   mjCBody* bodyC = static_cast<mjCBody*>((*body)->element);
   mjCFrame* frameC = bodyC->ToFrame();
-  bodyC->model->DeleteElement((*body)->element);
+  *bodyC->model -= (*body)->element;
   *body = nullptr;
   return &frameC->spec;
 }
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 89863d8f..cbc2f715 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -76,8 +76,6 @@ MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
 MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
                              const char* prefix, const char* suffix);
 
-// Detach but not delete object corresponding to the given element, return 0 on success.
-MJAPI int mjs_detach(mjSpec* s, mjsElement* element);
 
 //---------------------------------- Add tree elements ---------------------------------------------
 
@@ -105,7 +103,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 // Add frame to body.
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
-// Delete object corresponding to the given element, return 0 on success.
+// Detach but not delete object corresponding to the given element, return 0 on success.
 MJAPI int mjs_delete(mjSpec* s, mjsElement* element);
 
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index b9bd7bc9..ee4f83f0 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -746,7 +746,6 @@ void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
   mjsPlugin* plugin = &(subtree->spec.plugin);
   if (plugin->active && plugin->name->empty()) {
     *this -= plugin->element;
-    detached_.push_back(static_cast<mjCBase*>(plugin->element));
   }
   for (auto* body : subtree->Bodies()) {
     DeleteSubtreePlugin(body);
@@ -755,13 +754,6 @@ void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
 
 
 
-// delete an object from the model
-void mjCModel::DeleteElement(mjsElement* el) {
-  static_cast<mjCBase*>(el)->Release();
-}
-
-
-
 // remove the element from the model
 void mjCModel::operator-=(mjsElement* el) {
   if (el->elemtype == mjOBJ_BODY) {
@@ -769,6 +761,7 @@ void mjCModel::operator-=(mjsElement* el) {
     *this -= *body;
   }
 
+  detached_.push_back(static_cast<mjCBase*>(el));
   ResetTreeLists();
 
   if (el->elemtype != mjOBJ_DEFAULT) {
@@ -800,7 +793,6 @@ void mjCModel::operator-=(mjsElement* el) {
       mjCGeom* geom = static_cast<mjCGeom*>(el);
       if (geom->plugin.active && geom->plugin.name->empty()) {
         *this -= geom->plugin.element;
-        detached_.push_back(static_cast<mjCBase*>(geom->plugin.element));
       }
       deletefromlist(&(geom->body->geoms), el);
       break;
@@ -827,7 +819,6 @@ void mjCModel::operator-=(mjsElement* el) {
       mjCMesh* mesh = static_cast<mjCMesh*>(el);
       if (mesh->plugin.active && mesh->plugin.name->empty()) {
         *this -= mesh->plugin.element;
-        detached_.push_back(static_cast<mjCBase*>(mesh->plugin.element));
       }
       deletefromlist(object_lists_[mjOBJ_MESH], el);
       break;
@@ -838,7 +829,6 @@ void mjCModel::operator-=(mjsElement* el) {
       mjCActuator* actuator = static_cast<mjCActuator*>(el);
       if (actuator->plugin.active && actuator->plugin.name->empty()) {
         *this -= actuator->plugin.element;
-        detached_.push_back(static_cast<mjCBase*>(actuator->plugin.element));
       }
       deletefromlist(object_lists_[mjOBJ_ACTUATOR], el);
       break;
@@ -849,7 +839,6 @@ void mjCModel::operator-=(mjsElement* el) {
       mjCSensor* sensor = static_cast<mjCSensor*>(el);
       if (sensor->plugin.active && sensor->plugin.name->empty()) {
         *this -= sensor->plugin.element;
-        detached_.push_back(static_cast<mjCBase*>(sensor->plugin.element));
       }
       deletefromlist(object_lists_[mjOBJ_SENSOR], el);
       break;
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 03f6c70e..75b79124 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -229,9 +229,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // delete object from the corresponding list
   void operator-=(mjsElement* el);
 
-  // delete object
-  void DeleteElement(mjsElement* el);
-
   // delete default and all descendants
   void RemoveDefault(mjCDef* def);
 

From 862300def55ea7501ad00072c7ce5b6cf7a41f59 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 23 Jun 2025 03:48:46 -0700
Subject: [PATCH 48/82] Fix comment typo in _resetData.

PiperOrigin-RevId: 774705647
Change-Id: Id933cae9a219798eae266b36bd3efba2a3b88163
---
 src/engine/engine_io.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index fdad5ec5..0af6092e 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -1990,7 +1990,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   mju_zero(d->mocap_pos, 3*m->nmocap);
   mju_zero(d->mocap_quat, 4*m->nmocap);
 
-  // zero out qM, special case because scattring from M skips simple body off-diagonals
+  // zero out qM, special case because scattering from M skips simple body off-diagonals
   mju_zero(d->qM, m->nM);
 
   // copy qpos0 from model

From 8d9556db7cf5052beeec6cc1990ddbbb49c623a9 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 24 Jun 2025 02:52:54 -0700
Subject: [PATCH 49/82] Update MJX feature parity.

PiperOrigin-RevId: 775147260
Change-Id: I48097c2ac4ef17b7f17f6fd8a894ae00a25abf63
---
 doc/mjx.rst | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/doc/mjx.rst b/doc/mjx.rst
index e0106b5f..79b725d4 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -206,7 +206,7 @@ The following features are **fully supported** in MJX:
    * - Category
      - Feature
    * - Dynamics
-     - :ref:`Forward <mj_forward>`
+     - :ref:`Forward <mj_forward>`, :ref:`Inverse <mj_inverse>`
    * - :ref:`Joint <mjtJoint>`
      - ``FREE``, ``BALL``, ``SLIDE``, ``HINGE``
    * - :ref:`Transmission <mjtTrn>`
@@ -235,8 +235,6 @@ The following features are **fully supported** in MJX:
      - 1, 3, 4, 6 (1 is not supported with ``ELLIPTIC``)
    * - :ref:`Solver <mjtSolver>`
      - ``CG``, ``NEWTON``
-   * - Dynamics
-     - :ref:`Inverse <mj_inverse>`
    * - Fluid Model
      - :ref:`flInertia`
    * - :ref:`Tendons <tendon>`
@@ -248,6 +246,8 @@ The following features are **fully supported** in MJX:
        ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``,
        ``ACTUATORFRC``, ``JOINTACTFRC``, ``TENDONACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
        (``ACCELEROMETER``, ``FORCE``, ``TORQUE`` not supported with connect or weld equality constraints)
+   * - Lights
+     - Positions and directions of lights
 
 The following features are **in development** and coming soon:
 
@@ -268,8 +268,6 @@ The following features are **in development** and coming soon:
      - :ref:`flEllipsoid`
    * - :ref:`Sensors <mjtSensor>`
      - All except ``PLUGIN``, ``USER``
-   * - Lights
-     - Positions and directions of lights
 
 The following features are **unsupported**:
 

From a0614fff1f0548cde52b121d0a1847b74cf61e50 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Tue, 24 Jun 2025 06:16:51 -0700
Subject: [PATCH 50/82] Fix tinyxml2 includes.

PiperOrigin-RevId: 775204246
Change-Id: Ia5c692eb29b2a670cb01e3efdeb85fd6e1474b99
---
 src/experimental/usd/plugins/mjcf/mjcf_file_format.cc | 2 +-
 src/xml/xml.cc                                        | 3 +--
 src/xml/xml_base.h                                    | 2 +-
 src/xml/xml_native_reader.cc                          | 3 +--
 src/xml/xml_native_reader.h                           | 3 +--
 src/xml/xml_urdf.cc                                   | 1 -
 src/xml/xml_util.cc                                   | 3 +--
 src/xml/xml_util.h                                    | 3 +--
 8 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
index b7e75bf5..180986b7 100644
--- a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
+++ b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
@@ -21,7 +21,7 @@
 
 #include <mujoco/mujoco.h>
 #include "mjcf/mujoco_to_usd.h"
-#include "third_party/tinyxml2/tinyxml2.h"
+#include "tinyxml2.h"
 #include <pxr/base/tf/diagnostic.h>
 #include <pxr/base/tf/enum.h>
 #include <pxr/base/tf/pathUtils.h>
diff --git a/src/xml/xml.cc b/src/xml/xml.cc
index 57b1e123..e7d9f581 100644
--- a/src/xml/xml.cc
+++ b/src/xml/xml.cc
@@ -27,8 +27,6 @@
 #include <string_view>
 #include <unordered_set>
 
-#include "tinyxml2.h"
-
 #include <mujoco/mujoco.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
@@ -42,6 +40,7 @@
 #include "xml/xml_native_writer.h"
 #include "xml/xml_urdf.h"
 #include "xml/xml_util.h"
+#include "tinyxml2.h"
 
 namespace {
 
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
index 9dc261b1..f6e41683 100644
--- a/src/xml/xml_base.h
+++ b/src/xml/xml_base.h
@@ -18,10 +18,10 @@
 #include <cstdlib>
 #include <string>
 
-#include "tinyxml2.h"
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjspec.h>
 #include "xml/xml_util.h"
+#include "tinyxml2.h"
 
 
 // keyword maps (defined in implementation files)
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 55d3c4ce..89f145db 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -28,8 +28,6 @@
 #include <utility>
 #include <vector>
 
-#include "tinyxml2.h"
-
 #include <mujoco/mujoco.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
@@ -45,6 +43,7 @@
 #include "user/user_util.h"
 #include "xml/xml_base.h"
 #include "xml/xml_util.h"
+#include "tinyxml2.h"
 
 namespace {
 using std::string;
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
index 010ea2d5..1ad53464 100644
--- a/src/xml/xml_native_reader.h
+++ b/src/xml/xml_native_reader.h
@@ -18,13 +18,12 @@
 #include <sstream>
 #include <string>
 
-#include "tinyxml2.h"
-
 #include <mujoco/mujoco.h>
 #include <mujoco/mjspec.h>
 #include "user/user_util.h"
 #include "xml/xml_base.h"
 #include "xml/xml_util.h"
+#include "tinyxml2.h"
 
 class mjXReader : public mjXBase {
  public:
diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
index 3667cf35..5598366c 100644
--- a/src/xml/xml_urdf.cc
+++ b/src/xml/xml_urdf.cc
@@ -26,7 +26,6 @@
 #include "xml/xml_native_reader.h"
 #include "xml/xml_urdf.h"
 #include "xml/xml_util.h"
-
 #include "tinyxml2.h"
 
 using tinyxml2::XMLElement;
diff --git a/src/xml/xml_util.cc b/src/xml/xml_util.cc
index 5e7f52bc..ad1a3546 100644
--- a/src/xml/xml_util.cc
+++ b/src/xml/xml_util.cc
@@ -31,8 +31,6 @@
 #include <utility>
 #include <vector>
 
-#include "tinyxml2.h"
-
 #include <mujoco/mujoco.h>
 #include "cc/array_safety.h"
 #include "engine/engine_util_errmem.h"
@@ -40,6 +38,7 @@
 #include "user/user_util.h"
 #include "xml/xml_util.h"
 #include "xml/xml_numeric_format.h"
+#include "tinyxml2.h"
 
 namespace {
 
diff --git a/src/xml/xml_util.h b/src/xml/xml_util.h
index 86d61948..37cd843b 100644
--- a/src/xml/xml_util.h
+++ b/src/xml/xml_util.h
@@ -24,10 +24,9 @@
 #include <vector>
 #include <sstream>
 
-#include "tinyxml2.h"
-
 #include <mujoco/mujoco.h>
 #include "user/user_util.h"
+#include "tinyxml2.h"
 
 // error string copy
 void mjCopyError(char* dst, const char* src, int maxlen);

From 78df2ae7fad866801dd77fdff47eddfafb5bb545 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Tue, 24 Jun 2025 08:05:08 -0700
Subject: [PATCH 51/82] Add support mjcf emissive layer materials

Mujoco supports emission as a constant coefficient, and emissive, an rgb texture. This cl supports the rgb emissive texture for usd.

PiperOrigin-RevId: 775236677
Change-Id: I0e2ce1d9f68d79b6e9d2c28eecab22b2692f061c
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  21 ++++++++++++++++++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc |  10 +++++++++
 .../usd/plugins/mjcf/testdata/materials.xml   |   2 ++
 .../mjcf/testdata/textures/emissive.png       | Bin 0 -> 6888 bytes
 4 files changed, 33 insertions(+)
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/emissive.png

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index da053e1c..6d559fa8 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -91,6 +91,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          ((inputsWrapS, "inputs:wrapS"))
                          ((inputsWrapT, "inputs:wrapT"))
                          ((inputsDiffuseColor, "inputs:diffuseColor"))
+                         ((inputsEmissiveColor, "inputs:emissiveColor"))
                          ((outputsRgb, "outputs:rgb"))
                          ((outputsR, "outputs:r"))
                          ((outputsG, "outputs:g"))
@@ -794,6 +795,26 @@ class ModelWriter {
       }
     }
 
+    // Connect an emissive texture if specified.
+    if (mjTEXROLE_EMISSIVE < textures.size()) {
+      std::string emissive_texture_name = textures[mjTEXROLE_EMISSIVE];
+      mjsTexture *emissive_texture = mjs_asTexture(
+          mjs_findElement(spec_, mjOBJ_TEXTURE, emissive_texture_name.c_str()));
+      if (emissive_texture) {
+        pxr::SdfPath emissive_attr = CreateAttributeSpec(
+            data_, preview_surface_shader_path, kTokens->inputsEmissiveColor,
+            pxr::SdfValueTypeNames->Color3f);
+        const std::vector<pxr::SdfPath> emissive_map_output_attrs =
+            AddTextureShader(material_path, emissive_texture->file->c_str(),
+                             pxr::TfToken("emissive"), uvmap_st_output_attr,
+                             {kTokens->outputsRgb});
+        if (emissive_map_output_attrs.size() == 1) {
+          AddAttributeConnection(data_, emissive_attr,
+                                 emissive_map_output_attrs[0]);
+        }
+      }
+    }
+
     pxr::SdfPath diffuse_color_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, kTokens->inputsDiffuseColor,
         pxr::SdfValueTypeNames->Color3f);
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 446f009e..41bd3ea3 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -192,6 +192,16 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
     stage, "/mesh_test/Materials/material_layered/orm_packed.inputs:file",
     pxr::SdfAssetPath("textures/orm.png"));
 
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/emissive");
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_layered/"
+    "PreviewSurface.inputs:emissiveColor",
+    "/mesh_test/Materials/material_layered/emissive.outputs:rgb");
+  ExpectAttributeEqual(
+    stage, "/mesh_test/Materials/material_layered/emissive.inputs:file",
+    pxr::SdfAssetPath("textures/emissive.png"));
+
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_metallic");
   EXPECT_PRIM_VALID(stage,
                     "/mesh_test/Materials/material_metallic/PreviewSurface");
diff --git a/test/experimental/usd/plugins/mjcf/testdata/materials.xml b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
index 175c3ec8..dfb869d4 100644
--- a/test/experimental/usd/plugins/mjcf/testdata/materials.xml
+++ b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
@@ -3,6 +3,7 @@
     <texture name="diffuse_tex" file="textures/cube.png" type="2d" />
     <texture name="normal_tex" file="textures/normal.png" type="2d" />
     <texture name="orm_tex" file="textures/orm.png" type="2d" />
+    <texture name="emissive_tex" file="textures/emissive.png" type="2d" />
     <material name="material_red" rgba="0.8 0 0 1" />
     <material name="material_texture" texture="diffuse_tex" />
     <material name="material_metallic" rgba="0.8 0 0 1" metallic="0.6"/>
@@ -10,6 +11,7 @@
       <layer texture="diffuse_tex" role="rgb"/>
       <layer texture="normal_tex" role="normal"/>
       <layer texture="orm_tex" role="orm"/>
+      <layer texture="emissive_tex" role="emissive"/>
     </material>
     2d texture="diffuse" normal="normal" />
     <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/emissive.png b/test/experimental/usd/plugins/mjcf/testdata/textures/emissive.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c244eca6405e36009a8cf885df2f6487315bbb2
GIT binary patch
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literal 0
HcmV?d00001


From 9089059517bb313f873787ab3b408ed9df05bccc Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Tue, 24 Jun 2025 09:32:13 -0700
Subject: [PATCH 52/82] Move headers from src/experimental/usd to
 include/experimental/usd

PiperOrigin-RevId: 775269423
Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
---
 include/mujoco/experimental/usd/layer_sink.h  | 41 +++++++++++++++
 .../experimental/usd/mjcPhysics/actuatorAPI.h |  4 +-
 .../mujoco}/experimental/usd/mjcPhysics/api.h |  0
 .../usd/mjcPhysics/collisionAPI.h             |  4 +-
 .../usd/mjcPhysics/meshCollisionAPI.h         |  4 +-
 .../experimental/usd/mjcPhysics/sceneAPI.h    |  4 +-
 .../experimental/usd/mjcPhysics/siteAPI.h     |  2 +-
 .../experimental/usd/mjcPhysics/tokens.h      |  2 +-
 .../mujoco}/experimental/usd/utils.h          |  0
 include/mujoco/experimental/usd/writer.h      | 52 +++++++++++++++++++
 .../usd/mjcPhysics/actuatorAPI.cpp            |  2 +-
 .../usd/mjcPhysics/collisionAPI.cpp           |  2 +-
 .../usd/mjcPhysics/meshCollisionAPI.cpp       |  2 +-
 src/experimental/usd/mjcPhysics/sceneAPI.cpp  |  2 +-
 src/experimental/usd/mjcPhysics/siteAPI.cpp   |  2 +-
 src/experimental/usd/mjcPhysics/tokens.cpp    |  2 +-
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  2 +-
 src/experimental/usd/utils.cc                 |  2 +-
 .../usd/mjcPhysics/mjc_physics_scene_test.cc  |  2 +-
 .../usd/mjcPhysics/mjc_site_api_test.cc       |  4 +-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 12 ++---
 21 files changed, 120 insertions(+), 27 deletions(-)
 create mode 100644 include/mujoco/experimental/usd/layer_sink.h
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/actuatorAPI.h (99%)
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/api.h (100%)
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/collisionAPI.h (98%)
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/meshCollisionAPI.h (98%)
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/sceneAPI.h (99%)
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/siteAPI.h (99%)
 rename {src => include/mujoco}/experimental/usd/mjcPhysics/tokens.h (99%)
 rename {src => include/mujoco}/experimental/usd/utils.h (100%)
 create mode 100644 include/mujoco/experimental/usd/writer.h

diff --git a/include/mujoco/experimental/usd/layer_sink.h b/include/mujoco/experimental/usd/layer_sink.h
new file mode 100644
index 00000000..34af9134
--- /dev/null
+++ b/include/mujoco/experimental/usd/layer_sink.h
@@ -0,0 +1,41 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
+
+#include <vector>
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+
+namespace mujoco {
+namespace usd {
+
+// A sink for writing pose data to an SDF layer.
+// Opinions will be authored on the edit target layer for the
+// passed stage argument.
+class LayerSink {
+ public:
+  explicit LayerSink(pxr::UsdStageRefPtr stage);
+  void Update(const mjData* const data, std::vector<pxr::SdfPath> body_paths_);
+
+ private:
+  pxr::UsdStageRefPtr stage_;
+};
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.h b/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
similarity index 99%
rename from src/experimental/usd/mjcPhysics/actuatorAPI.h
rename to include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
index c914ef77..266ecd51 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
@@ -17,8 +17,8 @@
 
 /// \file mjcPhysics/actuatorAPI.h
 
-#include "./api.h"
-#include "./tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "pxr/base/gf/matrix4d.h"
 #include "pxr/base/gf/vec3d.h"
 #include "pxr/base/gf/vec3f.h"
diff --git a/src/experimental/usd/mjcPhysics/api.h b/include/mujoco/experimental/usd/mjcPhysics/api.h
similarity index 100%
rename from src/experimental/usd/mjcPhysics/api.h
rename to include/mujoco/experimental/usd/mjcPhysics/api.h
diff --git a/src/experimental/usd/mjcPhysics/collisionAPI.h b/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
similarity index 98%
rename from src/experimental/usd/mjcPhysics/collisionAPI.h
rename to include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
index e3681526..49dd9ce9 100644
--- a/src/experimental/usd/mjcPhysics/collisionAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
@@ -17,8 +17,8 @@
 
 /// \file mjcPhysics/collisionAPI.h
 
-#include "./api.h"
-#include "./tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "pxr/base/gf/matrix4d.h"
 #include "pxr/base/gf/vec3d.h"
 #include "pxr/base/gf/vec3f.h"
diff --git a/src/experimental/usd/mjcPhysics/meshCollisionAPI.h b/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
similarity index 98%
rename from src/experimental/usd/mjcPhysics/meshCollisionAPI.h
rename to include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
index 55c8c27e..4dd6cdec 100644
--- a/src/experimental/usd/mjcPhysics/meshCollisionAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
@@ -17,8 +17,8 @@
 
 /// \file mjcPhysics/meshCollisionAPI.h
 
-#include "./api.h"
-#include "./tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "pxr/base/gf/matrix4d.h"
 #include "pxr/base/gf/vec3d.h"
 #include "pxr/base/gf/vec3f.h"
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.h b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
similarity index 99%
rename from src/experimental/usd/mjcPhysics/sceneAPI.h
rename to include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
index 2ac745c7..22c5bce7 100644
--- a/src/experimental/usd/mjcPhysics/sceneAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
@@ -17,8 +17,8 @@
 
 /// \file mjcPhysics/sceneAPI.h
 
-#include "./api.h"
-#include "./tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "pxr/base/gf/matrix4d.h"
 #include "pxr/base/gf/vec3d.h"
 #include "pxr/base/gf/vec3f.h"
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.h b/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
similarity index 99%
rename from src/experimental/usd/mjcPhysics/siteAPI.h
rename to include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
index 537345ce..2cb786d8 100644
--- a/src/experimental/usd/mjcPhysics/siteAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
@@ -17,7 +17,7 @@
 
 /// \file mjcPhysics/siteAPI.h
 
-#include "./api.h"
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include "pxr/base/gf/matrix4d.h"
 #include "pxr/base/gf/vec3d.h"
 #include "pxr/base/gf/vec3f.h"
diff --git a/src/experimental/usd/mjcPhysics/tokens.h b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
similarity index 99%
rename from src/experimental/usd/mjcPhysics/tokens.h
rename to include/mujoco/experimental/usd/mjcPhysics/tokens.h
index 999f6015..b19ada98 100644
--- a/src/experimental/usd/mjcPhysics/tokens.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
@@ -26,7 +26,7 @@
 
 #include <vector>
 
-#include "./api.h"
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include "pxr/base/tf/staticData.h"
 #include "pxr/base/tf/token.h"
 #include "pxr/pxr.h"
diff --git a/src/experimental/usd/utils.h b/include/mujoco/experimental/usd/utils.h
similarity index 100%
rename from src/experimental/usd/utils.h
rename to include/mujoco/experimental/usd/utils.h
diff --git a/include/mujoco/experimental/usd/writer.h b/include/mujoco/experimental/usd/writer.h
new file mode 100644
index 00000000..f3d191d1
--- /dev/null
+++ b/include/mujoco/experimental/usd/writer.h
@@ -0,0 +1,52 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
+
+#include <functional>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+
+namespace mujoco {
+namespace usd {
+using PoseSinkFn =
+    std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
+
+class Writer {
+ public:
+  Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
+  ~Writer();
+  Writer(const Writer&) = delete;
+  Writer& operator=(const Writer&) = delete;
+
+  void Update(const mjData* const data);
+  void AddSink(PoseSinkFn sink_fn);
+
+ private:
+  void BuildMjUsdMapping();
+
+  pxr::UsdStageRefPtr stage_;
+  std::vector<pxr::SdfPath> body_id_to_path_;
+  mjSpec* spec_ = nullptr;
+  mjModel_* model_ = nullptr;
+  std::vector<PoseSinkFn> pose_sinks_;
+};
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
index 1ba5dae1..13e25fc8 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./actuatorAPI.h"
+#include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
 
 #include "pxr/usd/sdf/assetPath.h"
 #include "pxr/usd/sdf/types.h"
diff --git a/src/experimental/usd/mjcPhysics/collisionAPI.cpp b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
index ff113849..ba1e52e9 100644
--- a/src/experimental/usd/mjcPhysics/collisionAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./collisionAPI.h"
+#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
 
 #include "pxr/usd/sdf/assetPath.h"
 #include "pxr/usd/sdf/types.h"
diff --git a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
index 50c579dd..17cda5ae 100644
--- a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./meshCollisionAPI.h"
+#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
 
 #include "pxr/usd/sdf/assetPath.h"
 #include "pxr/usd/sdf/types.h"
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.cpp b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
index 7bce5c2d..ba961a55 100644
--- a/src/experimental/usd/mjcPhysics/sceneAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./sceneAPI.h"
+#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
 
 #include "pxr/usd/sdf/assetPath.h"
 #include "pxr/usd/sdf/types.h"
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.cpp b/src/experimental/usd/mjcPhysics/siteAPI.cpp
index 1693dd16..88e47544 100644
--- a/src/experimental/usd/mjcPhysics/siteAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/siteAPI.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./siteAPI.h"
+#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
 
 #include "pxr/usd/sdf/assetPath.h"
 #include "pxr/usd/sdf/types.h"
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index dcbfc393..0fa5cef2 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "./tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 6d559fa8..c91d91e2 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -23,7 +23,7 @@
 
 #include <mujoco/mjspec.h>
 #include <mujoco/mujoco.h>
-#include "third_party/mujoco/src/experimental/usd/mjcPhysics/tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "mjcf/utils.h"
 #include <pxr/base/arch/attributes.h>
 #include <pxr/base/gf/matrix4d.h>
diff --git a/src/experimental/usd/utils.cc b/src/experimental/usd/utils.cc
index 220c4178..0dc66353 100644
--- a/src/experimental/usd/utils.cc
+++ b/src/experimental/usd/utils.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "third_party/mujoco/src/experimental/usd/utils.h"
+#include <mujoco/experimental/usd/utils.h>
 
 #include <mujoco/mujoco.h>
 #include <pxr/usd/sdf/path.h>
diff --git a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
index 534dcffe..5748f5bb 100644
--- a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
+++ b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
@@ -14,8 +14,8 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
 #include <mujoco/mujoco.h>
-#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
 #include "test/fixture.h"
 #include <pxr/base/gf/vec3d.h>
 #include <pxr/base/vt/types.h>
diff --git a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
index a193dbb1..360989f9 100644
--- a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
+++ b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
@@ -14,9 +14,9 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <mujoco/experimental/usd.h>
+#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
+#include <mujoco/experimental/usd/usd.h>
 #include <mujoco/mujoco.h>
-#include "src/experimental/usd/mjcPhysics/siteAPI.h"
 #include "test/fixture.h"
 #include <pxr/base/tf/token.h>
 #include <pxr/usd/sdf/path.h>
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 41bd3ea3..a9e5d8c1 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -17,12 +17,12 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include "src/experimental/usd/mjcPhysics/actuatorAPI.h"
-#include "src/experimental/usd/mjcPhysics/collisionAPI.h"
-#include "src/experimental/usd/mjcPhysics/meshCollisionAPI.h"
-#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
-#include "src/experimental/usd/mjcPhysics/siteAPI.h"
-#include "src/experimental/usd/mjcPhysics/tokens.h"
+#include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "test/experimental/usd/test_utils.h"
 #include "test/fixture.h"
 #include <pxr/base/gf/vec2f.h>

From 81d16b7ccc4eb1165d452727efffc84afbfc4963 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 25 Jun 2025 02:21:51 -0700
Subject: [PATCH 53/82] Add some comments to the material construction code

Grouped similar lines together, since they have become separated.

PiperOrigin-RevId: 775595031
Change-Id: Id75e87e07eb2e6b745698a57ea048daaff34f35c
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 43 +++++++++++--------
 .../usd/plugins/mjcf/mjcf_file_format_test.cc |  8 ++++
 2 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index c91d91e2..1a813c4f 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -78,7 +78,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          ((light, "Light"))
                          ((meshScope, "MeshSources"))
                          ((materialsScope, "Materials"))
-                         ((surface, "PreviewSurface"))
+                         ((previewSurface, "PreviewSurface"))
                          ((world, "World"))
                          ((xformOpTransform, "xformOp:transform"))
                          ((xformOpScale, "xformOp:scale"))
@@ -710,30 +710,49 @@ class ModelWriter {
   }
 
   void WriteMaterial(mjsMaterial *material, const pxr::SdfPath &parent_path) {
+    // Create a Material prim.
     auto name = GetAvailablePrimName(
         *material->name, pxr::UsdShadeTokens->Material, parent_path);
     pxr::SdfPath material_path =
         CreatePrimSpec(data_, parent_path, name, pxr::UsdShadeTokens->Material);
 
-    // Shader "PreviewSurface"
-    pxr::SdfPath preview_surface_shader_path = CreatePrimSpec(
-        data_, material_path, kTokens->surface, pxr::UsdShadeTokens->Shader);
+    // Create a Shader prim "PreviewSurface" under the Material prim.
+    pxr::SdfPath preview_surface_shader_path =
+        CreatePrimSpec(data_, material_path, kTokens->previewSurface,
+                       pxr::UsdShadeTokens->Shader);
 
+    // Set the Shader'sinfoId attribute to UsdPreviewSurface, a standard surface
+    // shader.
     pxr::SdfPath info_id_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, pxr::UsdShadeTokens->infoId,
         pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
     SetAttributeDefault(data_, info_id_attr,
                         pxr::UsdImagingTokens->UsdPreviewSurface);
 
+    // Connect material's surface output to the preview surface's surface
+    // output.
     pxr::SdfPath surface_output_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, pxr::UsdShadeTokens->outputsSurface,
         pxr::SdfValueTypeNames->Token);
+    pxr::SdfPath material_surface_output_attr = CreateAttributeSpec(
+        data_, material_path, pxr::UsdShadeTokens->outputsSurface,
+        pxr::SdfValueTypeNames->Token);
+    AddAttributeConnection(data_, material_surface_output_attr,
+                           surface_output_attr);
 
+    // Connect material's displacement output to the preview surface's
+    // displacement output.
     pxr::SdfPath displacement_output_attr =
         CreateAttributeSpec(data_, preview_surface_shader_path,
                             pxr::UsdShadeTokens->outputsDisplacement,
                             pxr::SdfValueTypeNames->Token);
+    pxr::SdfPath material_displacement_output_attr = CreateAttributeSpec(
+        data_, material_path, pxr::UsdShadeTokens->outputsDisplacement,
+        pxr::SdfValueTypeNames->Token);
+    AddAttributeConnection(data_, material_displacement_output_attr,
+                           displacement_output_attr);
 
+    // Add an st (uv) Shader, a prim var reader for the UV coordinates.
     const pxr::SdfPath &uvmap_st_output_attr =
         AddUVTextureShader(material_path, pxr::TfToken("uvmap"));
     const mjStringVec &textures = *(material->textures);
@@ -815,6 +834,8 @@ class ModelWriter {
       }
     }
 
+    // Set the value of diffuse color. This can come from a diffuse texture
+    // or as a value defined in mjsMaterial_.
     pxr::SdfPath diffuse_color_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, kTokens->inputsDiffuseColor,
         pxr::SdfValueTypeNames->Color3f);
@@ -840,20 +861,6 @@ class ModelWriter {
                           pxr::GfVec3f(material->rgba[0], material->rgba[1],
                                        material->rgba[2]));
     }
-
-    pxr::SdfPath material_surface_output_attr = CreateAttributeSpec(
-        data_, material_path, pxr::UsdShadeTokens->outputsSurface,
-        pxr::SdfValueTypeNames->Token);
-
-    AddAttributeConnection(data_, material_surface_output_attr,
-                           surface_output_attr);
-
-    pxr::SdfPath material_displacement_output_attr = CreateAttributeSpec(
-        data_, material_path, pxr::UsdShadeTokens->outputsDisplacement,
-        pxr::SdfValueTypeNames->Token);
-
-    AddAttributeConnection(data_, material_displacement_output_attr,
-                           displacement_output_attr);
   }
 
   void WriteMaterials() {
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index a9e5d8c1..9628199e 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -143,6 +143,14 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
       stage,
       "/mesh_test/Materials/material_red/PreviewSurface.inputs:diffuseColor",
       pxr::GfVec3f(0.8, 0, 0));
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_red.outputs:surface",
+    "/mesh_test/Materials/material_red/PreviewSurface.outputs:surface");
+  ExpectAttributeHasConnection(
+    stage,
+    "/mesh_test/Materials/material_red.outputs:displacement",
+    "/mesh_test/Materials/material_red/PreviewSurface.outputs:displacement");
 
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture");
   EXPECT_PRIM_VALID(stage,

From da831f5d3ed43dd7ff16c4041ae84440c9e5813a Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Wed, 25 Jun 2025 04:36:18 -0700
Subject: [PATCH 54/82] Add support for separate occlusion, roughness and
 metallic textures

PiperOrigin-RevId: 775632047
Change-Id: I40ba0b3d4ecb0c0a03534b8d93f85d279febbc9c
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  57 ++++++++--
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 107 +++++++++++++-----
 .../usd/plugins/mjcf/testdata/materials.xml   |   8 ++
 .../mjcf/testdata/textures/metallic.png       | Bin 0 -> 490981 bytes
 .../mjcf/testdata/textures/occlusion.png      | Bin 0 -> 490981 bytes
 .../mjcf/testdata/textures/roughness.png      | Bin 0 -> 490981 bytes
 6 files changed, 134 insertions(+), 38 deletions(-)
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/metallic.png
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/occlusion.png
 create mode 100644 test/experimental/usd/plugins/mjcf/testdata/textures/roughness.png

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 1a813c4f..0f50b62a 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -757,21 +757,29 @@ class ModelWriter {
         AddUVTextureShader(material_path, pxr::TfToken("uvmap"));
     const mjStringVec &textures = *(material->textures);
 
-    // Set the values of metallic and roughness. These can come from an ORM
-    // texture or as a value defined in mjsMaterial_. Occlusion is only present
-    // in the ORM texture.
+    // Set the values of metallic, roughness and occlusion. These can come from
+    // an ORM packed texture, as individual textures, or as a values defined in
+    // mjsMaterial_ (with the exception of occlusion).
     pxr::SdfPath metallic_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, kTokens->inputsMetallic,
         pxr::SdfValueTypeNames->Float);
     pxr::SdfPath roughness_attr = CreateAttributeSpec(
         data_, preview_surface_shader_path, kTokens->inputsRoughness,
         pxr::SdfValueTypeNames->Float);
-    // Find the ORM (occlusion, roughness, metallic) packed-channel texture if
-    // specified.
+    // Find the occlusion, roughness, and metallic textures.
     if (mjTEXROLE_ORM < textures.size()) {
       std::string orm_texture_name = textures[mjTEXROLE_ORM];
       mjsTexture *orm_texture = mjs_asTexture(
           mjs_findElement(spec_, mjOBJ_TEXTURE, orm_texture_name.c_str()));
+      std::string occlusion_texture_name = textures[mjTEXROLE_OCCLUSION];
+      mjsTexture *occlusion_texture = mjs_asTexture(mjs_findElement(
+          spec_, mjOBJ_TEXTURE, occlusion_texture_name.c_str()));
+      std::string roughness_texture_name = textures[mjTEXROLE_ROUGHNESS];
+      mjsTexture *roughness_texture = mjs_asTexture(mjs_findElement(
+          spec_, mjOBJ_TEXTURE, roughness_texture_name.c_str()));
+      std::string metallic_texture_name = textures[mjTEXROLE_METALLIC];
+      mjsTexture *metallic_texture = mjs_asTexture(
+          mjs_findElement(spec_, mjOBJ_TEXTURE, metallic_texture_name.c_str()));
       if (orm_texture) {
         // Create the ORM shader and connect its output to the preview
         // surface ORM attrs.
@@ -788,8 +796,43 @@ class ModelWriter {
           AddAttributeConnection(data_, metallic_attr, orm_output_attrs[2]);
         }
       } else {
-        SetAttributeDefault(data_, metallic_attr, material->metallic);
-        SetAttributeDefault(data_, roughness_attr, material->roughness);
+        if (metallic_texture) {
+          const std::vector<pxr::SdfPath> metallic_output_attrs =
+              AddTextureShader(material_path, metallic_texture->file->c_str(),
+                               pxr::TfToken("metallic"), uvmap_st_output_attr,
+                               {kTokens->outputsRgb});
+          if (metallic_output_attrs.size() == 1) {
+            AddAttributeConnection(data_, metallic_attr,
+                                   metallic_output_attrs[0]);
+          }
+        } else {
+          SetAttributeDefault(data_, metallic_attr, material->metallic);
+        }
+        if (roughness_texture) {
+          const std::vector<pxr::SdfPath> roughness_output_attrs =
+              AddTextureShader(material_path, roughness_texture->file->c_str(),
+                               pxr::TfToken("roughness"), uvmap_st_output_attr,
+                               {kTokens->outputsRgb});
+          if (roughness_output_attrs.size() == 1) {
+            AddAttributeConnection(data_, roughness_attr,
+                                   roughness_output_attrs[0]);
+          }
+        } else {
+          SetAttributeDefault(data_, roughness_attr, material->roughness);
+        }
+        if (occlusion_texture) {
+          pxr::SdfPath occlusion_attr = CreateAttributeSpec(
+              data_, preview_surface_shader_path, kTokens->inputsOcclusion,
+              pxr::SdfValueTypeNames->Float);
+          const std::vector<pxr::SdfPath> occlusion_output_attrs =
+              AddTextureShader(material_path, occlusion_texture->file->c_str(),
+                               pxr::TfToken("occlusion"), uvmap_st_output_attr,
+                               {kTokens->outputsRgb});
+          if (occlusion_output_attrs.size() == 1) {
+            AddAttributeConnection(data_, occlusion_attr,
+                                   occlusion_output_attrs[0]);
+          }
+        }
       }
     }
     // Find the normal texture if specified.
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 9628199e..a1cdbbda 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -166,56 +166,101 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
       stage, "/mesh_test/Materials/material_texture/diffuse.inputs:file",
       pxr::SdfAssetPath("textures/cube.png"));
 
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_metallic");
+  EXPECT_PRIM_VALID(stage,
+                    "/mesh_test/Materials/material_metallic/PreviewSurface");
+  ExpectAttributeEqual(
+      stage,
+      "/mesh_test/Materials/material_metallic/PreviewSurface.inputs:metallic",
+      0.6f);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestMaterialLayers) {
+  const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
+  auto stage = pxr::UsdStage::Open(xml_path);
+  EXPECT_THAT(stage, testing::NotNull());
+
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered");
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/uvmap");
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/diffuse");
 
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/normal");
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_layered/"
-    "PreviewSurface.inputs:normal",
-    "/mesh_test/Materials/material_layered/normal.outputs:rgb");
+      stage,
+      "/mesh_test/Materials/material_layered/"
+      "PreviewSurface.inputs:normal",
+      "/mesh_test/Materials/material_layered/normal.outputs:rgb");
   ExpectAttributeEqual(
-    stage, "/mesh_test/Materials/material_layered/normal.inputs:file",
-    pxr::SdfAssetPath("textures/normal.png"));
+      stage, "/mesh_test/Materials/material_layered/normal.inputs:file",
+      pxr::SdfAssetPath("textures/normal.png"));
 
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/orm_packed");
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_layered/"
-    "PreviewSurface.inputs:occlusion",
-    "/mesh_test/Materials/material_layered/orm_packed.outputs:r");
+      stage,
+      "/mesh_test/Materials/material_layered/"
+      "PreviewSurface.inputs:occlusion",
+      "/mesh_test/Materials/material_layered/orm_packed.outputs:r");
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_layered/"
-    "PreviewSurface.inputs:roughness",
-    "/mesh_test/Materials/material_layered/orm_packed.outputs:g");
+      stage,
+      "/mesh_test/Materials/material_layered/"
+      "PreviewSurface.inputs:roughness",
+      "/mesh_test/Materials/material_layered/orm_packed.outputs:g");
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_layered/"
-    "PreviewSurface.inputs:metallic",
-    "/mesh_test/Materials/material_layered/orm_packed.outputs:b");
+      stage,
+      "/mesh_test/Materials/material_layered/"
+      "PreviewSurface.inputs:metallic",
+      "/mesh_test/Materials/material_layered/orm_packed.outputs:b");
   ExpectAttributeEqual(
-    stage, "/mesh_test/Materials/material_layered/orm_packed.inputs:file",
-    pxr::SdfAssetPath("textures/orm.png"));
+      stage, "/mesh_test/Materials/material_layered/orm_packed.inputs:file",
+      pxr::SdfAssetPath("textures/orm.png"));
 
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/emissive");
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_layered/"
-    "PreviewSurface.inputs:emissiveColor",
-    "/mesh_test/Materials/material_layered/emissive.outputs:rgb");
+      stage,
+      "/mesh_test/Materials/material_layered/"
+      "PreviewSurface.inputs:emissiveColor",
+      "/mesh_test/Materials/material_layered/emissive.outputs:rgb");
   ExpectAttributeEqual(
-    stage, "/mesh_test/Materials/material_layered/emissive.inputs:file",
-    pxr::SdfAssetPath("textures/emissive.png"));
+      stage, "/mesh_test/Materials/material_layered/emissive.inputs:file",
+      pxr::SdfAssetPath("textures/emissive.png"));
+}
 
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_metallic");
+TEST_F(MjcfSdfFileFormatPluginTest, TestMaterialPBRSeparate) {
+  const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
+  auto stage = pxr::UsdStage::Open(xml_path);
+
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_pbr_separate");
+  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_pbr_separate/uvmap");
   EXPECT_PRIM_VALID(stage,
-                    "/mesh_test/Materials/material_metallic/PreviewSurface");
-  ExpectAttributeEqual(stage,
-    "/mesh_test/Materials/material_metallic/PreviewSurface.inputs:metallic",
-    0.6f);
+                    "/mesh_test/Materials/material_pbr_separate/occlusion");
+  ExpectAttributeHasConnection(
+      stage,
+      "/mesh_test/Materials/material_pbr_separate/"
+      "PreviewSurface.inputs:occlusion",
+      "/mesh_test/Materials/material_pbr_separate/occlusion.outputs:rgb");
+  ExpectAttributeEqual(
+      stage, "/mesh_test/Materials/material_pbr_separate/occlusion.inputs:file",
+      pxr::SdfAssetPath("textures/occlusion.png"));
+  EXPECT_PRIM_VALID(stage,
+                    "/mesh_test/Materials/material_pbr_separate/roughness");
+  ExpectAttributeHasConnection(
+      stage,
+      "/mesh_test/Materials/material_pbr_separate/"
+      "PreviewSurface.inputs:roughness",
+      "/mesh_test/Materials/material_pbr_separate/roughness.outputs:rgb");
+  ExpectAttributeEqual(
+      stage, "/mesh_test/Materials/material_pbr_separate/roughness.inputs:file",
+      pxr::SdfAssetPath("textures/roughness.png"));
+  EXPECT_PRIM_VALID(stage,
+                    "/mesh_test/Materials/material_pbr_separate/metallic");
+  ExpectAttributeHasConnection(
+      stage,
+      "/mesh_test/Materials/material_pbr_separate/"
+      "PreviewSurface.inputs:metallic",
+      "/mesh_test/Materials/material_pbr_separate/metallic.outputs:rgb");
+  ExpectAttributeEqual(
+      stage, "/mesh_test/Materials/material_pbr_separate/metallic.inputs:file",
+      pxr::SdfAssetPath("textures/metallic.png"));
 }
 
 TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
diff --git a/test/experimental/usd/plugins/mjcf/testdata/materials.xml b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
index dfb869d4..3ca1ec8a 100644
--- a/test/experimental/usd/plugins/mjcf/testdata/materials.xml
+++ b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
@@ -4,6 +4,9 @@
     <texture name="normal_tex" file="textures/normal.png" type="2d" />
     <texture name="orm_tex" file="textures/orm.png" type="2d" />
     <texture name="emissive_tex" file="textures/emissive.png" type="2d" />
+    <texture name="occlusion_tex" file="textures/occlusion.png" type="2d" />
+    <texture name="roughness_tex" file="textures/roughness.png" type="2d" />
+    <texture name="metallic_tex" file="textures/metallic.png" type="2d" />
     <material name="material_red" rgba="0.8 0 0 1" />
     <material name="material_texture" texture="diffuse_tex" />
     <material name="material_metallic" rgba="0.8 0 0 1" metallic="0.6"/>
@@ -13,6 +16,11 @@
       <layer texture="orm_tex" role="orm"/>
       <layer texture="emissive_tex" role="emissive"/>
     </material>
+    <material name="material_pbr_separate">
+      <layer texture="occlusion_tex" role="occlusion"/>
+      <layer texture="roughness_tex" role="roughness"/>
+      <layer texture="metallic_tex" role="metallic"/>
+    </material>
     2d texture="diffuse" normal="normal" />
     <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
   </asset>
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/metallic.png b/test/experimental/usd/plugins/mjcf/testdata/textures/metallic.png
new file mode 100644
index 0000000000000000000000000000000000000000..a14f5f6389302070e2b18078240170015b05be4b
GIT binary patch
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HcmV?d00001


From d0faa3624efc45f7baddb90a58e52f147cb861ad Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Wed, 25 Jun 2025 06:13:59 -0700
Subject: [PATCH 55/82] Update MJX inverse dynamics for tendon armature.

PiperOrigin-RevId: 775658246
Change-Id: Ie6a71b971d4b165e0235689b7b4ee3246486e10d
---
 mjx/mujoco/mjx/_src/inverse.py               |  8 +++--
 mjx/mujoco/mjx/_src/inverse_test.py          | 36 ++++++++++++++++++++
 mjx/mujoco/mjx/_src/smooth_test.py           | 27 +--------------
 mjx/mujoco/mjx/test_data/tendon/armature.xml | 24 +++++++++++++
 4 files changed, 67 insertions(+), 28 deletions(-)
 create mode 100644 mjx/mujoco/mjx/test_data/tendon/armature.xml

diff --git a/mjx/mujoco/mjx/_src/inverse.py b/mjx/mujoco/mjx/_src/inverse.py
index 5df72de9..086dd101 100644
--- a/mjx/mujoco/mjx/_src/inverse.py
+++ b/mjx/mujoco/mjx/_src/inverse.py
@@ -93,11 +93,15 @@ def inverse(m: Model, d: Data) -> Data:
     d = discrete_acc(m, d)
 
   d = inv_constraint(m, d)
-  d = smooth.rne(m, d, flg_acc=True)
+  d = smooth.rne(m, d)
+  d = smooth.tendon_bias(m, d)
   d = sensor.sensor_acc(m, d)
 
   qfrc_inverse = (
-      d.qfrc_bias + m.dof_armature * d.qacc - d.qfrc_passive - d.qfrc_constraint
+      d.qfrc_bias
+      + support.mul_m(m, d, d.qacc)
+      - d.qfrc_passive
+      - d.qfrc_constraint
   )
 
   if m.opt.enableflags & EnableBit.INVDISCRETE:
diff --git a/mjx/mujoco/mjx/_src/inverse_test.py b/mjx/mujoco/mjx/_src/inverse_test.py
index 227406e3..63720a15 100644
--- a/mjx/mujoco/mjx/_src/inverse_test.py
+++ b/mjx/mujoco/mjx/_src/inverse_test.py
@@ -19,6 +19,7 @@ from jax import numpy as jp
 import mujoco
 from mujoco import mjx
 from mujoco.mjx._src import support
+from mujoco.mjx._src import test_util
 import numpy as np
 
 # tolerance for difference between MuJoCo and MJX calculations - mostly
@@ -109,6 +110,41 @@ class InverseTest(parameterized.TestCase):
     self.assertLess(fwdinv1, 1.0e-3)
     _assert_eq(dxinv.qacc, dx.qacc, 'qacc')
 
+  def test_inverse_tendon_armature(self):
+    m = test_util.load_test_file('tendon/armature.xml')
+
+    d = mujoco.MjData(m)
+    d.qvel = np.random.uniform(low=-0.01, high=0.01, size=d.qvel.shape)
+    d.ctrl = np.random.uniform(low=-0.01, high=0.01, size=d.ctrl.shape)
+    d.qfrc_applied = np.random.uniform(
+        low=-0.01, high=0.01, size=d.qfrc_applied.shape
+    )
+    d.xfrc_applied = np.random.uniform(
+        low=-0.01, high=0.01, size=d.xfrc_applied.shape
+    )
+    mujoco.mj_step(m, d, 10)
+
+    mx = mjx.put_model(m)
+    dx = mjx.put_data(m, d)
+
+    dx = mjx.forward(mx, dx)
+    dxinv = mjx.inverse(mx, dx)
+
+    fwdinv0 = jp.linalg.norm(
+        dxinv.qfrc_constraint - dx.qfrc_constraint, ord=np.inf
+    )
+    fwdinv1 = jp.linalg.norm(
+        dxinv.qfrc_inverse
+        - (
+            dx.qfrc_applied + dx.qfrc_actuator + support.xfrc_accumulate(mx, dx)
+        ),
+        ord=np.inf,
+    )
+
+    self.assertLess(fwdinv0, 1.0e-3)
+    self.assertLess(fwdinv1, 1.0e-3)
+    _assert_eq(dxinv.qacc, dx.qacc, 'qacc')
+
 
 if __name__ == '__main__':
   absltest.main()
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 506d8109..64c4d32b 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -321,32 +321,7 @@ class TendonTest(parameterized.TestCase):
   @parameterized.parameters(JacobianType.DENSE, JacobianType.SPARSE)
   def test_tendon_armature(self, jacobian):
     """Tests MJX tendon armature matches MuJoCo."""
-    m = mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <worldbody>
-            <site name="site0" pos="1 0 1"/>
-            <body>
-              <joint type="slide" axis="0 0 1"/>
-              <joint type="hinge" axis="0 1 0"/>
-              <geom type="box" size="0.1 0.1 0.1" mass="1" pos="1 0 0"/>
-              <site name="site1"/>
-            </body>
-          </worldbody>
-          <tendon>
-            <spatial armature="123">
-              <site site="site0"/>
-              <site site="site1"/>
-            </spatial>
-            <spatial armature="456">
-              <site site="site0"/>
-              <site site="site1"/>
-            </spatial>
-          </tendon>
-          <keyframe>
-            <key qpos="1.2345 1.2345" qvel="1.2345 1.2345"/>
-          </keyframe>
-        </mujoco>
-        """)
+    m = test_util.load_test_file('tendon/armature.xml')
     m.opt.jacobian = jacobian
     d = mujoco.MjData(m)
     mujoco.mj_resetDataKeyframe(m, d, 0)
diff --git a/mjx/mujoco/mjx/test_data/tendon/armature.xml b/mjx/mujoco/mjx/test_data/tendon/armature.xml
new file mode 100644
index 00000000..0b416feb
--- /dev/null
+++ b/mjx/mujoco/mjx/test_data/tendon/armature.xml
@@ -0,0 +1,24 @@
+<mujoco>
+  <worldbody>
+    <site name="site0" pos="1 0 1"/>
+    <body>
+      <joint type="slide" axis="0 0 1"/>
+      <joint type="hinge" axis="0 1 0"/>
+      <geom type="box" size="0.1 0.1 0.1" mass="1" pos="1 0 0"/>
+      <site name="site1"/>
+    </body>
+  </worldbody>
+  <tendon>
+    <spatial armature="123">
+      <site site="site0"/>
+      <site site="site1"/>
+    </spatial>
+    <spatial armature="456">
+      <site site="site0"/>
+      <site site="site1"/>
+    </spatial>
+  </tendon>
+  <keyframe>
+    <key qpos="1.2345 1.2345" qvel="1.2345 1.2345"/>
+  </keyframe>
+</mujoco>

From 18d5d5d03f0d1c68221298a3a4ef0e534c23cf61 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Wed, 25 Jun 2025 07:22:31 -0700
Subject: [PATCH 56/82] Improve documentation related to mjSpec element
 deletion.

PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
---
 doc/changelog.rst                     |  3 +--
 doc/programming/modeledit.rst         | 28 +++++++++++++++++++--------
 doc/python.rst                        |  2 +-
 include/mujoco/mujoco.h               |  2 +-
 python/mujoco/introspect/functions.py |  2 +-
 src/user/user_api.cc                  |  2 +-
 src/user/user_api.h                   |  2 +-
 7 files changed, 26 insertions(+), 15 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index d2b5ce53..ecc4a0da 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -8,8 +8,7 @@ Upcoming version (not yet released)
 .. admonition:: Breaking API changes
    :class: attention
 
-   - The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`. Additionally,
-     `:ref:mjs_detach` was added in order to remove an element from the spec without deleting it.
+   - The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`.
    - The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.
 
 General
diff --git a/doc/programming/modeledit.rst b/doc/programming/modeledit.rst
index ac74efdf..95e9c221 100644
--- a/doc/programming/modeledit.rst
+++ b/doc/programming/modeledit.rst
@@ -96,25 +96,37 @@ Elements cannot be created directly; they are returned to the user by the corres
    my_geom->type = mjGEOM_BOX;                                    // set geom type
    my_geom->size[0] = my_geom->size[1] = my_geom->size[2] = 0.5;  // set box size
    mjModel* model = mj_compile(spec, NULL);                       // compile to mjModel
+   ...
+   mj_deleteModel(model);                                         // free model
+   mj_deleteSpec(spec);                                           // free spec
 
 The ``NULL`` second argument to :ref:`mjs_addGeom` is the optional default class pointer. When using defaults
 procedurally, default classes are passed in explicitly to element constructors. The global defaults of all elements
 (used when no default class is passed in) can be inspected in
 `user_init.c <https://github.com/google-deepmind/mujoco/blob/main/src/user/user_init.c>`__.
 
+.. _meMemory:
+
+Memory management
+^^^^^^^^^^^^^^^^^
+
+As seen in the examples above, model elements are never allocated by the user directly, but rather returned by a
+constructor. The library takes ownership of all elements and frees them when the parent :ref:`mjSpec` is deleted using
+:ref:`mj_deleteSpec`. The user is only responsible for freeing :ref:`mjSpec` structs.
+
 .. _meAttachment:
 
 Attachment
 ^^^^^^^^^^
 
-This framework introduces a powerful new feature: attaching and detaching model subtrees. This feature is already used
-to power the :ref:`attach<body-attach>` an :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user
-to move or copy a subtree from one model into another, while also copying or moving related referenced assets and
-referencing elements from outside the kinematic tree (e.g., actuators and sensors). Similarly, detaching a subtree will
-remove all associated elements from the model. The default behavior is to move the child into the parent while
-attaching, so subsequent changes to the child will also change the parent. Alternatively, the user can choose to make an
-entirely new copy during attach using :ref:`mjs_setDeepCopy`. This flag is temporarily set to true while parsing XMLs.
-It is possible to :ref:`attach a body to a frame<mjs_attach>`:
+This framework introduces a powerful new feature: attaching and deleting model subtrees. This feature is already used to
+power the :ref:`attach<body-attach>` an :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user to
+move or copy a subtree from one model into another, while also copying or moving related referenced assets and
+referencing elements from outside the kinematic tree (e.g., actuators and sensors). Similarly, deleting a subtree will
+remove all associated elements from the model. The default behavior ("shallow copy") is to move the child into the
+parent while attaching, so subsequent changes to the child will also change the parent. Alternatively, the user can
+choose to make an entirely new copy during attach using :ref:`mjs_setDeepCopy`. This flag is temporarily set to true
+while parsing XMLs. It is possible to :ref:`attach a body to a frame<mjs_attach>`:
 
 .. code-block:: C
 
diff --git a/doc/python.rst b/doc/python.rst
index 7e669959..c6490edc 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -605,7 +605,7 @@ Element removal
 ^^^^^^^^^^^^^^^
 The method ``delete()`` removes the corresponding element from the spec, e.g. ``spec.delete(spec.geom('my_geom'))`` will
 remove the geom named "my_geom" and all of the elements that reference it. For elements that can have children (bodies
-and defaults), ``delete`` removes also all of their children. When detaching body subtrees, all elements which reference
+and defaults), ``delete`` also removes all of their children. When deleting body subtrees, all elements which reference
 elements in the subtree, will also be removed.
 
 Tree traversal
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index 95dbda7d..1ad172a7 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -1438,7 +1438,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 // Add frame to body.
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
-// Detach but not delete object corresponding to the given element, return 0 on success.
+// Remove object corresponding to the given element, return 0 on success.
 MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
 
 
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index e2c6d9bc..fe0742df 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -9175,7 +9175,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Detach but not delete object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
+         doc='Remove object corresponding to the given element, return 0 on success.',  # pylint: disable=line-too-long
      )),
     ('mjs_addActuator',
      FunctionDecl(
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index af4c18f6..0857f804 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -340,7 +340,7 @@ int mj_copyBack(mjSpec* s, const mjModel* m) {
 
 
 
-// detach body from mjSpec, return 0 on success
+// remove body from mjSpec, return 0 on success
 int mjs_delete(mjSpec* s, mjsElement* element) {
   mjCModel* model = static_cast<mjCModel*>(s->element);
   if (!element) {
diff --git a/src/user/user_api.h b/src/user/user_api.h
index cbc2f715..cfc33c60 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -103,7 +103,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
 // Add frame to body.
 MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
 
-// Detach but not delete object corresponding to the given element, return 0 on success.
+// Remove object corresponding to the given element, return 0 on success.
 MJAPI int mjs_delete(mjSpec* s, mjsElement* element);
 
 

From 48205fb5709349c727e1c5a1c9697aa0f5f44bef Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Wed, 25 Jun 2025 10:14:03 -0700
Subject: [PATCH 57/82] Symmetrize dense matrices before cho_factor, since the
 jax.scipy.linalg.cho_factor API had a breaking change in
 https://github.com/jax-ml/jax/commit/a981e1c4b99b7628efe2bf70a75c0422a70e9524.

PiperOrigin-RevId: 775740310
Change-Id: I1a172ec4851b5d6a7f3d56179c54fec5d4c9e0c5
---
 mjx/mujoco/mjx/_src/solver.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
index 98ec3d27..90c1add8 100644
--- a/mjx/mujoco/mjx/_src/solver.py
+++ b/mjx/mujoco/mjx/_src/solver.py
@@ -403,7 +403,9 @@ def _update_gradient(m: Model, d: Data, ctx: Context) -> Context:
     else:
       h = (d._impl.efc_J.T * d._impl.efc_D * ctx.active) @ d._impl.efc_J
     h = support.full_m(m, d) + h
-    h_ = jax.scipy.linalg.cho_factor(h)
+    # Symmetrize to reduce the chance of numerical issues in cholesky.
+    h_sym = (h + h.T) * 0.5
+    h_ = jax.scipy.linalg.cho_factor(h_sym)
     mgrad = jax.scipy.linalg.cho_solve(h_, grad)
   else:
     raise NotImplementedError(f'unsupported solver type: {m.opt.solver}')

From 3441e0aa0379281a1cb20d7c55b3c3332b6310b6 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Thu, 26 Jun 2025 03:01:31 -0700
Subject: [PATCH 58/82] mj_usd plugin: add joints export.

Note that ball joint is missing, will come later.

PiperOrigin-RevId: 776057523
Change-Id: I8d13c3ea9e7f3d894af73a4640eb93202f8a2a03
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 247 +++++++++++-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 366 +++++++++++++++++-
 test/experimental/usd/test_utils.cc           |  17 +
 test/experimental/usd/test_utils.h            |  21 +
 4 files changed, 626 insertions(+), 25 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 0f50b62a..c17df766 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -21,9 +21,9 @@
 #include <utility>
 #include <vector>
 
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include <mujoco/mjspec.h>
 #include <mujoco/mujoco.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "mjcf/utils.h"
 #include <pxr/base/arch/attributes.h>
 #include <pxr/base/gf/matrix4d.h>
@@ -55,6 +55,11 @@
 #include <pxr/usd/usdGeom/metrics.h>
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdLux/tokens.h>
+#include <pxr/usd/usdPhysics/fixedJoint.h>
+#include <pxr/usd/usdPhysics/joint.h>
+#include <pxr/usd/usdPhysics/prismaticJoint.h>
+#include <pxr/usd/usdPhysics/revoluteJoint.h>
+#include <pxr/usd/usdPhysics/sphericalJoint.h>
 #include <pxr/usd/usdPhysics/tokens.h>
 #include <pxr/usd/usdShade/tokens.h>
 #include <pxr/usdImaging/usdImaging/tokens.h>
@@ -102,6 +107,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          (repeat)
                          ((sourceMesh, pxr::UsdGeomTokens->Mesh))
                          ((inputsNormal, "inputs:normal"))
+                         ((joint, "Joint"))
                         );
 
 // Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
@@ -169,6 +175,9 @@ class ModelWriter {
   ~ModelWriter() { mj_deleteModel(model_); }
 
   void Write(bool write_physics) {
+    // Set working parameters.
+    write_physics_ = write_physics;
+
     // Create top level class holder.
     class_path_ = CreateClassSpec(data_, pxr::SdfPath::AbsoluteRootPath(),
                                   pxr::TfToken("__class__"));
@@ -176,9 +185,6 @@ class ModelWriter {
     // Create the world body.
     body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex);
 
-    // Set working parameters.
-    write_physics_ = write_physics;
-
     SetLayerMetadata(data_, pxr::SdfFieldKeys->Documentation,
                      "Generated by mujoco model writer.");
     // Mujoco is Z up by default.
@@ -1494,6 +1500,219 @@ class ModelWriter {
     }
   }
 
+  void WriteJoints(mjsBody *body) {
+    if (!write_physics_) return;
+
+    int body_id = mjs_getId(body->element);
+    if (body_id == kWorldIndex) return;
+
+    mjsJoint *joint = mjs_asJoint(mjs_firstChild(body, mjOBJ_JOINT, false));
+
+    if (!joint) {
+      // If no joint is found, then we pass nullptr to create a FixedJoint.
+      // WriteJoint properly handles the case where the parent is the worldbody.
+      WriteJoint(nullptr, body);
+    } else {
+      WriteJoint(joint, body);
+      if (mjs_asJoint(mjs_nextChild(body, joint->element, false))) {
+        TF_WARN(
+            "Multiple joints found for body %d. Only writing the first one.",
+            body_id);
+      }
+    }
+  }
+
+  // Write the joint. If null, then a FixedJoint is created.
+  void WriteJoint(mjsJoint *joint, const mjsBody *parent_mj_body) {
+    // Default to fixed joint if joint is null.
+    pxr::TfToken joint_prim_type = pxr::UsdPhysicsTokens->PhysicsFixedJoint;
+
+    int joint_id = -1;
+    if (joint) {
+      joint_id = mjs_getId(joint->element);
+      mjtJoint type = (mjtJoint)model_->jnt_type[joint_id];
+      switch (type) {
+        case mjJNT_FREE:
+          // Free joints are guaranteed to only ever be on the top-level body so
+          // we just write no joint. As a top-level body with no joint it will
+          // be considered a floating-base body.
+          return;
+        case mjJNT_HINGE:
+          joint_prim_type = pxr::UsdPhysicsTokens->PhysicsRevoluteJoint;
+          break;
+        case mjJNT_SLIDE:
+          joint_prim_type = pxr::UsdPhysicsTokens->PhysicsPrismaticJoint;
+          break;
+        default:
+          TF_WARN("Unsupported joint type '%d' for joint '%s'. Skipping.",
+                  (int)type, joint->name->c_str());
+          return;
+      }
+    }
+
+    int body_id = mjs_getId(parent_mj_body->element);
+
+    // the joint connects the current body as body1, to its parent body as
+    // body0.
+    int body1_id_usd = body_id;
+    int body0_id_usd = model_->body_parentid[body_id];
+
+    const pxr::SdfPath &body1_path_usd = body_paths_[body1_id_usd];
+    auto joint_name = joint ? *joint->name : "FixedJoint";
+    pxr::TfToken joint_name_token =
+        GetAvailablePrimName(joint_name, kTokens->joint, body1_path_usd);
+    pxr::SdfPath joint_path = CreatePrimSpec(data_, body1_path_usd,
+                                             joint_name_token, joint_prim_type);
+
+    // Set body0 and body1 relationships
+    // For the initial joints that connect to the world, we signal this by
+    // keeping the body0 relationship empty.
+    if (body0_id_usd != kWorldIndex) {
+      const pxr::SdfPath &body0_path_usd = body_paths_[body0_id_usd];
+      CreateRelationshipSpec(data_, joint_path,
+                             pxr::UsdPhysicsTokens->physicsBody0,
+                             body0_path_usd, pxr::SdfVariabilityUniform);
+    }
+    CreateRelationshipSpec(data_, joint_path,
+                           pxr::UsdPhysicsTokens->physicsBody1, body1_path_usd,
+                           pxr::SdfVariabilityUniform);
+
+    // Joint frame in MuJoCo is defined by jnt_pos and jnt_axis in body1's frame
+    // For FixedJoint, these are both unity.
+    pxr::GfVec3d mj_jnt_pos = pxr::GfVec3d(0.0);
+    pxr::GfVec3d mj_jnt_axis = pxr::GfVec3d(0.0, 0.0, 1.0);
+    if (joint) {
+      mj_jnt_pos = pxr::GfVec3d(&model_->jnt_pos[joint_id * 3]);
+      mj_jnt_axis = pxr::GfVec3d(&model_->jnt_axis[joint_id * 3]);
+    }
+
+    // Local joint frame for body1
+    pxr::GfVec3f local_pos1(mj_jnt_pos);
+    pxr::GfRotation().SetRotateInto(pxr::GfVec3f::ZAxis(), mj_jnt_axis);
+    pxr::GfQuatf local_rot1(
+        pxr::GfRotation()
+            .SetRotateInto(pxr::GfVec3f::ZAxis(), mj_jnt_axis)
+            .GetQuat());
+
+    SetAttributeDefault(
+        data_,
+        CreateAttributeSpec(data_, joint_path,
+                            pxr::UsdPhysicsTokens->physicsLocalPos1,
+                            pxr::SdfValueTypeNames->Float3),
+        local_pos1);
+    if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint ||
+        joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) {
+      SetAttributeDefault(
+          data_,
+          CreateAttributeSpec(data_, joint_path,
+                              pxr::UsdPhysicsTokens->physicsLocalRot1,
+                              pxr::SdfValueTypeNames->Quatf),
+          local_rot1);
+    } else {
+      SetAttributeDefault(
+          data_,
+          CreateAttributeSpec(data_, joint_path,
+                              pxr::UsdPhysicsTokens->physicsLocalRot1,
+                              pxr::SdfValueTypeNames->Quatf),
+          pxr::GfQuatf::GetIdentity());
+    }
+
+    // Calculate local joint frame for body0
+    pxr::GfMatrix4d body1_transform_local =
+        MujocoPosQuatToTransform(&model_->body_pos[body1_id_usd * 3],
+                                 &model_->body_quat[body1_id_usd * 4]);
+    pxr::GfVec3d jnt_pos_parent_local =
+        body1_transform_local.Transform(mj_jnt_pos);
+    pxr::GfVec3d jnt_axis_parent_local =
+        body1_transform_local.TransformDir(mj_jnt_axis);
+
+    pxr::GfVec3f local_pos0(jnt_pos_parent_local);
+
+    SetAttributeDefault(
+        data_,
+        CreateAttributeSpec(data_, joint_path,
+                            pxr::UsdPhysicsTokens->physicsLocalPos0,
+                            pxr::SdfValueTypeNames->Float3),
+        local_pos0);
+
+    if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint ||
+        joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) {
+      pxr::GfQuatf other_rot0(
+          pxr::GfRotation()
+              .SetRotateInto(pxr::GfVec3f::ZAxis(), jnt_axis_parent_local)
+              .GetQuat());
+
+      SetAttributeDefault(
+          data_,
+          CreateAttributeSpec(data_, joint_path,
+                              pxr::UsdPhysicsTokens->physicsLocalRot0,
+                              pxr::SdfValueTypeNames->Quatf),
+          other_rot0);
+    } else {
+      // Fixed joints have no frame and no axis per se. We simply need the
+      // rotation quaternion of the body its on.
+      SetAttributeDefault(
+          data_,
+          CreateAttributeSpec(data_, joint_path,
+                              pxr::UsdPhysicsTokens->physicsLocalRot0,
+                              pxr::SdfValueTypeNames->Quatf),
+          body1_transform_local.ExtractRotationQuat());
+    }
+
+    if (joint) {
+      mjtJoint type = (mjtJoint)model_->jnt_type[joint_id];
+
+      // Joint-specific attributes
+      if (type == mjJNT_HINGE || type == mjJNT_SLIDE) {
+        // The joint motion occurs around/along the Z-axis of the joint frame
+        // established by localRot0/1.
+        SetAttributeDefault(
+            data_,
+            CreateAttributeSpec(data_, joint_path,
+                                pxr::UsdPhysicsTokens->physicsAxis,
+                                pxr::SdfValueTypeNames->Token),
+            pxr::UsdPhysicsTokens->z);  // "Z" axis
+      }
+
+      if (model_->jnt_limited[joint_id]) {
+        float lower_limit = model_->jnt_range[joint_id * 2];
+        float upper_limit = model_->jnt_range[joint_id * 2 + 1];
+
+        if (type == mjJNT_HINGE) {
+          // Convert radians to degrees for USD
+          // As per the XML Reference, "mjModel always uses radians"
+          lower_limit *= (180.0 / mjPI);
+          upper_limit *= (180.0 / mjPI);
+          SetAttributeDefault(
+              data_,
+              CreateAttributeSpec(data_, joint_path,
+                                  pxr::UsdPhysicsTokens->physicsLowerLimit,
+                                  pxr::SdfValueTypeNames->Float),
+              lower_limit);
+          SetAttributeDefault(
+              data_,
+              CreateAttributeSpec(data_, joint_path,
+                                  pxr::UsdPhysicsTokens->physicsUpperLimit,
+                                  pxr::SdfValueTypeNames->Float),
+              upper_limit);
+        } else if (type == mjJNT_SLIDE) {
+          SetAttributeDefault(
+              data_,
+              CreateAttributeSpec(data_, joint_path,
+                                  pxr::UsdPhysicsTokens->physicsLowerLimit,
+                                  pxr::SdfValueTypeNames->Float),
+              lower_limit);
+          SetAttributeDefault(
+              data_,
+              CreateAttributeSpec(data_, joint_path,
+                                  pxr::UsdPhysicsTokens->physicsUpperLimit,
+                                  pxr::SdfValueTypeNames->Float),
+              upper_limit);
+        }
+      }
+    }
+  }
+
   void WriteCamera(mjsCamera *spec_cam, const mjsBody *body) {
     const auto &body_path = body_paths_[mjs_getId(body->element)];
     auto name = GetAvailablePrimName(*spec_cam->name,
@@ -1635,17 +1854,6 @@ class ModelWriter {
 
       ApplyApiSchema(data_, body_path,
                      pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
-
-      // If the parent is not the world body, but is child of the world body
-      // then we need to apply the articulation root API.
-      if (parent_id != kWorldIndex) {
-        int parent_parent_id =
-            mjs_getId(mjs_getParent(parent->element)->element);
-        if (parent_parent_id == kWorldIndex) {
-          ApplyApiSchema(data_, parent_path,
-                         pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
-        }
-      }
     }
 
     // Create classes if necessary
@@ -1692,6 +1900,7 @@ class ModelWriter {
       }
       WriteSites(body);
       WriteGeoms(body);
+      WriteJoints(body);
       WriteCameras(body);
       WriteLights(body);
       body = mjs_asBody(mjs_nextElement(spec_, body->element));
@@ -1707,6 +1916,14 @@ class ModelWriter {
         CreatePrimSpec(data_, pxr::SdfPath::AbsoluteRootPath(), name,
                        pxr::UsdGeomTokens->Xform);
     SetPrimKind(data_, world_group_path, pxr::KindTokens->group);
+
+    if (write_physics_) {
+      // Apply the PhysicsArticulationRootAPI to the world body so that
+      // everything under it is automatically considered an articulation.
+      ApplyApiSchema(data_, world_group_path,
+                     pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
+    }
+
     return world_group_path;
   }
 };
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index a1cdbbda..ddb7a60c 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -25,6 +25,8 @@
 #include <mujoco/experimental/usd/mjcPhysics/tokens.h>
 #include "test/experimental/usd/test_utils.h"
 #include "test/fixture.h"
+#include <pxr/base/gf/quatf.h>
+#include <pxr/base/gf/rotation.h>
 #include <pxr/base/gf/vec2f.h>
 #include <pxr/base/gf/vec3d.h>
 #include <pxr/base/gf/vec3f.h>
@@ -56,8 +58,12 @@
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdPhysics/articulationRootAPI.h>
 #include <pxr/usd/usdPhysics/collisionAPI.h>
+#include <pxr/usd/usdPhysics/fixedJoint.h>
+#include <pxr/usd/usdPhysics/joint.h>
 #include <pxr/usd/usdPhysics/massAPI.h>
 #include <pxr/usd/usdPhysics/meshCollisionAPI.h>
+#include <pxr/usd/usdPhysics/prismaticJoint.h>
+#include <pxr/usd/usdPhysics/revoluteJoint.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
 #include <pxr/usd/usdPhysics/scene.h>
 #include <pxr/usd/usdPhysics/tokens.h>
@@ -144,13 +150,11 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
       "/mesh_test/Materials/material_red/PreviewSurface.inputs:diffuseColor",
       pxr::GfVec3f(0.8, 0, 0));
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_red.outputs:surface",
-    "/mesh_test/Materials/material_red/PreviewSurface.outputs:surface");
+      stage, "/mesh_test/Materials/material_red.outputs:surface",
+      "/mesh_test/Materials/material_red/PreviewSurface.outputs:surface");
   ExpectAttributeHasConnection(
-    stage,
-    "/mesh_test/Materials/material_red.outputs:displacement",
-    "/mesh_test/Materials/material_red/PreviewSurface.outputs:displacement");
+      stage, "/mesh_test/Materials/material_red.outputs:displacement",
+      "/mesh_test/Materials/material_red/PreviewSurface.outputs:displacement");
 
   EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture");
   EXPECT_PRIM_VALID(stage,
@@ -1149,14 +1153,16 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
   EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
   EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
 
+  // Articulation root is applied to the root of the physics scene (worldbody).
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test",
+                          pxr::UsdPhysicsArticulationRootAPI);
+
   EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
                           pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
-                          pxr::UsdPhysicsArticulationRootAPI);
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
+                              pxr::UsdPhysicsArticulationRootAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
                           pxr::UsdPhysicsRigidBodyAPI);
-
-  // Only the root body should have the articulation API applied.
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
                               pxr::UsdPhysicsArticulationRootAPI);
 
@@ -1547,6 +1553,346 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
   ExpectAttributeEqual(stage, "/test/body/crank.mjc:crankLength", 1.23);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsFloatingAndFixedBaseBody) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="fixed_base">
+          <geom type="sphere" size="1"/>
+        </body>
+        <body name="floating_base">
+          <joint type="free"/>
+          <geom type="sphere" size="1"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  // Test that the fixed_base body has a UsdPhysicsJoint child connected to the
+  // worldbody.
+  EXPECT_PRIM_VALID(stage, "/test/fixed_base/FixedJoint");
+  auto joint = pxr::UsdPhysicsFixedJoint::Get(
+      stage, SdfPath("/test/fixed_base/FixedJoint"));
+  ASSERT_TRUE(joint);
+
+  // Initial joint to the worldbody does't set a body0 rel.
+  EXPECT_REL_TARGET_COUNT(stage, "/test/fixed_base/FixedJoint.physics:body0",
+                          0);
+  EXPECT_REL_HAS_TARGET(stage, "/test/fixed_base/FixedJoint.physics:body1",
+                        "/test/fixed_base");
+
+  // Test that the floating_base body has no UsdPhysicsJoint children.
+  auto floating_base = stage->GetPrimAtPath(SdfPath("/test/floating_base"));
+  ASSERT_TRUE(floating_base);
+  for (const auto& child : floating_base.GetChildren()) {
+    EXPECT_FALSE(child.IsA<pxr::UsdPhysicsJoint>());
+  }
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsFixedJoint) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="parent">
+          <geom type="sphere" size="1"/>
+          <body name="child" pos="1 0 0">
+            <geom type="sphere" size="1"/>
+            <body name="grandchild" pos="1 0 0">
+              <geom type="sphere" size="1"/>
+            </body>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/FixedJoint", pxr::UsdPhysicsFixedJoint);
+  // Initial joint to the worldbody does't set a body0 rel.
+  EXPECT_REL_TARGET_COUNT(stage, "/test/parent/FixedJoint.physics:body0", 0);
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/FixedJoint.physics:body1",
+                        "/test/parent");
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/child/FixedJoint",
+                   pxr::UsdPhysicsFixedJoint);
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child/FixedJoint.physics:body0",
+                        "/test/parent");
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child/FixedJoint.physics:body1",
+                        "/test/parent/child");
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/child/grandchild/FixedJoint",
+                   pxr::UsdPhysicsFixedJoint);
+  EXPECT_REL_HAS_TARGET(
+      stage, "/test/parent/child/grandchild/FixedJoint.physics:body0",
+      "/test/parent/child");
+  EXPECT_REL_HAS_TARGET(
+      stage, "/test/parent/child/grandchild/FixedJoint.physics:body1",
+      "/test/parent/child/grandchild");
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRevoluteJoint) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="parent">
+          <joint name="hinge_root"/>
+          <geom type="sphere" size="1"/>
+          <body name="child0" pos="1 0 0">
+            <joint name="hinge_normal" type="hinge" axis="0 0 1"/>
+            <geom type="sphere" size="1"/>
+          </body>
+          <body name="child1" pos="1 0 0">
+            <joint name="hinge_limited" type="hinge" axis="0 0 1" limited="true" range="-30 45"/>
+            <geom type="sphere" size="1"/>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  // hinge_root doesn't set a type so it's the default: a revolute joint.
+  EXPECT_PRIM_IS_A(stage, "/test/parent/hinge_root",
+                   pxr::UsdPhysicsRevoluteJoint);
+  // Initial joint to the worldbody does't set a body0 rel.
+  EXPECT_REL_TARGET_COUNT(stage, "/test/parent/hinge_root.physics:body0", 0);
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/hinge_root.physics:body1",
+                        "/test/parent");
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/child0/hinge_normal",
+                   pxr::UsdPhysicsRevoluteJoint);
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/hinge_normal.physics:body0",
+                        "/test/parent");
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/hinge_normal.physics:body1",
+                        "/test/parent/child0");
+  ExpectAttributeEqual(stage, "/test/parent/child0/hinge_normal.physics:axis",
+                       pxr::UsdPhysicsTokens->z);
+  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
+      stage, "/test/parent/child0/hinge_normal.physics:lowerLimit");
+  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
+      stage, "/test/parent/child0/hinge_normal.physics:upperLimit");
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/child1/hinge_limited",
+                   pxr::UsdPhysicsRevoluteJoint);
+  EXPECT_REL_HAS_TARGET(
+      stage, "/test/parent/child1/hinge_limited.physics:body0", "/test/parent");
+  EXPECT_REL_HAS_TARGET(stage,
+                        "/test/parent/child1/hinge_limited.physics:body1",
+                        "/test/parent/child1");
+  ExpectAttributeEqual(stage, "/test/parent/child1/hinge_limited.physics:axis",
+                       pxr::UsdPhysicsTokens->z);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child1/hinge_limited.physics:lowerLimit", -30.0f);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child1/hinge_limited.physics:upperLimit", 45.0f);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsPrismaticJoint) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="parent">
+          <joint name="slide_root" type="slide"/>
+          <geom type="sphere" size="1"/>
+          <body name="child0" pos="1 0 0">
+            <joint name="slide_normal" type="slide" axis="1 0 0"/>
+            <geom type="sphere" size="1"/>
+          </body>
+          <body name="child1" pos="1 0 0">
+            <joint name="slide_limited" type="slide" axis="1 0 0" limited="true" range="-2.5 2.5"/>
+            <geom type="sphere" size="1"/>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/slide_root",
+                   pxr::UsdPhysicsPrismaticJoint);
+  // Initial joint to the worldbody does't set a body0 rel.
+  EXPECT_REL_TARGET_COUNT(stage, "/test/parent/slide_root.physics:body0", 0);
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/slide_root.physics:body1",
+                        "/test/parent");
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/child0/slide_normal",
+                   pxr::UsdPhysicsPrismaticJoint);
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/slide_normal.physics:body0",
+                        "/test/parent");
+  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/slide_normal.physics:body1",
+                        "/test/parent/child0");
+  ExpectAttributeEqual(stage, "/test/parent/child0/slide_normal.physics:axis",
+                       pxr::UsdPhysicsTokens->z);
+  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
+      stage, "/test/parent/child0/slide_normal.physics:lowerLimit");
+  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
+      stage, "/test/parent/child0/slide_normal.physics:upperLimit");
+
+  EXPECT_PRIM_IS_A(stage, "/test/parent/child1/slide_limited",
+                   pxr::UsdPhysicsPrismaticJoint);
+  EXPECT_REL_HAS_TARGET(
+      stage, "/test/parent/child1/slide_limited.physics:body0", "/test/parent");
+  EXPECT_REL_HAS_TARGET(stage,
+                        "/test/parent/child1/slide_limited.physics:body1",
+                        "/test/parent/child1");
+  ExpectAttributeEqual(stage, "/test/parent/child1/slide_limited.physics:axis",
+                       pxr::UsdPhysicsTokens->z);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child1/slide_limited.physics:lowerLimit", -2.5f);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child1/slide_limited.physics:upperLimit", 2.5f);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestRadianAnglesAreConvertedToDegrees) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <compiler angle="radian"/>
+
+      <worldbody>
+        <body name="parent">
+          <joint name="hinge" type="hinge" axis="0 0 1" limited="true" range="-3.14159265359 0.78539816339"/>
+          <geom type="sphere" size="1"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  EXPECT_PRIM_VALID(stage, "/test/parent/hinge");
+  ExpectAttributeEqual(stage, "/test/parent/hinge.physics:lowerLimit", -180.0f);
+  ExpectAttributeEqual(stage, "/test/parent/hinge.physics:upperLimit", 45.0f);
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsJointFrames) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="parent" pos="0 1 0">
+          <body name="child0" pos="1 0 0">
+            <joint name="hinge" type="hinge" pos="0.1 0.2 0.3" axis="0 1 0"/>
+            <geom type="sphere" size="0.1"/>
+          </body>
+          <body name="child1" pos="2 3 4">
+            <joint name="slide" type="slide" pos="0.4 0.5 0.6" axis="-1 0 0"/>
+            <geom type="sphere" size="0.1"/>
+          </body>
+          <body name="child2" pos="5 6 7">
+            <joint name="slide_nonaxis" type="slide" pos="0.7 0.8 0.9" axis="1 1 1"/>
+            <geom type="sphere" size="0.1"/>
+          </body>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  // Test the hinge joint.
+  EXPECT_PRIM_VALID(stage, "/test/parent/child0/hinge");
+  auto hinge_joint = pxr::UsdPhysicsRevoluteJoint::Get(
+      stage, SdfPath("/test/parent/child0/hinge"));
+  ASSERT_TRUE(hinge_joint);
+
+  ExpectAttributeEqual(stage, "/test/parent/child0/hinge.physics:localPos0",
+                       pxr::GfVec3f(1.1, 0.2, 0.3));
+
+  pxr::GfRotation hinge_rot;
+  hinge_rot.SetRotateInto({0, 0, 1}, {0, 1, 0});
+  pxr::GfQuatf expected_hinge_rot(hinge_rot.GetQuat());
+
+  pxr::GfQuatf hinge_local_rot0;
+  hinge_joint.GetLocalRot0Attr().Get(&hinge_local_rot0);
+  EXPECT_TRUE(AreQuatsSameRotation(expected_hinge_rot, hinge_local_rot0));
+
+  ExpectAttributeEqual(stage, "/test/parent/child0/hinge.physics:localPos1",
+                       pxr::GfVec3f(0.1, 0.2, 0.3));
+
+  pxr::GfQuatf hinge_local_rot1;
+  hinge_joint.GetLocalRot1Attr().Get(&hinge_local_rot1);
+  EXPECT_TRUE(AreQuatsSameRotation(expected_hinge_rot, hinge_local_rot1));
+
+  // Test the slide joint.
+  EXPECT_PRIM_VALID(stage, "/test/parent/child1/slide");
+  auto slide_joint = pxr::UsdPhysicsPrismaticJoint::Get(
+      stage, SdfPath("/test/parent/child1/slide"));
+  ASSERT_TRUE(slide_joint);
+
+  ExpectAttributeEqual(stage, "/test/parent/child1/slide.physics:localPos0",
+                       pxr::GfVec3f(2.4, 3.5, 4.6));
+
+  pxr::GfRotation slide_rot;
+  slide_rot.SetRotateInto({0, 0, 1}, {-1, 0, 0});
+  pxr::GfQuatf expected_slide_rot(slide_rot.GetQuat());
+
+  pxr::GfQuatf slide_local_rot0;
+  slide_joint.GetLocalRot0Attr().Get(&slide_local_rot0);
+  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_rot, slide_local_rot0));
+
+  ExpectAttributeEqual(stage, "/test/parent/child1/slide.physics:localPos1",
+                       pxr::GfVec3f(0.4, 0.5, 0.6));
+
+  pxr::GfQuatf slide_local_rot1;
+  slide_joint.GetLocalRot1Attr().Get(&slide_local_rot1);
+  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_rot, slide_local_rot1));
+
+  // Test the slide_nonaxis joint.
+  EXPECT_PRIM_VALID(stage, "/test/parent/child2/slide_nonaxis");
+  auto slide_nonaxis_joint = pxr::UsdPhysicsPrismaticJoint::Get(
+      stage, SdfPath("/test/parent/child2/slide_nonaxis"));
+  ASSERT_TRUE(slide_nonaxis_joint);
+
+  ExpectAttributeEqual(stage,
+                       "/test/parent/child2/slide_nonaxis.physics:localPos0",
+                       pxr::GfVec3f(5.7, 6.8, 7.9));
+
+  pxr::GfRotation slide_nonaxis_rot;
+  slide_nonaxis_rot.SetRotateInto({0, 0, 1}, {1, 1, 1});
+  pxr::GfQuatf expected_slide_nonaxis_rot(slide_nonaxis_rot.GetQuat());
+
+  pxr::GfQuatf slide_nonaxis_local_rot0;
+  slide_nonaxis_joint.GetLocalRot0Attr().Get(&slide_nonaxis_local_rot0);
+  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_nonaxis_rot,
+                                   slide_nonaxis_local_rot0));
+
+  ExpectAttributeEqual(stage,
+                       "/test/parent/child2/slide_nonaxis.physics:localPos1",
+                       pxr::GfVec3f(0.7, 0.8, 0.9));
+
+  pxr::GfQuatf slide_nonaxis_local_rot1;
+  slide_nonaxis_joint.GetLocalRot1Attr().Get(&slide_nonaxis_local_rot1);
+  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_nonaxis_rot,
+                                   slide_nonaxis_local_rot1));
+}
+
+TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsUnsupportedJoint) {
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <body name="parent">
+          <joint type="ball" name="ball_joint"/>
+          <geom type="sphere" size="1"/>
+        </body>
+      </worldbody>
+    </mujoco>
+  )";
+
+  auto stage = OpenStageWithPhysics(kXml);
+  EXPECT_THAT(stage, testing::NotNull());
+
+  EXPECT_PRIM_INVALID(stage, "/test/parent/ball_joint");
+}
 }  // namespace
 }  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/test_utils.cc b/test/experimental/usd/test_utils.cc
index 165f82ce..eb008a68 100644
--- a/test/experimental/usd/test_utils.cc
+++ b/test/experimental/usd/test_utils.cc
@@ -18,6 +18,8 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <pxr/base/gf/math.h>
+#include <pxr/base/gf/quatf.h>
 #include <pxr/base/tf/token.h>
 #include <pxr/usd/sdf/assetPath.h>
 #include <pxr/usd/sdf/childrenPolicies.h>
@@ -120,5 +122,20 @@ void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim) {
     }
   }
 }
+
+bool AreQuatsSameRotation(const pxr::GfQuatf& q1, const pxr::GfQuatf& q2,
+                          float tolerance) {
+  // The dot product of two unit quaternions (q1 and q2) is cos(theta), where
+  // theta is the angle between them on the 4D hypersphere.
+  //
+  // If q1 is close to q2, dot(q1, q2) is close to 1.
+  // If q1 is close to -q2, dot(q1, q2) is close to -1.
+  //
+  // By taking the absolute value of the dot product, we can check for
+  // closeness to 1 to see if the quaternions are collinear, which is what
+  // we want. This works for both cases.
+  const float dot = pxr::GfDot(q1, q2);
+  return pxr::GfIsClose(pxr::GfAbs(dot), 1.0f, tolerance);
+}
 }  // namespace usd
 }  // namespace mujoco
diff --git a/test/experimental/usd/test_utils.h b/test/experimental/usd/test_utils.h
index 2aa62a6c..46abaec2 100644
--- a/test/experimental/usd/test_utils.h
+++ b/test/experimental/usd/test_utils.h
@@ -18,6 +18,7 @@
 #include <string>
 
 #include <gtest/gtest.h>
+#include <pxr/base/gf/quatf.h>
 #include <pxr/usd/sdf/assetPath.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
@@ -29,6 +30,9 @@
 #define EXPECT_PRIM_VALID(stage, path) \
   EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
 
+#define EXPECT_PRIM_INVALID(stage, path) \
+  EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
+
 #define EXPECT_PRIM_IS_A(stage, path, type)                         \
   {                                                                 \
     EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
@@ -66,6 +70,19 @@
 #define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
   EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
 
+#define EXPECT_ATTRIBUTE_HAS_AUTHORED_VALUE(stage, path) \
+  EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasAuthoredValue());
+
+#define EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, path) \
+  EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasAuthoredValue());
+
+#define EXPECT_REL_TARGET_COUNT(stage, path, count)                     \
+  {                                                                     \
+    pxr::SdfPathVector targets;                                         \
+    (stage)->GetRelationshipAtPath(SdfPath(path)).GetTargets(&targets); \
+    EXPECT_TRUE(targets.size() == count);                               \
+  }
+
 #define EXPECT_REL_HAS_TARGET(stage, path, target_path)                 \
   {                                                                     \
     pxr::SdfPathVector targets;                                         \
@@ -115,6 +132,10 @@ void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
 // Checks that all authored attributes on the given prim have types that match
 // the schema types.
 void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim);
+
+// Checks if two quaternions represent the same rotation.
+bool AreQuatsSameRotation(const pxr::GfQuatf& q1, const pxr::GfQuatf& q2,
+                          float tolerance = 1e-6);
 }  // namespace usd
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_

From 672746f5094ba59ac421135342eb9d89885d122c Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 26 Jun 2025 08:53:36 -0700
Subject: [PATCH 59/82] Use brackets for USD schema code.

PiperOrigin-RevId: 776157077
Change-Id: Id8c55a98dc695348430a99ca59ec509a6db26403
---
 .../experimental/usd/mjcPhysics/actuatorAPI.h | 20 +++++++++----------
 .../mujoco/experimental/usd/mjcPhysics/api.h  |  2 +-
 .../usd/mjcPhysics/collisionAPI.h             | 20 +++++++++----------
 .../usd/mjcPhysics/meshCollisionAPI.h         | 20 +++++++++----------
 .../experimental/usd/mjcPhysics/sceneAPI.h    | 20 +++++++++----------
 .../experimental/usd/mjcPhysics/siteAPI.h     | 20 +++++++++----------
 .../experimental/usd/mjcPhysics/tokens.h      |  6 +++---
 .../usd/mjcPhysics/actuatorAPI.cpp            |  8 ++++----
 .../usd/mjcPhysics/collisionAPI.cpp           |  8 ++++----
 .../usd/mjcPhysics/meshCollisionAPI.cpp       |  8 ++++----
 src/experimental/usd/mjcPhysics/sceneAPI.cpp  |  8 ++++----
 src/experimental/usd/mjcPhysics/siteAPI.cpp   |  8 ++++----
 12 files changed, 74 insertions(+), 74 deletions(-)

diff --git a/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h b/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
index 266ecd51..7e910e84 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
@@ -19,16 +19,16 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include "pxr/base/gf/matrix4d.h"
-#include "pxr/base/gf/vec3d.h"
-#include "pxr/base/gf/vec3f.h"
-#include "pxr/base/tf/token.h"
-#include "pxr/base/tf/type.h"
-#include "pxr/base/vt/value.h"
-#include "pxr/pxr.h"
-#include "pxr/usd/usd/apiSchemaBase.h"
-#include "pxr/usd/usd/prim.h"
-#include "pxr/usd/usd/stage.h"
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/apiSchemaBase.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/include/mujoco/experimental/usd/mjcPhysics/api.h b/include/mujoco/experimental/usd/mjcPhysics/api.h
index dc5476c9..529c31f5 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/api.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/api.h
@@ -15,7 +15,7 @@
 #ifndef MJCPHYSICS_API_H
 #define MJCPHYSICS_API_H
 
-#include "pxr/base/arch/export.h"
+#include <pxr/base/arch/export.h>
 
 #if defined(PXR_STATIC)
 #define MJCPHYSICS_API
diff --git a/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h b/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
index 49dd9ce9..482d4456 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
@@ -19,16 +19,16 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include "pxr/base/gf/matrix4d.h"
-#include "pxr/base/gf/vec3d.h"
-#include "pxr/base/gf/vec3f.h"
-#include "pxr/base/tf/token.h"
-#include "pxr/base/tf/type.h"
-#include "pxr/base/vt/value.h"
-#include "pxr/pxr.h"
-#include "pxr/usd/usd/apiSchemaBase.h"
-#include "pxr/usd/usd/prim.h"
-#include "pxr/usd/usd/stage.h"
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/apiSchemaBase.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h b/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
index 4dd6cdec..45bc881a 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
@@ -19,16 +19,16 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include "pxr/base/gf/matrix4d.h"
-#include "pxr/base/gf/vec3d.h"
-#include "pxr/base/gf/vec3f.h"
-#include "pxr/base/tf/token.h"
-#include "pxr/base/tf/type.h"
-#include "pxr/base/vt/value.h"
-#include "pxr/pxr.h"
-#include "pxr/usd/usd/apiSchemaBase.h"
-#include "pxr/usd/usd/prim.h"
-#include "pxr/usd/usd/stage.h"
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/apiSchemaBase.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
index 22c5bce7..ceae9164 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
@@ -19,16 +19,16 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include "pxr/base/gf/matrix4d.h"
-#include "pxr/base/gf/vec3d.h"
-#include "pxr/base/gf/vec3f.h"
-#include "pxr/base/tf/token.h"
-#include "pxr/base/tf/type.h"
-#include "pxr/base/vt/value.h"
-#include "pxr/pxr.h"
-#include "pxr/usd/usd/apiSchemaBase.h"
-#include "pxr/usd/usd/prim.h"
-#include "pxr/usd/usd/stage.h"
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/apiSchemaBase.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h b/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
index 2cb786d8..fedfee7d 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
@@ -18,16 +18,16 @@
 /// \file mjcPhysics/siteAPI.h
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include "pxr/base/gf/matrix4d.h"
-#include "pxr/base/gf/vec3d.h"
-#include "pxr/base/gf/vec3f.h"
-#include "pxr/base/tf/token.h"
-#include "pxr/base/tf/type.h"
-#include "pxr/base/vt/value.h"
-#include "pxr/pxr.h"
-#include "pxr/usd/usd/apiSchemaBase.h"
-#include "pxr/usd/usd/prim.h"
-#include "pxr/usd/usd/stage.h"
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/apiSchemaBase.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/include/mujoco/experimental/usd/mjcPhysics/tokens.h b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
index b19ada98..50170a59 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/tokens.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
@@ -27,9 +27,9 @@
 #include <vector>
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include "pxr/base/tf/staticData.h"
-#include "pxr/base/tf/token.h"
-#include "pxr/pxr.h"
+#include <pxr/base/tf/staticData.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/pxr.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
index 13e25fc8..830226a9 100644
--- a/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/actuatorAPI.cpp
@@ -14,10 +14,10 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
 
-#include "pxr/usd/sdf/assetPath.h"
-#include "pxr/usd/sdf/types.h"
-#include "pxr/usd/usd/schemaRegistry.h"
-#include "pxr/usd/usd/typed.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/src/experimental/usd/mjcPhysics/collisionAPI.cpp b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
index ba1e52e9..0ff817fb 100644
--- a/src/experimental/usd/mjcPhysics/collisionAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
@@ -14,10 +14,10 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
 
-#include "pxr/usd/sdf/assetPath.h"
-#include "pxr/usd/sdf/types.h"
-#include "pxr/usd/usd/schemaRegistry.h"
-#include "pxr/usd/usd/typed.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
index 17cda5ae..9d9b00dc 100644
--- a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
@@ -14,10 +14,10 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
 
-#include "pxr/usd/sdf/assetPath.h"
-#include "pxr/usd/sdf/types.h"
-#include "pxr/usd/usd/schemaRegistry.h"
-#include "pxr/usd/usd/typed.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.cpp b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
index ba961a55..455190a7 100644
--- a/src/experimental/usd/mjcPhysics/sceneAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
@@ -14,10 +14,10 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
 
-#include "pxr/usd/sdf/assetPath.h"
-#include "pxr/usd/sdf/types.h"
-#include "pxr/usd/usd/schemaRegistry.h"
-#include "pxr/usd/usd/typed.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.cpp b/src/experimental/usd/mjcPhysics/siteAPI.cpp
index 88e47544..d9269b41 100644
--- a/src/experimental/usd/mjcPhysics/siteAPI.cpp
+++ b/src/experimental/usd/mjcPhysics/siteAPI.cpp
@@ -14,10 +14,10 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
 
-#include "pxr/usd/sdf/assetPath.h"
-#include "pxr/usd/sdf/types.h"
-#include "pxr/usd/usd/schemaRegistry.h"
-#include "pxr/usd/usd/typed.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
 
 PXR_NAMESPACE_OPEN_SCOPE
 

From afc35451a0fb33e03de465cd2d8aaa6829c822e3 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 26 Jun 2025 10:08:45 -0700
Subject: [PATCH 60/82] Expose ability to go from USD stage to MjSpec.

PiperOrigin-RevId: 776184388
Change-Id: I0325b347c9896183d148a196897e1e5d0c4bbde2
---
 CMakeLists.txt                                |   30 +-
 include/mujoco/experimental/usd/usd.h         |   28 +
 src/experimental/usd/CMakeLists.txt           |  268 +++
 src/experimental/usd/layer_sink.cc            |  132 ++
 src/experimental/usd/plugins/CMakeLists.txt   |  137 --
 src/experimental/usd/usd_to_mjspec.cc         | 1452 +++++++++++++++++
 src/experimental/usd/writer.cc                |   68 +
 test/experimental/CMakeLists.txt              |   17 +-
 .../usd/plugins/mjcf/CMakeLists.txt           |   26 +-
 9 files changed, 1995 insertions(+), 163 deletions(-)
 create mode 100644 include/mujoco/experimental/usd/usd.h
 create mode 100644 src/experimental/usd/CMakeLists.txt
 create mode 100644 src/experimental/usd/layer_sink.cc
 delete mode 100644 src/experimental/usd/plugins/CMakeLists.txt
 create mode 100644 src/experimental/usd/usd_to_mjspec.cc
 create mode 100644 src/experimental/usd/writer.cc

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 91eaacad..f01d420d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,14 +42,26 @@ option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
 option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
 option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
 option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
-option(MUJOCO_BUILD_USD_PLUGINS "Build OpenUSD plugins" OFF)
+option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
 
-# USD libs to compile against.
-set(MUJOCO_USD_ALLOWED_TARGET_VALUES "USD" "Houdini")
-set(MUJOCO_USD_TARGET "USD" CACHE STRING "Select the USD target for the project.")
-set_property(CACHE MUJOCO_USD_TARGET
-  PROPERTY STRINGS ${MUJOCO_USD_ALLOWED_TARGET_VALUES}
-)
+# Option to provide a path to an existing USD build directory or to Houdini HFS directory.
+set(USD_DIR "" CACHE PATH "Path to an existing USD build directory.")
+set(HOUDINI_HFS_DIR "" CACHE PATH "Path to Houdini HFS directory to build USD plugins against.")
+if(USD_DIR)
+  if(EXISTS "${USD_DIR}")
+    # If the path is provided, set MUJOCO_WITH_USD to ON and add the path to CMAKE_PREFIX_PATH.
+    set(MUJOCO_WITH_USD ON CACHE BOOL "Build with OpenUSD" FORCE)
+    list(PREPEND CMAKE_PREFIX_PATH "${USD_DIR}")
+    message(STATUS "Using custom USD build directory: ${USD_DIR}")
+  else()
+    message(WARNING "Invalid path provided for USD_DIR: ${USD_DIR}")
+  endif()
+elseif(HOUDINI_HFS_DIR)
+  if(EXISTS "${HOUDINI_HFS_DIR}")
+    set(MUJOCO_WITH_USD ON CACHE BOOL "Build with OpenUSD" FORCE)
+    message(STATUS "Building Mujoco USD against Houdini HFS: ${HOUDINI_HFS_DIR}")
+  endif()
+endif()
 
 if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
   enable_language(OBJC)
@@ -189,8 +201,8 @@ if(MUJOCO_BUILD_EXAMPLES)
   add_subdirectory(sample)
 endif()
 
-if(MUJOCO_BUILD_USD_PLUGINS)
-  add_subdirectory(src/experimental/usd/plugins)
+if(MUJOCO_WITH_USD)
+  add_subdirectory(src/experimental/usd)
 endif()
 
 if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)
diff --git a/include/mujoco/experimental/usd/usd.h b/include/mujoco/experimental/usd/usd.h
new file mode 100644
index 00000000..f75b70ad
--- /dev/null
+++ b/include/mujoco/experimental/usd/usd.h
@@ -0,0 +1,28 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
+#define MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/usd/common.h>
+
+// Given a USD stage, this function will do a best effort conversion to
+// mjSpec.
+//
+// Particular care is taken for physics data to be lossless but visual
+// data such as materials may be lossy.
+MJAPI mjSpec* mj_parseUSDStage(pxr::UsdStageRefPtr stage);
+
+#endif  // MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
diff --git a/src/experimental/usd/CMakeLists.txt b/src/experimental/usd/CMakeLists.txt
new file mode 100644
index 00000000..4a256f58
--- /dev/null
+++ b/src/experimental/usd/CMakeLists.txt
@@ -0,0 +1,268 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#   https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# --- Global Configuration ---
+# Plugin target names (used for library and plugInfo.json)
+set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
+set(MJC_PHYSICS_PLUGIN_TARGET_NAME mjcPhysics)
+set(MJ_USD_TARGET_NAME mj_usd)
+
+# Installation directory for USD plugins
+set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujocoUsd)
+
+# Common OpenUSD libraries
+set(OPENUSD_CORE_LIBS
+  usd ar kind tf gf vt usdShade usdLux usdGeom usdImaging usdPhysics
+)
+
+# We need to set the visibility to default until core type symbol visibility
+# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
+set(DEFAULT_CXX_VISIBILITY_PROPS
+  CXX_VISIBILITY_PRESET default
+)
+
+# --- Helper Functions ---
+function(configure_and_install_usd_plugin_info plugin_name source_subpath install_base_dir)
+  # Determine shared library prefix
+  if(CMAKE_SHARED_LIBRARY_PREFIX)
+    set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX})
+  else()
+    set(LIB_PREFIX "")
+  endif()
+
+  set(PLUG_INFO_LIBRARY_PATH "../../${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
+  set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/resources/${plugin_name}")
+  set(OUTPUT_FILE "${OUTPUT_DIR}/plugInfo.json")
+
+  # Create the output directory if it doesn't exist
+  file(MAKE_DIRECTORY "${OUTPUT_DIR}")
+
+  # Configure the plugInfo.json file to replace @PLUG_INFO_LIBRARY_PATH@ instances.
+  configure_file(
+    "${CMAKE_CURRENT_SOURCE_DIR}/${source_subpath}/plugInfo.json"
+    "${OUTPUT_FILE}"
+    @ONLY
+  )
+
+  install(FILES "${OUTPUT_FILE}"
+    DESTINATION "${install_base_dir}/resources/${plugin_name}"
+  )
+endfunction()
+
+# Function to apply Houdini-specific link directories and include paths
+function(configure_houdini_target target_name link_scope include_scope)
+  set(HOUDINI_LIBS_DIR "${HOUDINI_HFS_DIR}/../Libraries")
+  get_filename_component(HOUDINI_LIBS_DIR "${HOUDINI_LIBS_DIR}" ABSOLUTE) # Normalize the path
+
+  # Assume everyone using Houdini on 3.11 for now.
+  set(USD_MJCF_PYTHON_LIB python3.11)
+  set(USD_MJCF_PYTHON_LIB_NUMBER python311) # For boost library names
+  set(PYTHON_LIB "${HOUDINI_HFS_DIR}/Frameworks/Python.framework/Versions/3.11/Python")
+  set(PXR_LIB_PREFIX "pxr_")
+
+  # Houdini-specific PXR and other libraries
+  set(HOUDINI_SPECIFIC_LIBS
+    ${PXR_LIB_PREFIX}usd
+    ${PXR_LIB_PREFIX}ar
+    ${PXR_LIB_PREFIX}kind
+    ${PXR_LIB_PREFIX}tf
+    ${PXR_LIB_PREFIX}gf
+    ${PXR_LIB_PREFIX}vt
+    ${PXR_LIB_PREFIX}sdf
+    ${PXR_LIB_PREFIX}usdShade
+    ${PXR_LIB_PREFIX}usdLux
+    ${PXR_LIB_PREFIX}usdGeom
+    ${PXR_LIB_PREFIX}usdImaging
+    ${PXR_LIB_PREFIX}usdPhysics
+    tbb
+    hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
+    ${PYTHON_LIB}
+  )
+
+  target_link_directories(${target_name} ${link_scope} ${HOUDINI_LIBS_DIR})
+  target_include_directories(${target_name} ${include_scope}
+    "${HOUDINI_HFS_DIR}/toolkit/include"
+    "${HOUDINI_HFS_DIR}/toolkit/include/python3.11"
+  )
+  target_link_libraries(${target_name} ${link_scope}
+    ${HOUDINI_SPECIFIC_LIBS}
+    mujoco
+    tinyxml2
+  )
+endfunction()
+
+## usdMjcf
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+# The list of RPATHs:
+# 1. $ORIGIN: For libmjcPhysics.so (since it's in the same install dir)
+# 2. Path to OpenUSD libraries: Typically ${USD_DIR}/lib
+# 3. Path to MuJoCo library: Assuming it's in ${MUJOCO_INSTALL_DIR}/lib
+if(APPLE)
+    set(RPATH_LIST "@loader_path")
+    # Add OpenUSD lib to RPATH for macOS
+    if(DEFINED USD_DIR AND EXISTS "${USD_DIR}/lib")
+        list(APPEND RPATH_LIST "${USD_DIR}/lib")
+    endif()
+    # Add MuJoCo lib to RPATH for macOS
+    if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
+        list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
+    endif()
+
+    string(JOIN ":" CMAKE_INSTALL_RPATH "${RPATH_LIST}") # macOS uses colon for RPATH separator
+    message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
+elseif(UNIX)
+
+    # For adjacent libs.
+    set(RPATH_LIST "\$ORIGIN")
+
+    # Add OpenUSD library directory
+    if(DEFINED USD_DIR AND EXISTS "${USD_DIR}/lib")
+        list(APPEND RPATH_LIST "${USD_DIR}/lib")
+        message(STATUS "Adding OpenUSD lib to RPATH: ${USD_DIR}/lib")
+    else()
+        message(WARNING "USD_DIR is not defined or ${USD_DIR}/lib does not exist. OpenUSD libraries might not be found via RPATH.")
+    endif()
+
+    # Add MuJoCo library directory
+    if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
+        list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
+        message(STATUS "Adding MuJoCo lib to RPATH: ${MUJOCO_INSTALL_DIR}/lib")
+    elseif(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/bin")
+        list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/bin")
+        message(STATUS "Adding MuJoCo bin to RPATH: ${MUJOCO_INSTALL_DIR}/bin")
+    endif()
+
+    # Set the final RPATH for installation
+    string(JOIN ";" CMAKE_INSTALL_RPATH "${RPATH_LIST}")
+    message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
+endif()
+
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+
+add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED)
+target_sources(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+  plugins/mjcf/mjcf_file_format.cc
+  plugins/mjcf/mjcf_file_format.h
+  plugins/mjcf/mujoco_to_usd.cc
+  plugins/mjcf/mujoco_to_usd.h
+  plugins/mjcf/utils.cc
+  plugins/mjcf/utils.h
+)
+set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
+  OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
+  ${DEFAULT_CXX_VISIBILITY_PROPS}
+)
+target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+  "${CMAKE_CURRENT_SOURCE_DIR}/plugins"
+)
+
+## mjcPhysics
+
+add_library(${MJC_PHYSICS_PLUGIN_TARGET_NAME} SHARED)
+target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
+  mjcPhysics/actuatorAPI.cpp
+  mjcPhysics/collisionAPI.cpp
+  mjcPhysics/meshCollisionAPI.cpp
+  mjcPhysics/sceneAPI.cpp
+  mjcPhysics/siteAPI.cpp
+  mjcPhysics/tokens.cpp
+)
+set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
+  OUTPUT_NAME ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
+  ${DEFAULT_CXX_VISIBILITY_PROPS}
+)
+target_include_directories(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PUBLIC
+  "${CMAKE_CURRENT_SOURCE_DIR}/mjcPhysics"
+)
+
+## mj_usd
+
+add_library(${MJ_USD_TARGET_NAME} SHARED)
+target_sources(${MJ_USD_TARGET_NAME} PRIVATE
+  writer.cc
+  layer_sink.cc
+  usd_to_mjspec.cc
+  utils.cc
+)
+
+
+if (USD_DIR)
+  find_package(pxr REQUIRED)
+
+  target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
+    ${OPENUSD_CORE_LIBS}
+    mujoco
+    tinyxml2
+  )
+
+  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
+    ${OPENUSD_CORE_LIBS}
+    mujoco
+    tinyxml2
+    ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
+  )
+
+  target_link_libraries(${MJ_USD_TARGET_NAME} PUBLIC
+    ${OPENUSD_CORE_LIBS}
+    mujoco
+    tinyxml2
+    ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
+  )
+elseif (HOUDINI_HFS_DIR)
+  message(STATUS "Configuring for Houdini target...")
+
+  # In Houdini, the Houdini package we would typically use via find_package
+  # does not have all the USD dependencies that we need (namely UsdPhysics)
+  # so we need to manually link all the required libraries.
+  configure_houdini_target(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
+  configure_houdini_target(${MJCF_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
+  configure_houdini_target(${MJ_USD_TARGET_NAME} PUBLIC PUBLIC)
+
+  # Re-add inter-plugin dependencies after Houdini-specific linking
+  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${MJC_PHYSICS_PLUGIN_TARGET_NAME})
+  target_link_libraries(${MJ_USD_TARGET_NAME} PUBLIC ${MJC_PHYSICS_PLUGIN_TARGET_NAME})
+
+endif()
+
+## Installation
+
+message(STATUS "Mujoco USD plugins will be installed to: ${CMAKE_INSTALL_PREFIX}/${MJ_USD_INSTALL_DIR_LIB}")
+message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${MJ_USD_INSTALL_DIR_LIB}/*/resources")
+
+# Generate and install plugInfo.json for each plugin
+configure_and_install_usd_plugin_info(
+  ${MJCF_PLUGIN_TARGET_NAME}
+  plugins/mjcf
+  ${MJ_USD_INSTALL_DIR_LIB}
+)
+configure_and_install_usd_plugin_info(
+  ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
+  mjcPhysics
+  ${MJ_USD_INSTALL_DIR_LIB}
+)
+
+# Install specific resources that are not plugInfo.json (like generatedSchema.usda)
+install(FILES
+  mjcPhysics/generatedSchema.usda
+  DESTINATION ${MJ_USD_INSTALL_DIR_LIB}/resources/mjcPhysics
+)
+
+# Install shared libraries
+install(TARGETS
+  ${MJCF_PLUGIN_TARGET_NAME}
+  ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
+  ${MJ_USD_TARGET_NAME}
+  LIBRARY DESTINATION ${MJ_USD_INSTALL_DIR_LIB}
+)
diff --git a/src/experimental/usd/layer_sink.cc b/src/experimental/usd/layer_sink.cc
new file mode 100644
index 00000000..2ae8d55a
--- /dev/null
+++ b/src/experimental/usd/layer_sink.cc
@@ -0,0 +1,132 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco/experimental/usd/layer_sink.h>
+
+#include <vector>
+
+#include <mujoco/mujoco.h>
+#include <pxr/base/gf/declare.h>
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/quaternion.h>
+#include <pxr/base/gf/rotation.h>
+#include <pxr/base/gf/transform.h>
+#include <pxr/base/tf/staticTokens.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/vt/types.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/sdf/attributeSpec.h>
+#include <pxr/usd/sdf/changeBlock.h>
+#include <pxr/usd/sdf/childrenPolicies.h>
+#include <pxr/usd/sdf/primSpec.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/sdf/valueTypeName.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usd/timeCode.h>
+#include <pxr/usd/usdGeom/tokens.h>
+#include <pxr/usd/usdGeom/xformCache.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+TF_DEFINE_PRIVATE_TOKENS(_layer_sink_tokens,
+                         ((xformOpTransform,
+                           "xformOp:transform:mujoco"))(Xform));
+PXR_NAMESPACE_CLOSE_SCOPE
+
+namespace {
+pxr::SdfAttributeSpecHandle GetOrCreateAttribute(
+    pxr::SdfLayerHandle layer, pxr::SdfPrimSpecHandle prim_spec,
+    const pxr::SdfPath& path, const pxr::TfToken& token,
+    const pxr::SdfValueTypeName& type, pxr::SdfVariability variability) {
+  // Find or create transform attribute.
+  pxr::SdfAttributeSpecHandle attr =
+      layer->GetAttributeAtPath(path.AppendProperty(token));
+
+  if (!attr) {
+    attr = pxr::SdfAttributeSpec::New(prim_spec, token, type, variability);
+  }
+  return attr;
+}
+}  // namespace
+
+namespace mujoco {
+namespace usd {
+LayerSink::LayerSink(pxr::UsdStageRefPtr stage) : stage_(stage) {}
+
+void LayerSink::Update(const mjData* const data,
+                       std::vector<pxr::SdfPath> body_paths) {
+  pxr::SdfLayerHandle layer = stage_->GetEditTarget().GetLayer();
+
+  pxr::UsdTimeCode timecode = data->time * layer->GetTimeCodesPerSecond();
+  pxr::UsdGeomXformCache xform_cache(timecode);
+
+  pxr::SdfChangeBlock change_block;
+  // TODO(shaves) this can be parallelised.
+  for (int i = 0; i < body_paths.size(); i++) {
+    const pxr::SdfPath& path = body_paths[i];
+
+    // Author transform timesample
+    // Convert pose data.
+    mjtNum* xpos = &data->xpos[i * 3];
+    mjtNum* xquat = &data->xquat[i * 4];
+    pxr::GfVec3d translation(xpos[0], xpos[1], xpos[2]);
+    pxr::GfVec3d imag_part(xquat[1], xquat[2], xquat[3]);
+    // Some bodies such as the world body don't have mapped USD prims to
+    // transform.
+    if (path.IsEmpty()) {
+      continue;
+    }
+
+    pxr::SdfPrimSpecHandle prim_spec = pxr::SdfCreatePrimInLayer(layer, path);
+
+    // Find or create transform attribute.
+    pxr::SdfAttributeSpecHandle xform_attr = GetOrCreateAttribute(
+        layer, prim_spec, path, pxr::_layer_sink_tokens->xformOpTransform,
+        pxr::SdfValueTypeNames->Matrix4d, pxr::SdfVariabilityVarying);
+
+    pxr::GfQuaternion quat(xquat[0], imag_part);
+    pxr::GfRotation rotation(quat);
+
+    // Identities
+    pxr::GfVec3d scale(1.0);
+    pxr::GfVec3d pivot_position(0);
+    pxr::GfRotation pivot_rotation(pxr::GfQuaternion::GetIdentity());
+
+    // Set time sample
+    pxr::GfTransform xform(translation, rotation, scale, pivot_position,
+                           pivot_rotation);
+    pxr::GfMatrix4d parent_xform =
+        xform_cache.GetParentToWorldTransform(stage_->GetPrimAtPath(path));
+    pxr::GfMatrix4d relative_xform =
+        xform.GetMatrix() * parent_xform.GetInverse();
+    layer->SetTimeSample(xform_attr->GetPath(), timecode.GetValue(),
+                         relative_xform);
+
+    // Create xformop_order attribute if missing.
+    pxr::SdfAttributeSpecHandle op_order_attr = GetOrCreateAttribute(
+        layer, prim_spec, path, pxr::UsdGeomTokens->xformOpOrder,
+        pxr::SdfValueTypeNames->TokenArray, pxr::SdfVariabilityUniform);
+
+    // Override all local transforms so that this is the absolute position.
+    // We don't reset the xform stack here, so parent transforms will still
+    // affect the world pose.
+    const pxr::VtTokenArray xformop_order(
+        {pxr::_layer_sink_tokens->xformOpTransform});
+
+    op_order_attr->SetDefaultValue(pxr::VtValue(xformop_order));
+  }
+}
+}  // namespace usd
+}  // namespace mujoco
diff --git a/src/experimental/usd/plugins/CMakeLists.txt b/src/experimental/usd/plugins/CMakeLists.txt
deleted file mode 100644
index 6e506493..00000000
--- a/src/experimental/usd/plugins/CMakeLists.txt
+++ /dev/null
@@ -1,137 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-# Plugin target name (used for library and plugInfo.json)
-set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
-
-add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED
-  mjcf/mjcf_file_format.cc
-  mjcf/mjcf_file_format.h
-  mjcf/mujoco_to_usd.cc
-  mjcf/mujoco_to_usd.h
-  mjcf/utils.cc
-  mjcf/utils.h
-)
-
-# We need to set the visibility to default until core type symbol visibility
-# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
-# Otherwise we will run into issues during composition on MacOS due to std::type_info
-# comparisons failing for pxr::TfTokenVector and the like that we place in SdfAbstractData.
-set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
-    OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
-    CXX_VISIBILITY_PRESET default
-)
-
-target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-  "${CMAKE_CURRENT_SOURCE_DIR}"
-)
-
-if (MUJOCO_USD_TARGET STREQUAL "USD")
-  find_package(pxr REQUIRED)
-
-  # --- Link Dependencies ---
-  # Link against the necessary OpenUSD components
-  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-    usd
-    ar
-    kind
-    tf
-    gf
-    vt
-    usdShade
-    usdLux
-    usdGeom
-    usdImaging
-    usdPhysics
-    mujoco
-    tinyxml2
-  )
-elseif (MUJOCO_USD_TARGET STREQUAL "Houdini")
-
-  if (NOT DEFINED ENV{HFS})
-    message(FATAL_ERROR "Environment variable 'HFS' is not defined: $ENV{HFS}. Please run houdini_setup.")
-  endif()
-
-  # In Houdini, the Houdini package we would typically use via find_package
-  # does not have all the USD dependencies that we need (namely UsdPhysics)
-  # so we need to manually link all the required libraries.
-
-  set(HFS_ENV "$ENV{HFS}")
-  set(HOUDINI_LIBS "${HFS_ENV}/../Libraries")
-  get_filename_component(HOUDINI_LIBS "${HOUDINI_LIBS}" ABSOLUTE) # Normalize the path
-  target_link_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${HOUDINI_LIBS})
-
-  target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-    "${HFS_ENV}/toolkit/include"
-    "${HFS_ENV}/toolkit/include/python3.11"
-  )
-
-  # Assume everyone using Houdini on 3.11 for now.
-  set(USD_MJCF_PYTHON_LIB python3.11)
-  set(USD_MJCF_PYTHON_LIB_NUMBER python311)
-  set(PYTHON_LIB "${HFS_ENV}/Frameworks/Python.framework/Versions/3.11/Python")
-  set(PXR_LIB_PREFIX "pxr_")
-
-  # --- Link Dependencies ---
-  # Link against the necessary OpenUSD components
-  target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-    ${PXR_LIB_PREFIX}usd
-    ${PXR_LIB_PREFIX}ar
-    ${PXR_LIB_PREFIX}kind
-    ${PXR_LIB_PREFIX}tf
-    ${PXR_LIB_PREFIX}gf
-    ${PXR_LIB_PREFIX}vt
-    ${PXR_LIB_PREFIX}sdf
-    ${PXR_LIB_PREFIX}usdShade
-    ${PXR_LIB_PREFIX}usdLux
-    ${PXR_LIB_PREFIX}usdGeom
-    ${PXR_LIB_PREFIX}usdImaging
-    ${PXR_LIB_PREFIX}usdPhysics
-    tbb
-    hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
-    ${PYTHON_LIB}
-    mujoco
-    tinyxml2
-  )
-endif()
-
-
-# --- Generate plugInfo.json ---
-if(CMAKE_SHARED_LIBRARY_PREFIX)
-  set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX}) # Usually "lib" on Unix
-else()
-  set(LIB_PREFIX "")
-endif()
-set(PLUG_INFO_LIBRARY_PATH "${LIB_PREFIX}${MJCF_PLUGIN_TARGET_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}")
-
-# --- Installation ---
-
-set(USD_PLUGIN_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/usdMjcf)
-
-message(STATUS "Copying plugInfo.json to ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json")
-configure_file(
-  mjcf/plugInfo.json
-  ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json
-)
-
-install(FILES ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB})
-
-# Install shared lib and plugInfo to same location for simplicity.
-install(TARGETS ${MJCF_PLUGIN_TARGET_NAME}
-    LIBRARY DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB}
-)
-
-message(STATUS "USD MJCF Plugin will be installed to: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
-message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
new file mode 100644
index 00000000..0e9e5ebf
--- /dev/null
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -0,0 +1,1452 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <algorithm>
+#include <cmath>
+#include <deque>
+#include <iterator>
+#include <map>
+#include <optional>
+#include <set>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
+#include <mujoco/experimental/usd/usd.h>
+#include <mujoco/experimental/usd/utils.h>
+#include <mujoco/mujoco.h>
+#include <pxr/base/gf/declare.h>
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/vt/types.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/primFlags.h>
+#include <pxr/usd/usd/primRange.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdGeom/capsule.h>
+#include <pxr/usd/usdGeom/cube.h>
+#include <pxr/usd/usdGeom/cylinder.h>
+#include <pxr/usd/usdGeom/gprim.h>
+#include <pxr/usd/usdGeom/mesh.h>
+#include <pxr/usd/usdGeom/plane.h>
+#include <pxr/usd/usdGeom/sphere.h>
+#include <pxr/usd/usdGeom/tokens.h>
+#include <pxr/usd/usdGeom/xformCache.h>
+#include <pxr/usd/usdPhysics/collisionAPI.h>
+#include <pxr/usd/usdPhysics/fixedJoint.h>
+#include <pxr/usd/usdPhysics/joint.h>
+#include <pxr/usd/usdPhysics/massAPI.h>
+#include <pxr/usd/usdPhysics/prismaticJoint.h>
+#include <pxr/usd/usdPhysics/revoluteJoint.h>
+#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
+#include <pxr/usd/usdPhysics/scene.h>
+#include <pxr/usd/usdPhysics/sphericalJoint.h>
+namespace {
+
+using pxr::MjcPhysicsTokens;
+using pxr::TfToken;
+
+void SetDoubleArrFromGfVec3d(double* to, const pxr::GfVec3d& from) {
+  to[0] = from[0];
+  to[1] = from[1];
+  to[2] = from[2];
+}
+
+void SetMjtNumArrFromGfVec3d(mjtNum* to, const pxr::GfVec3d& from) {
+  to[0] = from[0];
+  to[1] = from[1];
+  to[2] = from[2];
+}
+
+void SetDoubleArrFromGfQuatd(double* to, const pxr::GfQuatd& from) {
+  // pxr::GfQuatd uses wxyz stored as a real and an imaginary component.
+  to[0] = from.GetReal();
+  to[1] = from.GetImaginary()[0];
+  to[2] = from.GetImaginary()[1];
+  to[3] = from.GetImaginary()[2];
+}
+
+template <typename T>
+void SetLocalPoseFromPrim(const pxr::UsdPrim& prim,
+                          const pxr::UsdPrim& parent_prim, T* element,
+                          pxr::UsdGeomXformCache& xform_cache) {
+  pxr::GfMatrix4d xform = xform_cache.GetLocalToWorldTransform(prim);
+  pxr::GfMatrix4d parent_xform =
+      xform_cache.GetLocalToWorldTransform(parent_prim);
+  pxr::GfMatrix4d relative_xform = xform * parent_xform.GetInverse();
+
+  pxr::GfVec3d translation = relative_xform.ExtractTranslation();
+  pxr::GfQuatd rotation =
+      relative_xform.RemoveScaleShear().ExtractRotationQuat();
+
+  SetDoubleArrFromGfVec3d(element->pos, translation);
+  SetDoubleArrFromGfQuatd(element->quat, rotation);
+}
+
+pxr::GfVec3d GetScale(const pxr::GfMatrix4d& matrix) {
+  pxr::GfMatrix4d rotation;
+  pxr::GfVec3d scale;
+  pxr::GfMatrix4d u;
+  pxr::GfVec3d translation;
+  pxr::GfMatrix4d p;
+  if (!matrix.Factor(&rotation, &scale, &u, &translation, &p)) {
+    // In the event that we could not factorize, return the identity.
+    mju_error("Could not factorise matrix.");
+    return pxr::GfVec3d(1, 1, 1);
+  }
+  return scale;
+}
+
+bool IsUniformScale(const pxr::GfVec3d& scale) {
+  static const double epsilon = 1e-6;
+  return fabs(scale[0] - scale[1]) < epsilon &&
+         fabs(scale[1] - scale[2]) < epsilon;
+}
+
+template <typename T>
+void SetScale(T* element, const pxr::GfMatrix4d& world_transform,
+              const pxr::GfVec3d& scale) {
+  pxr::GfVec3d transform_scale =
+      pxr::GfCompMult(GetScale(world_transform), scale);
+  element->size[0] = transform_scale[0];
+  element->size[1] = transform_scale[1];
+  element->size[2] = transform_scale[2];
+}
+
+template <typename T>
+bool MaybeParseGeomPrimitive(const pxr::UsdPrim& prim, T* element,
+                             pxr::UsdGeomXformCache& xform_cache) {
+  auto world_xform = xform_cache.GetLocalToWorldTransform(prim);
+  auto scale = GetScale(world_xform);
+  if (prim.IsA<pxr::UsdGeomSphere>()) {
+    double radius;
+    if (!pxr::UsdGeomSphere(prim).GetRadiusAttr().Get<double>(&radius)) {
+      mju_error("Could not get sphere radius attr.");
+      return false;
+    }
+    // If scale is uniform (or *very close*) then create a sphere, otherwise
+    // this is an ellipsoid.
+    if (IsUniformScale(scale)) {
+      element->type = mjGEOM_SPHERE;
+      element->size[0] = scale[0] * radius;
+      element->size[1] = scale[0] * radius;
+      element->size[2] = scale[0] * radius;
+    } else {
+      element->type = mjGEOM_ELLIPSOID;
+      element->size[0] = scale[0] * radius;
+      element->size[1] = scale[1] * radius;
+      element->size[2] = scale[2] * radius;
+    }
+  } else if (prim.IsA<pxr::UsdGeomCylinder>()) {
+    auto cylinder = pxr::UsdGeomCylinder(prim);
+    element->type = mjGEOM_CYLINDER;
+    double radius;
+    if (!cylinder.GetRadiusAttr().Get<double>(&radius)) {
+      mju_error("Could not get cylinder radius attr.");
+      return false;
+    }
+
+    double height;
+    if (!cylinder.GetHeightAttr().Get<double>(&height)) {
+      mju_error("Could not get cylinder height attr.");
+      return false;
+    }
+    element->size[0] = scale[0] * radius;
+    element->size[1] = scale[1] * height / 2.0f;
+    element->size[2] = 0;
+  } else if (prim.IsA<pxr::UsdGeomCapsule>()) {
+    auto capsule = pxr::UsdGeomCapsule(prim);
+    element->type = mjGEOM_CAPSULE;
+    double radius;
+    if (!capsule.GetRadiusAttr().Get<double>(&radius)) {
+      mju_error("Could not get capsule radius attr.");
+      return false;
+    }
+
+    double height;
+    if (!capsule.GetHeightAttr().Get<double>(&height)) {
+      mju_error("Could not get capsule height attr.");
+      return false;
+    }
+    element->size[0] = scale[0] * radius;
+    element->size[1] = scale[1] * height / 2.0f;
+    element->size[2] = 0;
+  } else if (prim.IsA<pxr::UsdGeomCube>()) {
+    element->type = mjGEOM_BOX;
+    auto cube = pxr::UsdGeomCube(prim);
+    double size;
+    if (!cube.GetSizeAttr().Get<double>(&size)) {
+      mju_error("Could not get cube size attr.");
+      return false;
+    }
+    // MuJoCo uses half-length for box size.
+    SetScale(element, xform_cache.GetLocalToWorldTransform(prim),
+             pxr::GfVec3d(size / 2));
+
+  } else {
+    return false;
+  }
+
+  return true;
+}
+
+void ParseUsdPhysicsScene(mjSpec* spec,
+                          const pxr::UsdPhysicsScene& physics_scene) {
+  // Parse gravity and gravity direction.
+  pxr::GfVec3f gravity_direction;
+  physics_scene.GetGravityDirectionAttr().Get(&gravity_direction);
+
+  float gravity_magnitude;
+  physics_scene.GetGravityMagnitudeAttr().Get(&gravity_magnitude);
+
+  gravity_direction *= gravity_magnitude;
+
+  spec->option.gravity[0] = gravity_direction[0];
+  spec->option.gravity[1] = gravity_direction[1];
+  spec->option.gravity[2] = gravity_direction[2];
+
+  // Early exit if theres no MjcPhysicsSceneAPI applied.
+  if (!physics_scene.GetPrim().HasAPI<pxr::MjcPhysicsSceneAPI>()) {
+    return;
+  }
+  auto mjc_physics_scene = pxr::MjcPhysicsSceneAPI(physics_scene.GetPrim());
+
+  double timestep;
+  mjc_physics_scene.GetTimestepAttr().Get(&timestep);
+  spec->option.timestep = timestep;
+
+  double apirate;
+  mjc_physics_scene.GetApiRateAttr().Get(&apirate);
+  spec->option.apirate = apirate;
+
+  double impratio;
+  mjc_physics_scene.GetImpRatioAttr().Get(&impratio);
+  spec->option.impratio = impratio;
+
+  double tolerance;
+  mjc_physics_scene.GetToleranceAttr().Get(&tolerance);
+  spec->option.tolerance = tolerance;
+
+  double ls_tolerance;
+  mjc_physics_scene.GetLSToleranceAttr().Get(&ls_tolerance);
+  spec->option.ls_tolerance = ls_tolerance;
+
+  double noslip_tolerance;
+  mjc_physics_scene.GetNoslipToleranceAttr().Get(&noslip_tolerance);
+  spec->option.noslip_tolerance = noslip_tolerance;
+
+  double ccd_tolerance;
+  mjc_physics_scene.GetCCDToleranceAttr().Get(&ccd_tolerance);
+  spec->option.ccd_tolerance = ccd_tolerance;
+
+  pxr::GfVec3d wind;
+  mjc_physics_scene.GetWindAttr().Get(&wind);
+  SetMjtNumArrFromGfVec3d(spec->option.wind, wind);
+
+  pxr::GfVec3d magnetic;
+  mjc_physics_scene.GetMagneticAttr().Get(&magnetic);
+  SetMjtNumArrFromGfVec3d(spec->option.magnetic, magnetic);
+
+  double density;
+  mjc_physics_scene.GetDensityAttr().Get(&density);
+  spec->option.density = density;
+
+  double viscosity;
+  mjc_physics_scene.GetViscosityAttr().Get(&viscosity);
+  spec->option.viscosity = viscosity;
+
+  double o_margin;
+  mjc_physics_scene.GetOMarginAttr().Get(&o_margin);
+  spec->option.o_margin = o_margin;
+
+  pxr::VtDoubleArray o_solref;
+  mjc_physics_scene.GetOSolRefAttr().Get(&o_solref);
+  if (o_solref.size() != mjNREF) {
+    mju_error("Invalid size for o_solref attribute: %zu expected %d",
+              o_solref.size(), mjNREF);
+    return;
+  }
+  for (int i = 0; i < mjNREF; ++i) {
+    spec->option.o_solref[i] = o_solref[i];
+  }
+
+  pxr::VtDoubleArray o_solimp;
+  mjc_physics_scene.GetOSolImpAttr().Get(&o_solimp);
+  if (o_solimp.size() != mjNIMP) {
+    mju_error("Invalid size for o_solimp attribute: %zu expected %d",
+              o_solimp.size(), mjNIMP);
+    return;
+  }
+  for (int i = 0; i < mjNIMP; ++i) {
+    spec->option.o_solimp[i] = o_solimp[i];
+  }
+
+  pxr::VtDoubleArray o_friction;
+  mjc_physics_scene.GetOFrictionAttr().Get(&o_friction);
+  if (o_friction.size() != 5) {
+    mju_error("Invalid size for o_friction attribute: %zu expected %d",
+              o_friction.size(), 5);
+    return;
+  }
+  for (int i = 0; i < 5; ++i) {
+    spec->option.o_friction[i] = o_friction[i];
+  }
+
+  TfToken integrator;
+  mjc_physics_scene.GetIntegratorAttr().Get(&integrator);
+  if (integrator == MjcPhysicsTokens->euler) {
+    spec->option.integrator = mjINT_EULER;
+  } else if (integrator == MjcPhysicsTokens->rk4) {
+    spec->option.integrator = mjINT_RK4;
+  } else if (integrator == MjcPhysicsTokens->implicit) {
+    spec->option.integrator = mjINT_IMPLICIT;
+  } else if (integrator == MjcPhysicsTokens->implicitfast) {
+    spec->option.integrator = mjINT_IMPLICITFAST;
+  }
+
+  TfToken cone;
+  mjc_physics_scene.GetConeAttr().Get(&cone);
+  if (cone == MjcPhysicsTokens->elliptic) {
+    spec->option.cone = mjCONE_ELLIPTIC;
+  } else if (cone == MjcPhysicsTokens->pyramidal) {
+    spec->option.cone = mjCONE_PYRAMIDAL;
+  }
+
+  TfToken jacobian;
+  mjc_physics_scene.GetJacobianAttr().Get(&jacobian);
+  if (jacobian == MjcPhysicsTokens->auto_) {
+    spec->option.jacobian = mjJAC_AUTO;
+  } else if (jacobian == MjcPhysicsTokens->dense) {
+    spec->option.jacobian = mjJAC_DENSE;
+  } else if (jacobian == MjcPhysicsTokens->sparse) {
+    spec->option.jacobian = mjJAC_SPARSE;
+  }
+
+  TfToken solver;
+  mjc_physics_scene.GetSolverAttr().Get(&solver);
+  if (solver == MjcPhysicsTokens->newton) {
+    spec->option.solver = mjSOL_NEWTON;
+  } else if (solver == MjcPhysicsTokens->cg) {
+    spec->option.solver = mjSOL_CG;
+  } else if (solver == MjcPhysicsTokens->pgs) {
+    spec->option.solver = mjSOL_PGS;
+  }
+
+  int iterations;
+  mjc_physics_scene.GetIterationsAttr().Get(&iterations);
+  spec->option.iterations = iterations;
+
+  int ls_iterations;
+  mjc_physics_scene.GetLSIterationsAttr().Get(&ls_iterations);
+  spec->option.ls_iterations = ls_iterations;
+
+  int noslip_iterations;
+  mjc_physics_scene.GetNoslipIterationsAttr().Get(&noslip_iterations);
+  spec->option.noslip_iterations = noslip_iterations;
+
+  int ccd_iterations;
+  mjc_physics_scene.GetCCDIterationsAttr().Get(&ccd_iterations);
+  spec->option.ccd_iterations = ccd_iterations;
+
+  int sdf_initpoints;
+  mjc_physics_scene.GetSDFInitPointsAttr().Get(&sdf_initpoints);
+  spec->option.sdf_initpoints = sdf_initpoints;
+
+  int sdf_iterations;
+  mjc_physics_scene.GetSDFIterationsAttr().Get(&sdf_iterations);
+  spec->option.sdf_iterations = sdf_iterations;
+
+  bool constraint_flag;
+  mjc_physics_scene.GetConstraintFlagAttr().Get(&constraint_flag);
+  spec->option.disableflags |= (!constraint_flag ? mjDSBL_CONSTRAINT : 0);
+
+  bool equality_flag;
+  mjc_physics_scene.GetEqualityFlagAttr().Get(&equality_flag);
+  spec->option.disableflags |= (!equality_flag ? mjDSBL_EQUALITY : 0);
+
+  bool frictionloss_flag;
+  mjc_physics_scene.GetFrictionLossFlagAttr().Get(&frictionloss_flag);
+  spec->option.disableflags |= (!frictionloss_flag ? mjDSBL_FRICTIONLOSS : 0);
+
+  bool limit_flag;
+  mjc_physics_scene.GetLimitFlagAttr().Get(&limit_flag);
+  spec->option.disableflags |= (!limit_flag ? mjDSBL_LIMIT : 0);
+
+  bool contact_flag;
+  mjc_physics_scene.GetContactFlagAttr().Get(&contact_flag);
+  spec->option.disableflags |= (!contact_flag ? mjDSBL_CONTACT : 0);
+
+  bool passive_flag;
+  mjc_physics_scene.GetPassiveFlagAttr().Get(&passive_flag);
+  spec->option.disableflags |= (!passive_flag ? mjDSBL_PASSIVE : 0);
+
+  bool gravity_flag;
+  mjc_physics_scene.GetGravityFlagAttr().Get(&gravity_flag);
+  spec->option.disableflags |= (!gravity_flag ? mjDSBL_GRAVITY : 0);
+
+  bool clampctrl_flag;
+  mjc_physics_scene.GetClampCtrlFlagAttr().Get(&clampctrl_flag);
+  spec->option.disableflags |= (!clampctrl_flag ? mjDSBL_CLAMPCTRL : 0);
+
+  bool warmstart_flag;
+  mjc_physics_scene.GetWarmStartFlagAttr().Get(&warmstart_flag);
+  spec->option.disableflags |= (!warmstart_flag ? mjDSBL_WARMSTART : 0);
+
+  bool filterparent_flag;
+  mjc_physics_scene.GetFilterParentFlagAttr().Get(&filterparent_flag);
+  spec->option.disableflags |= (!filterparent_flag ? mjDSBL_FILTERPARENT : 0);
+
+  bool actuation_flag;
+  mjc_physics_scene.GetActuationFlagAttr().Get(&actuation_flag);
+  spec->option.disableflags |= (!actuation_flag ? mjDSBL_ACTUATION : 0);
+
+  bool refsafe_flag;
+  mjc_physics_scene.GetRefSafeFlagAttr().Get(&refsafe_flag);
+  spec->option.disableflags |= (!refsafe_flag ? mjDSBL_REFSAFE : 0);
+
+  bool sensor_flag;
+  mjc_physics_scene.GetSensorFlagAttr().Get(&sensor_flag);
+  spec->option.disableflags |= (!sensor_flag ? mjDSBL_SENSOR : 0);
+
+  bool midphase_flag;
+  mjc_physics_scene.GetMidPhaseFlagAttr().Get(&midphase_flag);
+  spec->option.disableflags |= (!midphase_flag ? mjDSBL_MIDPHASE : 0);
+
+  bool nativeccd_flag;
+  mjc_physics_scene.GetNativeCCDFlagAttr().Get(&nativeccd_flag);
+  spec->option.disableflags |= (!nativeccd_flag ? mjDSBL_NATIVECCD : 0);
+
+  bool eulerdamp_flag;
+  mjc_physics_scene.GetEulerDampFlagAttr().Get(&eulerdamp_flag);
+  spec->option.disableflags |= (!eulerdamp_flag ? mjDSBL_EULERDAMP : 0);
+
+  bool autoreset_flag;
+  mjc_physics_scene.GetAutoResetFlagAttr().Get(&autoreset_flag);
+  spec->option.disableflags |= (!autoreset_flag ? mjDSBL_AUTORESET : 0);
+
+  bool override_flag;
+  mjc_physics_scene.GetOverrideFlagAttr().Get(&override_flag);
+  spec->option.enableflags |= (override_flag ? mjENBL_OVERRIDE : 0);
+
+  bool energy_flag;
+  mjc_physics_scene.GetEnergyFlagAttr().Get(&energy_flag);
+  spec->option.enableflags |= (energy_flag ? mjENBL_ENERGY : 0);
+
+  bool fwdinv_flag;
+  mjc_physics_scene.GetFwdinvFlagAttr().Get(&fwdinv_flag);
+  spec->option.enableflags |= (fwdinv_flag ? mjENBL_FWDINV : 0);
+
+  bool invdiscrete_flag;
+  mjc_physics_scene.GetInvDiscreteFlagAttr().Get(&invdiscrete_flag);
+  spec->option.enableflags |= (invdiscrete_flag ? mjENBL_INVDISCRETE : 0);
+
+  bool multiccd_flag;
+  mjc_physics_scene.GetMultiCCDFlagAttr().Get(&multiccd_flag);
+  spec->option.enableflags |= (multiccd_flag ? mjENBL_MULTICCD : 0);
+
+  bool island_flag;
+  mjc_physics_scene.GetIslandFlagAttr().Get(&island_flag);
+  spec->option.enableflags |= (island_flag ? mjENBL_ISLAND : 0);
+}
+
+void ParseUsdPhysicsMassAPIForBody(mjsBody* body,
+                                   const pxr::UsdPhysicsMassAPI& mass_api) {
+  auto mass_attr = mass_api.GetMassAttr();
+  if (mass_attr.HasAuthoredValue()) {
+    float mass;
+    mass_attr.Get(&mass);
+    body->mass = mass;
+  }
+
+  auto com_attr = mass_api.GetCenterOfMassAttr();
+  if (com_attr.HasAuthoredValue()) {
+    pxr::GfVec3f com;
+    com_attr.Get(&com);
+    SetDoubleArrFromGfVec3d(body->ipos, com);
+  }
+
+  auto principle_axes_attr = mass_api.GetPrincipalAxesAttr();
+  if (principle_axes_attr.HasAuthoredValue()) {
+    pxr::GfQuatf principle_axes;
+    principle_axes_attr.Get(&principle_axes);
+    SetDoubleArrFromGfQuatd(body->iquat, principle_axes);
+  }
+
+  auto diag_inertia_attr = mass_api.GetDiagonalInertiaAttr();
+  if (diag_inertia_attr.HasAuthoredValue()) {
+    pxr::GfVec3f diag_inertia;
+    diag_inertia_attr.Get(&diag_inertia);
+    SetDoubleArrFromGfVec3d(body->inertia, diag_inertia);
+  }
+}
+
+void ParseUsdPhysicsMassAPIForGeom(mjsGeom* geom,
+                                   const pxr::UsdPhysicsMassAPI& mass_api) {
+  auto mass_attr = mass_api.GetMassAttr();
+  if (mass_attr.HasAuthoredValue()) {
+    float mass;
+    mass_attr.Get(&mass);
+    geom->mass = mass;
+  }
+
+  auto density_attr = mass_api.GetDensityAttr();
+  if (density_attr.HasAuthoredValue()) {
+    float density;
+    density_attr.Get(&density);
+    geom->density = density;
+  }
+}
+
+void ParseMjcPhysicsCollisionAPI(
+    mjsGeom* geom, const pxr::MjcPhysicsCollisionAPI& collision_api) {
+  auto shell_inertia_attr = collision_api.GetShellInertiaAttr();
+  if (shell_inertia_attr.HasAuthoredValue()) {
+    bool shell_inertia;
+    shell_inertia_attr.Get(&shell_inertia);
+    geom->typeinertia = shell_inertia ? mjtGeomInertia::mjINERTIA_SHELL
+                                      : mjtGeomInertia::mjINERTIA_VOLUME;
+  }
+}
+
+void ParseMjcPhysicsMeshCollisionAPI(
+    mjsMesh* mesh, const pxr::MjcPhysicsMeshCollisionAPI& mesh_collision_api) {
+  auto inertia_attr = mesh_collision_api.GetInertiaAttr();
+  if (inertia_attr.HasAuthoredValue()) {
+    pxr::TfToken inertia;
+    inertia_attr.Get(&inertia);
+    if (inertia == MjcPhysicsTokens->shell) {
+      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_SHELL;
+    } else if (inertia == MjcPhysicsTokens->exact) {
+      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_EXACT;
+    } else if (inertia == MjcPhysicsTokens->convex) {
+      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_CONVEX;
+    } else {
+      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_LEGACY;
+    }
+  }
+}
+
+void ParseMjcPhysicsGeneralActuatorAPI(mjSpec* spec,
+                                       const pxr::MjcPhysicsActuatorAPI& act,
+                                       mjtTrn tran_type,
+                                       const std::string* name) {
+  pxr::UsdPrim prim = act.GetPrim();
+  mjsActuator* mj_act = mjs_addActuator(spec, nullptr);
+  mjs_setString(mj_act->name, prim.GetPath().GetAsString().c_str());
+  mjs_setString(mj_act->target, name->c_str());
+  mj_act->trntype = tran_type;
+
+  if (tran_type == mjtTrn::mjTRN_SLIDERCRANK) {
+    pxr::SdfPathVector slider_sites;
+    act.GetMjcSliderSiteRel().GetTargets(&slider_sites);
+    if (slider_sites.size() > 1) {
+      mju_warning(
+          "Slider crank slider site relationship has more than one target, "
+          "using the first.");
+    }
+    mjs_setString(mj_act->slidersite, slider_sites[0].GetAsString().c_str());
+  }
+
+  auto setLimitedField = [](mjsActuator* mj_act,
+                            const pxr::UsdAttribute& usd_attribute,
+                            int* mj_limited_field) {
+    if (usd_attribute.HasAuthoredValue()) {
+      pxr::TfToken limited;
+      usd_attribute.Get(&limited);
+      if (limited == MjcPhysicsTokens->true_) {
+        *mj_limited_field = mjLIMITED_TRUE;
+      } else if (limited == MjcPhysicsTokens->false_) {
+        *mj_limited_field = mjLIMITED_FALSE;
+      } else if (limited == MjcPhysicsTokens->auto_) {
+        *mj_limited_field = mjLIMITED_AUTO;
+      }
+    }
+  };
+
+  setLimitedField(mj_act, act.GetMjcCtrlLimitedAttr(), &mj_act->ctrllimited);
+  setLimitedField(mj_act, act.GetMjcForceLimitedAttr(), &mj_act->forcelimited);
+  setLimitedField(mj_act, act.GetMjcActLimitedAttr(), &mj_act->actlimited);
+
+  auto setRangeField =
+      [](mjsActuator* mj_act, const pxr::UsdAttribute& usd_min_attribute,
+         const pxr::UsdAttribute& usd_max_attribute, double* range) {
+        if (usd_min_attribute.HasAuthoredValue()) {
+          double range_min;
+          usd_min_attribute.Get(&range_min);
+          range[0] = range_min;
+        }
+        if (usd_max_attribute.HasAuthoredValue()) {
+          double range_max;
+          usd_max_attribute.Get(&range_max);
+          range[1] = range_max;
+        }
+      };
+
+  setRangeField(mj_act, act.GetMjcCtrlRangeMinAttr(),
+                act.GetMjcCtrlRangeMaxAttr(), mj_act->ctrlrange);
+  setRangeField(mj_act, act.GetMjcForceRangeMinAttr(),
+                act.GetMjcForceRangeMaxAttr(), mj_act->forcerange);
+  setRangeField(mj_act, act.GetMjcActRangeMinAttr(),
+                act.GetMjcActRangeMaxAttr(), mj_act->actrange);
+  setRangeField(mj_act, act.GetMjcLengthRangeMinAttr(),
+                act.GetMjcLengthRangeMaxAttr(), mj_act->lengthrange);
+
+  auto gear_attr = act.GetMjcGearAttr();
+  if (gear_attr.HasAuthoredValue()) {
+    pxr::VtDoubleArray gear;
+    gear_attr.Get(&gear);
+    for (int i = 0; i < 6; ++i) {
+      mj_act->gear[i] = gear[i];
+    }
+  }
+
+  auto crank_length_attr = act.GetMjcCrankLengthAttr();
+  if (crank_length_attr.HasAuthoredValue()) {
+    double crank_length;
+    crank_length_attr.Get(&crank_length);
+    mj_act->cranklength = crank_length;
+  }
+
+  auto dyn_type_attr = act.GetMjcDynTypeAttr();
+  if (dyn_type_attr.HasAuthoredValue()) {
+    pxr::TfToken dyn_type;
+    dyn_type_attr.Get(&dyn_type);
+    if (dyn_type == MjcPhysicsTokens->none) {
+      mj_act->dyntype = mjtDyn::mjDYN_NONE;
+    } else if (dyn_type == MjcPhysicsTokens->integrator) {
+      mj_act->dyntype = mjtDyn::mjDYN_INTEGRATOR;
+    } else if (dyn_type == MjcPhysicsTokens->filter) {
+      mj_act->dyntype = mjtDyn::mjDYN_FILTER;
+    } else if (dyn_type == MjcPhysicsTokens->filterexact) {
+      mj_act->dyntype = mjtDyn::mjDYN_FILTEREXACT;
+    } else if (dyn_type == MjcPhysicsTokens->muscle) {
+      mj_act->dyntype = mjtDyn::mjDYN_MUSCLE;
+    } else if (dyn_type == MjcPhysicsTokens->user) {
+      mj_act->dyntype = mjtDyn::mjDYN_USER;
+    }
+  }
+
+  auto gain_type_attr = act.GetMjcGainTypeAttr();
+  if (gain_type_attr.HasAuthoredValue()) {
+    pxr::TfToken gain_type;
+    gain_type_attr.Get(&gain_type);
+    if (gain_type == MjcPhysicsTokens->fixed) {
+      mj_act->gaintype = mjtGain::mjGAIN_FIXED;
+    } else if (gain_type == MjcPhysicsTokens->affine) {
+      mj_act->gaintype = mjtGain::mjGAIN_AFFINE;
+    } else if (gain_type == MjcPhysicsTokens->muscle) {
+      mj_act->gaintype = mjtGain::mjGAIN_MUSCLE;
+    } else if (gain_type == MjcPhysicsTokens->user) {
+      mj_act->gaintype = mjtGain::mjGAIN_USER;
+    }
+  }
+
+  auto biastype_attr = act.GetMjcBiasTypeAttr();
+  if (biastype_attr.HasAuthoredValue()) {
+    pxr::TfToken biastype;
+    biastype_attr.Get(&biastype);
+    if (biastype == MjcPhysicsTokens->none) {
+      mj_act->biastype = mjtBias::mjBIAS_NONE;
+    } else if (biastype == MjcPhysicsTokens->affine) {
+      mj_act->biastype = mjtBias::mjBIAS_AFFINE;
+    } else if (biastype == MjcPhysicsTokens->muscle) {
+      mj_act->biastype = mjtBias::mjBIAS_MUSCLE;
+    } else if (biastype == MjcPhysicsTokens->user) {
+      mj_act->biastype = mjtBias::mjBIAS_USER;
+    }
+  }
+
+  auto setPrmField = [](mjsActuator* mj_act,
+                        const pxr::UsdAttribute& usd_attribute, double* prm) {
+    if (usd_attribute.HasAuthoredValue()) {
+      pxr::VtDoubleArray usd_prm;
+      usd_attribute.Get(&usd_prm);
+      int n_elems = usd_prm.size() < 10 ? usd_prm.size() : 10;
+      for (int i = 0; i < n_elems; ++i) {
+        prm[i] = usd_prm[i];
+      }
+    }
+  };
+
+  setPrmField(mj_act, act.GetMjcDynPrmAttr(), mj_act->dynprm);
+  setPrmField(mj_act, act.GetMjcBiasPrmAttr(), mj_act->biasprm);
+  setPrmField(mj_act, act.GetMjcGainPrmAttr(), mj_act->gainprm);
+
+  auto act_dim_attr = act.GetMjcActDimAttr();
+  if (act_dim_attr.HasAuthoredValue()) {
+    int act_dim;
+    act_dim_attr.Get(&act_dim);
+    mj_act->actdim = act_dim;
+  }
+
+  auto act_early_attr = act.GetMjcActEarlyAttr();
+  if (act_early_attr.HasAuthoredValue()) {
+    bool act_early;
+    act_early_attr.Get(&act_early);
+    mj_act->actearly = (int)act_early;
+  }
+
+  auto ref_site_rel = act.GetMjcRefSiteRel();
+  if (ref_site_rel.HasAuthoredTargets()) {
+    pxr::SdfPathVector targets;
+    ref_site_rel.GetTargets(&targets);
+    pxr::SdfPath first_path = targets[0];
+    mjs_setString(mj_act->refsite, first_path.GetString().c_str());
+  }
+}
+
+void ParseUsdPhysicsCollider(mjSpec* spec,
+                             const pxr::UsdPhysicsCollisionAPI& collision_api,
+                             const pxr::UsdPrim& parent_prim, mjsBody* parent,
+                             pxr::UsdGeomXformCache& xform_cache) {
+  pxr::UsdPrim prim = collision_api.GetPrim();
+  // UsdPhysicsCollisionAPI can only be applied to gprim primitives.
+  if (!prim.IsA<pxr::UsdGeomGprim>()) {
+    mju_warning(
+        "UsdPhysicsCollisionAPI applied to a non-UsdGeomGprim prim: %s. "
+        "Skipping.",
+        prim.GetPath().GetAsString().c_str());
+    return;
+  }
+
+  mjsGeom* geom = mjs_addGeom(parent, nullptr);
+  mjs_setString(geom->name, prim.GetPath().GetAsString().c_str());
+  geom->contype = 1;
+  geom->conaffinity = 1;
+
+  if (prim.HasAPI<pxr::UsdPhysicsMassAPI>()) {
+    ParseUsdPhysicsMassAPIForGeom(geom, pxr::UsdPhysicsMassAPI(prim));
+  }
+
+  if (prim.HasAPI<pxr::MjcPhysicsCollisionAPI>()) {
+    ParseMjcPhysicsCollisionAPI(geom, pxr::MjcPhysicsCollisionAPI(prim));
+  }
+
+  SetLocalPoseFromPrim(prim, parent_prim, geom, xform_cache);
+
+  if (!MaybeParseGeomPrimitive(prim, geom, xform_cache)) {
+    if (prim.IsA<pxr::UsdGeomMesh>()) {
+      geom->type = mjGEOM_MESH;
+      pxr::UsdGeomMesh usd_mesh(prim);
+      std::vector<float> uservert;
+      std::vector<int> userface;
+
+      pxr::VtVec3fArray points;
+      usd_mesh.GetPointsAttr().Get(&points);
+
+      uservert.reserve(points.size() * 3);
+      for (const auto& pt : points) {
+        uservert.push_back(pt[0]);
+        uservert.push_back(pt[1]);
+        uservert.push_back(pt[2]);
+      }
+
+      pxr::VtIntArray indices;
+      usd_mesh.GetFaceVertexIndicesAttr().Get(&indices);
+      pxr::VtIntArray counts;
+      usd_mesh.GetFaceVertexCountsAttr().Get(&counts);
+
+      userface.reserve(indices.size());
+      int vtx_idx = 0;
+      for (int count : counts) {
+        int k = 1;
+        // If the prim is a triangle create a triangle fan rooted
+        // at the first index.
+        while (k < count - 1) {
+          userface.push_back(indices[vtx_idx]);
+          userface.push_back(indices[vtx_idx + k]);
+          userface.push_back(indices[vtx_idx + k + 1]);
+          k++;
+        }
+        vtx_idx += count;
+      }
+
+      mjsMesh* mesh = mjs_addMesh(spec, nullptr);
+
+      if (prim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
+        ParseMjcPhysicsMeshCollisionAPI(mesh,
+                                        pxr::MjcPhysicsMeshCollisionAPI(prim));
+      }
+
+      std::string mesh_name = usd_mesh.GetPath().GetAsString();
+      mjs_setString(mesh->name, mesh_name.c_str());
+      mjs_setFloat(mesh->uservert, uservert.data(), uservert.size());
+      mjs_setInt(mesh->userface, userface.data(), userface.size());
+
+      mjs_setString(geom->meshname, mesh_name.c_str());
+    } else if (prim.IsA<pxr::UsdGeomPlane>()) {
+      geom->type = mjGEOM_PLANE;
+
+      pxr::UsdGeomPlane plane(prim);
+      TfToken axis;
+      if (!plane.GetAxisAttr().Get(&axis)) {
+        mju_error("Could not get plane axis attr.");
+        return;
+      }
+      if (axis != pxr::UsdGeomTokens->z) {
+        mju_error("Only z-axis planes are supported.");
+        return;
+      }
+
+      // This block of code distributes the plane length and width along the
+      // scale as per the specification here:
+      // https://openusd.org/dev/api/class_usd_geom_plane.html#a89fa6076111984682db77fc8a4e57496.
+      double length;
+      if (!plane.GetLengthAttr().Get(&length)) {
+        mju_error("Could not get plane length attr.");
+        return;
+      }
+      double width;
+      if (!plane.GetWidthAttr().Get(&width)) {
+        mju_error("Could not get plane width attr.");
+        return;
+      }
+      // Plane geoms in mjc are always infinite. We set the scale here just
+      // for visualization.
+      SetScale(geom, xform_cache.GetLocalToWorldTransform(prim),
+               pxr::GfVec3d(width, length, 1));
+    }
+  }
+}
+
+void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
+                          pxr::UsdGeomXformCache& xform_cache) {
+  pxr::UsdPhysicsJoint joint(prim);
+
+  // A fixed joint means the bodies are welded.
+  if (prim.IsA<pxr::UsdPhysicsFixedJoint>()) {
+    // No joint needed for welded bodies.
+    return;
+  }
+
+  mjtJoint type;
+  if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
+    type = mjJNT_HINGE;
+  } else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
+    type = mjJNT_SLIDE;
+  } else if (prim.IsA<pxr::UsdPhysicsSphericalJoint>()) {
+    type = mjJNT_BALL;
+  } else {
+    // Unknown joint type.
+    mju_warning("Unsupported joint type for %s",
+                prim.GetPath().GetAsString().c_str());
+    return;
+  }
+
+  mjsJoint* mj_joint = mjs_addJoint(body, nullptr);
+  mj_joint->type = type;
+  mjs_setString(mj_joint->name, prim.GetPath().GetAsString().c_str());
+
+  if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
+    pxr::UsdPhysicsRevoluteJoint revolute(prim);
+    TfToken axis;
+    revolute.GetAxisAttr().Get(&axis);
+    if (axis == pxr::UsdGeomTokens->x) {
+      mj_joint->axis[0] = 1;
+      mj_joint->axis[1] = 0;
+      mj_joint->axis[2] = 0;
+    } else if (axis == pxr::UsdGeomTokens->y) {
+      mj_joint->axis[0] = 0;
+      mj_joint->axis[1] = 1;
+      mj_joint->axis[2] = 0;
+    } else {  // Z is default
+      mj_joint->axis[0] = 0;
+      mj_joint->axis[1] = 0;
+      mj_joint->axis[2] = 1;
+    }
+
+    float lower, upper;
+    if (revolute.GetLowerLimitAttr().Get(&lower) &&
+        revolute.GetUpperLimitAttr().Get(&upper)) {
+      mj_joint->limited = mjLIMITED_TRUE;
+      // As per the XML Reference, the default unit for mjSpec is degrees, so we
+      // don't need to convert from USD (which is degrees).
+      mj_joint->range[0] = lower;
+      mj_joint->range[1] = upper;
+    }
+  } else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
+    pxr::UsdPhysicsPrismaticJoint prismatic(prim);
+    TfToken axis;
+    prismatic.GetAxisAttr().Get(&axis);
+    if (axis == pxr::UsdGeomTokens->x) {
+      mj_joint->axis[0] = 1;
+      mj_joint->axis[1] = 0;
+      mj_joint->axis[2] = 0;
+    } else if (axis == pxr::UsdGeomTokens->y) {
+      mj_joint->axis[0] = 0;
+      mj_joint->axis[1] = 1;
+      mj_joint->axis[2] = 0;
+    } else {  // Z is default
+      mj_joint->axis[0] = 0;
+      mj_joint->axis[1] = 0;
+      mj_joint->axis[2] = 1;
+    }
+    float lower, upper;
+    if (prismatic.GetLowerLimitAttr().Get(&lower) &&
+        prismatic.GetUpperLimitAttr().Get(&upper)) {
+      mj_joint->limited = mjLIMITED_TRUE;
+      mj_joint->range[0] = lower;
+      mj_joint->range[1] = upper;
+    }
+  }
+
+  // localPose1 is joint frame in child body (body1) coordinates.
+  pxr::GfVec3f localPos1;
+  joint.GetLocalPos1Attr().Get(&localPos1);
+  pxr::GfVec3d pos(localPos1);
+
+  pxr::GfQuatf localRot1;
+  joint.GetLocalRot1Attr().Get(&localRot1);
+  pxr::GfQuatd rot(localRot1);
+
+  SetDoubleArrFromGfVec3d(mj_joint->pos, pos);
+
+  // Transform joint axis by localPose1 rotation.
+  if (mj_joint->type == mjJNT_HINGE || mj_joint->type == mjJNT_SLIDE) {
+    pxr::GfVec3d axis_vec(mj_joint->axis[0], mj_joint->axis[1],
+                          mj_joint->axis[2]);
+    pxr::GfVec3d rotated_axis = rot.Transform(axis_vec);
+    SetDoubleArrFromGfVec3d(mj_joint->axis, rotated_axis);
+  }
+
+  if (prim.HasAPI<pxr::MjcPhysicsActuatorAPI>()) {
+    ParseMjcPhysicsGeneralActuatorAPI(spec, pxr::MjcPhysicsActuatorAPI(prim),
+                                      mjtTrn::mjTRN_JOINT, mj_joint->name);
+  }
+}
+
+void ParseMjcPhysicsSite(mjSpec* spec, const pxr::MjcPhysicsSiteAPI& site_api,
+                         const pxr::UsdPrim& parent_prim, mjsBody* parent,
+                         pxr::UsdGeomXformCache& xform_cache) {
+  auto prim = site_api.GetPrim();
+  mjsSite* site = mjs_addSite(parent, 0);
+  mjs_setString(site->name, site_api.GetPrim().GetPath().GetAsString().c_str());
+  SetLocalPoseFromPrim(site_api.GetPrim(), parent_prim, site, xform_cache);
+
+  // Convert USD type to MuJoCo type.
+  if (!MaybeParseGeomPrimitive(prim, site, xform_cache)) {
+    mju_error("Prim with SiteAPI has unsupported typej %s",
+              prim.GetTypeName().GetString().c_str());
+    return;
+  }
+
+  if (prim.HasAPI<pxr::MjcPhysicsActuatorAPI>()) {
+    auto act_api = pxr::MjcPhysicsActuatorAPI(prim);
+    bool slider_crank = act_api.GetMjcSliderSiteRel().HasAuthoredTargets();
+    ParseMjcPhysicsGeneralActuatorAPI(
+        spec, pxr::MjcPhysicsActuatorAPI(prim),
+        slider_crank ? mjtTrn::mjTRN_SLIDERCRANK : mjtTrn::mjTRN_SITE,
+        site->name);
+  }
+}
+
+mjsBody* ParseUsdPhysicsRigidbody(
+    mjSpec* spec, const pxr::UsdPhysicsRigidBodyAPI& rigidbody_api,
+    const pxr::UsdPrim& parent_prim, mjsBody* parent,
+    pxr::UsdGeomXformCache& xform_cache) {
+  pxr::UsdPrim prim = rigidbody_api.GetPrim();
+  mjsBody* body = mjs_addBody(parent, nullptr);
+  mjs_setString(body->name, prim.GetPath().GetAsString().c_str());
+  SetLocalPoseFromPrim(prim, parent_prim, body, xform_cache);
+
+  if (prim.HasAPI<pxr::UsdPhysicsMassAPI>()) {
+    ParseUsdPhysicsMassAPIForBody(body, pxr::UsdPhysicsMassAPI(prim));
+  }
+
+  if (prim.HasAPI<pxr::MjcPhysicsActuatorAPI>()) {
+    ParseMjcPhysicsGeneralActuatorAPI(spec, pxr::MjcPhysicsActuatorAPI(prim),
+                                      mjtTrn::mjTRN_BODY, body->name);
+  }
+
+  mujoco::usd::SetUsdPrimPathUserValue(body->element, prim.GetPath());
+
+  return body;
+}
+
+// There is no common base class for UsdPhysicsRigidBodyAPI and
+// UsdPhysicsCollisionAPI so we need a templated function.
+template <class T>
+bool IsObjectInPhysicsScene(const T& object,
+                            const pxr::UsdPhysicsScene& physics_scene) {
+  pxr::SdfPathVector sim_owners;
+  object.GetSimulationOwnerRel().GetTargets(&sim_owners);
+  for (const auto& sim_owner : sim_owners) {
+    if (physics_scene.GetPath() == sim_owner) {
+      return true;
+    }
+  }
+  return false;
+};
+
+// A struct to hold the forest representation.
+// The forest is a map from a root path to its tree.
+// A tree is an adjacency list, mapping a parent path to its children paths.
+using MjUsdForest =
+    std::map<pxr::SdfPath, std::map<pxr::SdfPath, std::vector<pxr::SdfPath>>>;
+
+// A directed edge.
+using Edge = std::pair<pxr::SdfPath, pxr::SdfPath>;
+
+// A map from a directed edge to the path of the joint representing that edge.
+using EdgesMap = std::map<Edge, pxr::SdfPath>;
+
+// Constructs and validates a forest (a collection of disjoint trees)
+// from a list of directed edges. It also considers all rigid bodies in the
+// scene, treating those not involved in any edge as isolated, free-floating
+// bodies.
+//
+// An empty 'from' path represents the world body. Returns `std::nullopt` for
+// invalid forest structures (e.g. cycles, multiple parents).
+std::optional<MjUsdForest> BuildForestFromEdges(
+    const EdgesMap& edges, const std::vector<pxr::SdfPath>& all_body_paths) {
+  if (edges.empty() && all_body_paths.empty()) {
+    return MjUsdForest{};
+  }
+
+  std::map<pxr::SdfPath, std::vector<pxr::SdfPath>> children_map;
+  std::map<pxr::SdfPath, pxr::SdfPath> parent_map;
+  std::set<pxr::SdfPath> all_nodes(all_body_paths.begin(),
+                                   all_body_paths.end());
+
+  // 1. Initial Pass: Build maps and perform local validation
+  for (const auto& edge_pair : edges) {
+    const auto& [from, to] = edge_pair.first;
+    if (from == to) {
+      mju_error("Self-loop detected at node %s", to.GetString().c_str());
+      return std::nullopt;
+    }
+    if (parent_map.count(to)) {
+      mju_error("Node %s has multiple parents ('%s' and '%s').",
+                to.GetString().c_str(), parent_map.at(to).GetString().c_str(),
+                from.GetString().c_str());
+      return std::nullopt;
+    }
+
+    children_map[from].push_back(to);
+    parent_map[to] = from;
+    all_nodes.insert(from);
+    all_nodes.insert(to);
+  }
+
+  // 2. Find all root nodes
+  // A root is a node that is not a child of any other node. This includes
+  // roots of kinematic trees and isolated rigid bodies.
+  std::set<pxr::SdfPath> roots = all_nodes;
+  for (const auto& pair : parent_map) {
+    roots.erase(pair.first);  // `pair.first` is a child node.
+  }
+
+  if (roots.empty() && !all_nodes.empty()) {
+    mju_error("No root nodes found, but edges exist. A cycle is present.");
+    return std::nullopt;
+  }
+
+  // 3. Build the forest, claiming nodes for each tree
+  MjUsdForest forest;
+  std::set<pxr::SdfPath> claimed_nodes;
+
+  for (const auto& root : roots) {
+    // Perform a traversal (BFS) to find all nodes in this tree
+    std::deque<pxr::SdfPath> q;
+    q.push_back(root);
+    std::set<pxr::SdfPath> nodes_in_this_tree;
+
+    while (!q.empty()) {
+      pxr::SdfPath current_node = q.front();
+      q.pop_front();
+
+      if (claimed_nodes.count(current_node)) {
+        mju_error("Node %s is shared between multiple trees.",
+                  current_node.GetString().c_str());
+        return std::nullopt;
+      }
+
+      nodes_in_this_tree.insert(current_node);
+      claimed_nodes.insert(current_node);
+
+      if (children_map.count(current_node)) {
+        for (const auto& child : children_map.at(current_node)) {
+          q.push_back(child);
+        }
+      }
+    }
+
+    // Construct the adjacency list for this specific tree
+    std::map<pxr::SdfPath, std::vector<pxr::SdfPath>> tree_adj_list;
+    for (const auto& node : nodes_in_this_tree) {
+      if (children_map.count(node)) {
+        tree_adj_list[node] = children_map.at(node);
+      }
+    }
+    forest[root] = tree_adj_list;
+  }
+
+  // 4. Final check for cycles (unclaimed nodes)
+  std::set<pxr::SdfPath> unclaimed_nodes;  // all_nodes - claimed_nodes
+  std::set_difference(all_nodes.begin(), all_nodes.end(), claimed_nodes.begin(),
+                      claimed_nodes.end(),
+                      std::inserter(unclaimed_nodes, unclaimed_nodes.begin()));
+
+  if (!unclaimed_nodes.empty()) {
+    std::string unclaimed_str;
+    for (const auto& node : unclaimed_nodes) {
+      unclaimed_str += "'" + node.GetString() + "' ";
+    }
+    mju_error(
+        "Cycle detected. The following nodes are part of a cycle "
+        "and not reachable from any root: %s",
+        unclaimed_str.c_str());
+    return std::nullopt;
+  }
+
+  return forest;
+}
+
+void TraverseAndBuildTree(
+    pxr::UsdStageRefPtr stage, mjSpec* spec, mjsBody* parent_mj_body,
+    const pxr::SdfPath& parent_body_path, const pxr::SdfPath& current_body_path,
+    const std::map<pxr::SdfPath, std::vector<pxr::SdfPath>>& tree,
+    const EdgesMap& edges, pxr::UsdGeomXformCache& xform_cache);
+
+// Traverses the prim and all its descendants in the USD hierarchy and parses
+// supported entities like colliders and sites, attaching them to the given
+// mjBody. The traversal for a given branch stops when:
+// - a descendant with a RigidBodyAPI is found, as that will be handled by
+// TraverseAndBuildTree.
+// - a descendant with a ResetXformStack is found, as that will be handled by
+// the top level traversal of independent prims.
+void ParseCurrentAndDescendants(mjSpec* spec, const pxr::UsdPrim& prim,
+                                const pxr::UsdPrim& parent_prim, mjsBody* body,
+                                pxr::UsdGeomXformCache& xform_cache) {
+  if (prim.HasAPI<pxr::UsdPhysicsCollisionAPI>()) {
+    ParseUsdPhysicsCollider(spec, pxr::UsdPhysicsCollisionAPI(prim),
+                            parent_prim, body, xform_cache);
+  }
+  if (prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
+    ParseMjcPhysicsSite(spec, pxr::MjcPhysicsSiteAPI(prim), parent_prim, body,
+                        xform_cache);
+  }
+
+  // Make sure we traverse into instance proxies to ensure we support
+  // instanceable references.
+  // See https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html
+  for (const auto& child :
+       prim.GetFilteredChildren(pxr::UsdTraverseInstanceProxies())) {
+    if (child.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
+      continue;
+    }
+    if (xform_cache.GetResetXformStack(prim)) {
+      continue;
+    }
+    ParseCurrentAndDescendants(spec, child, prim, body, xform_cache);
+  }
+}
+
+// Recursively traverses a kinematic tree, creating bodies and joints in the
+// mjSpec.
+void TraverseAndBuildTree(
+    pxr::UsdStageRefPtr stage, mjSpec* spec, mjsBody* parent_mj_body,
+    const pxr::SdfPath& parent_body_path, const pxr::SdfPath& current_body_path,
+    const std::map<pxr::SdfPath, std::vector<pxr::SdfPath>>& tree,
+    const EdgesMap& edges, pxr::UsdGeomXformCache& xform_cache) {
+  pxr::UsdPrim current_body_prim = stage->GetPrimAtPath(current_body_path);
+  pxr::UsdPrim parent_prim_for_xform =
+      parent_body_path.IsEmpty() ? stage->GetPseudoRoot()
+                                 : stage->GetPrimAtPath(parent_body_path);
+
+  mjsBody* current_mj_body = ParseUsdPhysicsRigidbody(
+      spec, pxr::UsdPhysicsRigidBodyAPI(current_body_prim),
+      parent_prim_for_xform, parent_mj_body, xform_cache);
+
+  auto edge_key = std::make_pair(parent_body_path, current_body_path);
+  auto it_edge = edges.find(edge_key);
+
+  if (it_edge != edges.end()) {
+    // An edge exists, indicating a connection to the parent. This body is
+    // either world-attached or part of a larger articulation.
+    const pxr::SdfPath& joint_path = it_edge->second;
+    if (!joint_path.IsEmpty()) {
+      // An explicit joint prim exists, so we parse it.
+      pxr::UsdPrim joint_prim = stage->GetPrimAtPath(joint_path);
+      ParseUsdPhysicsJoint(spec, joint_prim, current_mj_body, xform_cache);
+    }
+    // If joint_path is empty, it's an implicit fixed joint. No joint is created
+    // in the mjSpec, effectively welding the body to its parent.
+  } else {
+    // No edge found. This condition is met for the root of a floating-base
+    // tree, which has no defined joint connecting it to the world.
+    if (parent_mj_body == mjs_findBody(spec, "world")) {
+      // We explicitly create a free joint to make it a floating-base body.
+      mjsJoint* free_joint = mjs_addJoint(current_mj_body, nullptr);
+      free_joint->type = mjJNT_FREE;
+    }
+  }
+
+  // Parse all geoms/sites that are found on this body in the USD hierarchy.
+  ParseCurrentAndDescendants(spec, current_body_prim, parent_prim_for_xform,
+                             current_mj_body, xform_cache);
+  // Recurse through the kinematic tree.
+  auto it_tree = tree.find(current_body_path);
+  if (it_tree != tree.end()) {
+    const auto& children_paths = it_tree->second;
+    for (const auto& child_path : children_paths) {
+      TraverseAndBuildTree(stage, spec, current_mj_body, current_body_path,
+                           child_path, tree, edges, xform_cache);
+    }
+  }
+}
+
+// Adds a new edge to the edges map, dealing with duplicates:
+// - explicit joints always replace implicit joints
+// - more than one explicit joint is unsupported so we print a warning and
+// keep the first one found
+void AddEdge(EdgesMap& edges, const pxr::SdfPath& from, const pxr::SdfPath& to,
+             const pxr::SdfPath& joint) {
+  auto edge_key = std::make_pair(from, to);
+  auto it = edges.find(edge_key);
+
+  if (it == edges.end()) {
+    // No existing edge, add the new one.
+    edges[edge_key] = joint;
+  } else {
+    // Edge already exists.
+    pxr::SdfPath& existing_joint = it->second;
+    bool new_is_explicit = !joint.IsEmpty();
+    bool existing_is_explicit = !existing_joint.IsEmpty();
+
+    if (new_is_explicit) {
+      if (existing_is_explicit) {
+        // Both are explicit: this is an error condition.
+        mju_warning(
+            "Multiple explicit joints defined between body %s and body %s. "
+            "Joint1: %s, Joint2: %s. Keeping the first one found: %s",
+            (from.IsEmpty() ? "<worldbody>" : from.GetString()).c_str(),
+            to.GetString().c_str(), existing_joint.GetString().c_str(),
+            joint.GetString().c_str(), existing_joint.GetString().c_str());
+
+      } else {
+        // New is explicit, existing is implicit: replace.
+        existing_joint = joint;
+      }
+    }
+    // If new is implicit, and an edge already exists (either explicit or
+    // implicit), we keep the existing one. No action needed.
+  }
+}
+
+// Returns the nesting body prim (or an invalid prim if there's
+// any resets_xform_stack, or we've reached the end).
+pxr::UsdPrim GetNestingBodyPrim(const pxr::UsdPrim& prim,
+                                pxr::UsdGeomXformCache& xform_cache) {
+  if (xform_cache.GetResetXformStack(prim)) {
+    return pxr::UsdPrim();
+  }
+  pxr::UsdPrim previous_prim = prim.GetParent();
+  while (previous_prim.IsValid()) {
+    if (xform_cache.GetResetXformStack(previous_prim)) {
+      return pxr::UsdPrim();
+    }
+    if (previous_prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
+      return previous_prim;
+    }
+    previous_prim = previous_prim.GetParent();
+  }
+  return pxr::UsdPrim();
+}
+}  // namespace
+
+mjSpec* mj_parseUSDStage(const pxr::UsdStageRefPtr stage) {
+  mjSpec* spec = mj_makeSpec();
+
+  mjsBody* world = mjs_findBody(spec, "world");
+
+  std::vector<pxr::UsdPhysicsScene> physics_scenes;
+
+  // Xform cache to use for all queries when parsing.
+  pxr::UsdGeomXformCache xform_cache;
+
+  // Search for UsdPhysicsScene type prim, use the first one that has
+  // the MjcPhysicsSceneAPI applied or the first UsdPhysicsScene otherwise.
+  std::optional<pxr::UsdPhysicsScene> physics_scene;
+  for (auto prim : stage->Traverse()) {
+    if (prim.IsA<pxr::UsdPhysicsScene>()) {
+      bool has_mjc_physics_api = prim.HasAPI<pxr::MjcPhysicsSceneAPI>();
+      if (!physics_scene.has_value() || has_mjc_physics_api) {
+        physics_scene = pxr::UsdPhysicsScene(prim);
+        // If we've found the first scene with MjcPhysicsSceneAPI, we can stop
+        // searching.
+        if (has_mjc_physics_api) {
+          break;
+        }
+      }
+    }
+  }
+
+  if (physics_scene.has_value()) {
+    ParseUsdPhysicsScene(spec, *physics_scene);
+  }
+
+  pxr::SdfPath default_prim_path;
+  if (stage->GetDefaultPrim().IsValid()) {
+    default_prim_path = stage->GetDefaultPrim().GetPath();
+  }
+
+  std::vector<pxr::SdfPath> body_paths;
+  EdgesMap edges;
+  // TODO(robinalazard): Re-introduce properly adding objects to their
+  // respective physics scene, or default.
+
+  // Traverse all prims under the pseudo-root.
+  // We ensure to traverse into instance proxies to ensure we support
+  // instanceable references.
+  // See https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html
+  for (auto prim : stage->Traverse(pxr::UsdTraverseInstanceProxies())) {
+    // When traversing the whole scene, if we encounter a rigidbody or a joint,
+    // then we populate the edges map and the list of body paths, which will be
+    // processed later to build the articulation trees.
+    //
+    // If we encounter _anything else_:
+    // - if we find that it's an independent prim (e.g. a static collider or
+    // site) not belonging to any rigidbody, then we add it directly to the
+    // world.
+    // - otherwise, they will be handled when building the articulation trees.
+
+    if (prim.IsA<pxr::UsdPhysicsJoint>()) {
+      pxr::SdfPath joint_path = prim.GetPath();
+      pxr::UsdPhysicsJoint joint(prim);
+
+      pxr::SdfPath body1_path;
+      pxr::SdfPathVector body1_paths;
+      joint.GetBody1Rel().GetTargets(&body1_paths);
+      if (body1_paths.empty()) {
+        mju_warning("Joint %s does not have body1 rel. Skipping.",
+                    prim.GetPath().GetAsString().c_str());
+        continue;
+      } else if (body1_paths.size() > 1) {
+        mju_warning("Joint %s has multiple body1 rels. Skipping.",
+                    prim.GetPath().GetAsString().c_str());
+        continue;
+      }
+      body1_path = body1_paths[0];
+
+      pxr::SdfPath body0_path;
+      pxr::SdfPathVector body0_paths;
+      joint.GetBody0Rel().GetTargets(&body0_paths);
+      if (body0_paths.size() > 1) {
+        mju_warning("Joint %s has multiple body0 rels. Skipping.",
+                    prim.GetPath().GetAsString().c_str());
+        continue;
+      }
+      // Empty body0, or body0 pointing to the default prim means we'll attach
+      // to the worldbody.
+      if (body0_paths.empty() || body0_paths[0] == default_prim_path) {
+        body0_path = pxr::SdfPath();
+      } else {
+        body0_path = body0_paths[0];
+      }
+
+      AddEdge(edges, body0_path, body1_path, joint_path);
+    } else if (prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
+      pxr::SdfPath body_path = prim.GetPath();
+      body_paths.push_back(body_path);
+
+      // Find whether we are nested under a parent body.
+      // Note: if any xform in between (including the current prim) resets the
+      // xform stack then we are not nested.
+      pxr::UsdPrim nesting_body_prim = GetNestingBodyPrim(prim, xform_cache);
+      if (nesting_body_prim.IsValid()) {
+        AddEdge(edges, nesting_body_prim.GetPath(), body_path, pxr::SdfPath());
+      }
+    } else {
+      // TODO(robinalazard): the way we handle independent prims right now means
+      // their relative transforms will be ignored be always pass
+      // stage->GetPseudoRoot() as the parent. It works for most scene
+      // realistically. But we should fix it.
+
+      if (prim.HasAPI<pxr::UsdPhysicsCollisionAPI>()) {
+        // Find whether the collider belongs to a body. If yes, it will be we
+        // handled later when building the articulation trees. Otherwise, it's a
+        // static collider and we add it directly to the world.
+        pxr::UsdPrim nesting_body_prim = GetNestingBodyPrim(prim, xform_cache);
+        if (!nesting_body_prim.IsValid()) {
+          ParseUsdPhysicsCollider(spec, pxr::UsdPhysicsCollisionAPI(prim),
+                                  stage->GetPseudoRoot(), world, xform_cache);
+        }
+      }
+      if (prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
+        // Find whether the site belongs to a body. If yes, it will be we
+        // handled later when building the articulation trees. Otherwise, it's a
+        // static site and we add it directly to the world.
+        pxr::UsdPrim nesting_body_prim = GetNestingBodyPrim(prim, xform_cache);
+        if (!nesting_body_prim.IsValid()) {
+          ParseMjcPhysicsSite(spec, pxr::MjcPhysicsSiteAPI(prim),
+                              stage->GetPseudoRoot(), world, xform_cache);
+        }
+      }
+    }
+  }
+
+  std::optional<MjUsdForest> forest = BuildForestFromEdges(edges, body_paths);
+  if (forest.has_value()) {
+    // Now that we have the forest, we can walk through it and add the bodies
+    // and joints to the spec. From each body we can also visit and parse all
+    // the children to also add the corresponding colliders to the body in the
+    // spec.
+    for (const auto& [root_path, tree] : *forest) {
+      if (root_path.IsEmpty()) {
+        // This root is the world. This case handles all kinematic trees that
+        // are attached to the world (fixed-base articulations).
+        // We iterate through its direct children which are the root bodies of
+        // each world-attached tree. We iterate through these children and begin
+        // the recursive build from there.
+        const auto& children_of_world = tree.at(pxr::SdfPath());
+        for (const auto& child_path : children_of_world) {
+          TraverseAndBuildTree(stage, spec, world, root_path, child_path, tree,
+                               edges, xform_cache);
+        }
+      } else {
+        // Conversely, this case handles all the remaining top-level root bodies
+        // which are their own roots and are not attached to the world
+        // (floating-base articulations). This includes isolated bodies.
+        // We directly begin the recursive build from the toplevel root.
+        //
+        // Note: the absence of an edge in the `edges` map connecting the world
+        // to this root is what signals to `TraverseAndBuildTree` that this is a
+        // floating base, prompting the creation of a free joint.
+        TraverseAndBuildTree(stage, spec, world, pxr::SdfPath(), root_path,
+                             tree, edges, xform_cache);
+      }
+    }
+  }
+
+  return spec;
+}
+
+mjSpec* mj_parseUSDStage(const char* usd_path) {
+  pxr::UsdStageRefPtr stage = pxr::UsdStage::Open(usd_path);
+  if (!stage) {
+    mju_error("Could not open USD stage: %s", usd_path);
+    return nullptr;
+  }
+  return mj_parseUSDStage(stage);
+}
diff --git a/src/experimental/usd/writer.cc b/src/experimental/usd/writer.cc
new file mode 100644
index 00000000..55f196fe
--- /dev/null
+++ b/src/experimental/usd/writer.cc
@@ -0,0 +1,68 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco/experimental/usd/writer.h>
+
+#include <utility>
+#include <vector>
+
+#include <mujoco/experimental/usd/utils.h>
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+
+namespace mujoco {
+namespace usd {
+
+// Writer is the main entry point for mj_usd. It is responsible
+// for converting the USD scene into a Mujoco model and exposing stepping
+// API.
+Writer::Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model)
+    : stage_(stage), spec_(spec), model_(model) {
+  BuildMjUsdMapping();
+}
+
+Writer::~Writer() = default;
+
+void Writer::BuildMjUsdMapping() {
+  body_id_to_path_.assign(model_->nbody, pxr::SdfPath());
+
+  // World body (ID 0) maps to an empty SdfPath.
+  if (model_->nbody > 0) {
+    body_id_to_path_[0] = pxr::SdfPath();
+  }
+
+  // Iterate over MuJoCo body IDs from the mjModel.
+  for (int body_idx = 1; body_idx < model_->nbody; ++body_idx) {
+    const char* body_name = mj_id2name(model_, mjOBJ_BODY, body_idx);
+    if (body_name) {
+      mjsBody* spec_body = mjs_findBody(spec_, body_name);
+      body_id_to_path_[body_idx] =
+          mujoco::usd::GetUsdPrimPathUserValue(spec_body->element);
+    }
+  }
+}
+
+void Writer::Update(const mjData* const data) {
+  for (const auto& sink_fn : pose_sinks_) {
+    sink_fn(data, body_id_to_path_);
+  }
+}
+
+void Writer::AddSink(PoseSinkFn sink_fn) {
+  pose_sinks_.push_back(std::move(sink_fn));
+}
+
+}  // namespace usd
+}  // namespace mujoco
diff --git a/test/experimental/CMakeLists.txt b/test/experimental/CMakeLists.txt
index 9f5100db..92b73f58 100644
--- a/test/experimental/CMakeLists.txt
+++ b/test/experimental/CMakeLists.txt
@@ -12,7 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-if(MUJOCO_BUILD_USD_PLUGINS AND MUJOCO_USD_TARGET STREQUAL "USD")
+# Only support testing when building against a standalone version of USD.
+if(MUJOCO_WITH_USD AND USD_DIR)
+  find_package(pxr REQUIRED)
+
+  add_library(usd_test_utils STATIC usd/test_utils.h usd/test_utils.cc)
+  target_include_directories(usd_test_utils PUBLIC ${MUJOCO_TEST_INCLUDE})
+  target_compile_definitions(usd_test_utils PUBLIC MJSTATIC)
+  target_link_libraries(
+    usd_test_utils
+    PUBLIC usd
+           tf
+           gtest
+           gmock
+           mujoco
+  )
+
   add_subdirectory(usd/plugins/mjcf)
 endif()
 
diff --git a/test/experimental/usd/plugins/mjcf/CMakeLists.txt b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
index 1b747aee..d4c35f02 100644
--- a/test/experimental/usd/plugins/mjcf/CMakeLists.txt
+++ b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
@@ -12,19 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-find_package(pxr REQUIRED)
-
-add_library(usd_fixture STATIC fixture.h fixture.cc)
-target_include_directories(usd_fixture PUBLIC ${MUJOCO_TEST_INCLUDE})
-target_compile_definitions(usd_fixture PUBLIC MJSTATIC)
-
-target_link_libraries(
-  usd_fixture
-  PUBLIC usd
-         tf
-         gtest
-         gmock
-         mujoco
-)
-
-mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES usd tf usdGeom usdImaging usdPhysics usdShade usd_fixture)
+mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES
+  usd
+  tf
+  usdGeom
+  usdImaging
+  usdPhysics
+  usdShade
+  usd_test_utils
+  mjcPhysics
+  )

From 21bae3a38878431a16f44db3d369d346d7e06241 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 26 Jun 2025 10:39:31 -0700
Subject: [PATCH 61/82] Report which body has too-small mass/inertia in
 compilation error.

PiperOrigin-RevId: 776196017
Change-Id: Ib81efb170347a57cdc4b446c14cd7b8f5357958c
---
 src/user/user_model.cc       | 21 +++------------------
 src/user/user_model.h        |  3 ---
 test/user/user_mesh_test.cc  |  3 ++-
 test/user/user_model_test.cc |  3 ++-
 4 files changed, 7 insertions(+), 23 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index ee4f83f0..4470a082 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -4515,10 +4515,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   }
 
   // check mass and inertia of moving bodies
-  if (bodies_.size() > 1) {
-    // we ignore the first body as it is the world body
-    if (!CheckBodiesMassInertia(std::vector<mjCBody*>(bodies_.begin()+1, bodies_.end()))) {
-      throw mjCError(0, "mass and inertia of moving bodies must be larger than mjMINVAL");
+  for (int i=1; i < bodies_.size(); i++) {
+    if (!bodies_[i]->joints.empty() && !CheckBodyMassInertia(bodies_[i])) {
+      throw mjCError(bodies_[i], "mass and inertia of moving bodies must be larger than mjMINVAL");
     }
   }
 
@@ -4763,20 +4762,6 @@ uint64_t mjCModel::Signature() {
 
 
 
-bool mjCModel::CheckBodiesMassInertia(std::vector<mjCBody*> bodies) {
-  // check mass and inertia of moving bodies
-  for (int i=0; i < bodies.size(); i++) {
-    if (!bodies[i]->joints.empty()) {
-      if (!CheckBodyMassInertia(bodies[i])) {
-        return false;
-      }
-    }
-  }
-  return true;
-}
-
-
-
 bool mjCModel::CheckBodyMassInertia(mjCBody* body) {
   // check if body has valid mass and inertia
   if (body->mass >= mjMINVAL &&
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 75b79124..a7dcbe8b 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -425,9 +425,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // compute qpos0
   void ComputeReference();
 
-  // return true if all bodies have valid mass and inertia
-  bool CheckBodiesMassInertia(std::vector<mjCBody*> bodies);
-
   // return true if body has valid mass and inertia
   bool CheckBodyMassInertia(mjCBody* body);
 
diff --git a/test/user/user_mesh_test.cc b/test/user/user_mesh_test.cc
index 759561b2..d93a4822 100644
--- a/test/user/user_mesh_test.cc
+++ b/test/user/user_mesh_test.cc
@@ -529,7 +529,7 @@ TEST_F(MjCMeshTest, TinyInertiaFails) {
       <mesh name="tiny" vertex="0 0 0  1e-4 0 0  0 1e-4 0  0 0 1e-4"/>
     </asset>
     <worldbody>
-      <body>
+      <body name="tiny_body">
         <freejoint/>
         <geom type="mesh" mesh="tiny"/>
       </body>
@@ -542,6 +542,7 @@ TEST_F(MjCMeshTest, TinyInertiaFails) {
       error.data(),
       HasSubstr(
           "mass and inertia of moving bodies must be larger than mjMINVAL"));
+  EXPECT_THAT(error.data(), HasSubstr("Element name 'tiny_body'"));
 }
 
 TEST_F(MjCMeshTest, FlippedFaceAllowedLegacyInertia) {
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index 3293b257..80697969 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -196,7 +196,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
     <worldbody>
       <body>
         <geom size="1"/>
-        <body>
+        <body name="bad">
           <freejoint/>
           <body>
             <body>
@@ -214,6 +214,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
       error,
       HasSubstr(
           "mass and inertia of moving bodies must be larger than mjMINVAL"));
+  EXPECT_THAT(error, HasSubstr("Element name 'bad'"));
   mj_deleteModel(model);
 }
 

From 1e319aebed3ffe868b78b5c1d822c5f5c39a3ff9 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 26 Jun 2025 10:54:39 -0700
Subject: [PATCH 62/82] Support joint actuator authoring in Mjcf SdfFileFormat
 plugin.

PiperOrigin-RevId: 776202325
Change-Id: I8503dd98c1b64502550b879e70039ae568517508
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         |  9 +++++++
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 25 +++++++++++++++++++
 2 files changed, 34 insertions(+)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index c17df766..a3a21d17 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -171,6 +171,7 @@ class ModelWriter {
       : spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
     body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
     site_paths_ = std::vector<pxr::SdfPath>(model->nsite);
+    joint_paths_ = std::vector<pxr::SdfPath>(model->njnt);
   }
   ~ModelWriter() { mj_deleteModel(model_); }
 
@@ -221,6 +222,8 @@ class ModelWriter {
   std::vector<pxr::SdfPath> body_paths_;
   // Mapping from Mujoco site id to SdfPath.
   std::vector<pxr::SdfPath> site_paths_;
+  // Mapping from Mujoco joint id to SdfPath.
+  std::vector<pxr::SdfPath> joint_paths_;
   // Mapping from mesh names to Mesh prim path.
   std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
   // Whether to write physics data.
@@ -935,6 +938,9 @@ class ModelWriter {
                actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) {
       int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str());
       transmission_path = site_paths_[site_id];
+    } else if (actuator->trntype == mjtTrn::mjTRN_JOINT) {
+      int joint_id = mj_name2id(model_, mjOBJ_JOINT, actuator->target->c_str());
+      transmission_path = joint_paths_[joint_id];
     } else {
       TF_WARN(UnsupportedActuatorTypeError,
               "Unsupported actuator type for actuator %d",
@@ -1711,6 +1717,9 @@ class ModelWriter {
         }
       }
     }
+    if (joint_id >= 0) {
+      joint_paths_[joint_id] = joint_path;
+    }
   }
 
   void WriteCamera(mjsCamera *spec_cam, const mjsBody *body) {
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index ddb7a60c..a0698ef4 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -1503,6 +1503,31 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
                        pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="axle">
+        <body name="rod">
+          <joint name="rod_hinge" type="hinge"/>
+          <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
+        </body>
+      </body>
+    </worldbody>
+    <actuator>
+      <general
+        name="general"
+        joint="rod_hinge"
+      />
+    </actuator>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  EXPECT_PRIM_API_APPLIED(stage, "/test/axle/rod/rod_hinge",
+                          pxr::MjcPhysicsActuatorAPI);
+}
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
   static constexpr char xml[] = R"(
   <mujoco model="test">

From 24789f8fe59cc61e404c43e7caf8a56441deb2bc Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 26 Jun 2025 11:06:07 -0700
Subject: [PATCH 63/82] Apply articulation API to the correct body when
 converting to USD.

PiperOrigin-RevId: 776206773
Change-Id: I84b5687a9900b42fd208124414ac98feaaa9f8c4
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 18 +++++++------
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 25 +++++++++++++------
 2 files changed, 29 insertions(+), 14 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index a3a21d17..bac02a5e 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -1821,6 +1821,17 @@ class ModelWriter {
                                          : pxr::KindTokens->subcomponent;
     SetPrimKind(data_, body_path, kind);
 
+    // If the parent is not the world body, but is child of the world body
+    // then we need to apply the articulation root API.
+    if (parent_id != kWorldIndex) {
+      int parent_parent_id =
+          mjs_getId(mjs_getParent(parent->element)->element);
+      if (parent_parent_id == kWorldIndex) {
+        ApplyApiSchema(data_, parent_path,
+                       pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
+      }
+    }
+
     // Apply the PhysicsRigidBodyAPI schema if we are writing physics.
     if (write_physics_) {
       // If the body had a mass specified then it must have either inertia or
@@ -1926,13 +1937,6 @@ class ModelWriter {
                        pxr::UsdGeomTokens->Xform);
     SetPrimKind(data_, world_group_path, pxr::KindTokens->group);
 
-    if (write_physics_) {
-      // Apply the PhysicsArticulationRootAPI to the world body so that
-      // everything under it is automatically considered an articulation.
-      ApplyApiSchema(data_, world_group_path,
-                     pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
-    }
-
     return world_group_path;
   }
 };
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index a0698ef4..5faec4f7 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -1139,6 +1139,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
             <geom name="test_geom_2" type="sphere" size="1"/>
           </body>
         </body>
+        <body name="test_body_3" pos="0 0 0">
+          <geom name="test_geom_3" type="sphere" size="1"/>
+        </body>
       </worldbody>
     </mujoco>
   )";
@@ -1153,18 +1156,26 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
   EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
   EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
 
-  // Articulation root is applied to the root of the physics scene (worldbody).
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test",
-                          pxr::UsdPhysicsArticulationRootAPI);
-
   EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
                           pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
-                              pxr::UsdPhysicsArticulationRootAPI);
   EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
                           pxr::UsdPhysicsRigidBodyAPI);
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body_3",
+                          pxr::UsdPhysicsRigidBodyAPI);
+
+  // Articulation root is applied to the children of the world body.
+  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
+                          pxr::UsdPhysicsArticulationRootAPI);
+  // test_body_3 is a child of the world but has no children so should not be
+  // an articulation root.
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body_3",
+                          pxr::UsdPhysicsArticulationRootAPI);
+
+  // Articulation root is not applied to other bodies or world body.
+  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test",
+                          pxr::UsdPhysicsArticulationRootAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
-                              pxr::UsdPhysicsArticulationRootAPI);
+                          pxr::UsdPhysicsArticulationRootAPI);
 
   // Geoms should not have RigidBodyAPI applied either.
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",

From 8f6a13aa8fbb2f4dd1c3e133b17c5cdb96ba87d8 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Fri, 27 Jun 2025 02:15:47 -0700
Subject: [PATCH 64/82] Add support for displayColor/Opacity (convert to rgba)

PiperOrigin-RevId: 776488857
Change-Id: I34713748ac553b5fdfad736801cdaa7dc2b7f1b0
---
 src/experimental/usd/usd_to_mjspec.cc | 28 +++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
index 0e9e5ebf..d1c48ceb 100644
--- a/src/experimental/usd/usd_to_mjspec.cc
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -49,6 +49,8 @@
 #include <pxr/usd/usdGeom/gprim.h>
 #include <pxr/usd/usdGeom/mesh.h>
 #include <pxr/usd/usdGeom/plane.h>
+#include <pxr/usd/usdGeom/primvar.h>
+#include <pxr/usd/usdGeom/primvarsAPI.h>
 #include <pxr/usd/usdGeom/sphere.h>
 #include <pxr/usd/usdGeom/tokens.h>
 #include <pxr/usd/usdGeom/xformCache.h>
@@ -742,6 +744,32 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
     ParseMjcPhysicsCollisionAPI(geom, pxr::MjcPhysicsCollisionAPI(prim));
   }
 
+  // Convert displayColor and displayOpacity to rgba.
+  // We want to support primvar inheritance, hence FindPrimvarWithInheritance.
+  pxr::UsdGeomPrimvarsAPI primvarsAPI(prim);
+  pxr::UsdGeomPrimvar displayColorPrimvar =
+      primvarsAPI.FindPrimvarWithInheritance(
+          pxr::UsdGeomTokens->primvarsDisplayColor);
+  pxr::UsdGeomPrimvar displayOpacityPrimvar =
+      primvarsAPI.FindPrimvarWithInheritance(
+          pxr::UsdGeomTokens->primvarsDisplayOpacity);
+  if (displayColorPrimvar.HasAuthoredValue()) {
+    pxr::VtArray<pxr::GfVec3f> display_color;
+    displayColorPrimvar.Get(&display_color);
+    if (!display_color.empty()) {
+      geom->rgba[0] = display_color[0][0];
+      geom->rgba[1] = display_color[0][1];
+      geom->rgba[2] = display_color[0][2];
+    }
+  }
+  if (displayOpacityPrimvar.HasAuthoredValue()) {
+    pxr::VtArray<float> display_opacity;
+    displayOpacityPrimvar.Get(&display_opacity);
+    if (!display_opacity.empty()) {
+      geom->rgba[3] = display_opacity[0];
+    }
+  }
+
   SetLocalPoseFromPrim(prim, parent_prim, geom, xform_cache);
 
   if (!MaybeParseGeomPrimitive(prim, geom, xform_cache)) {

From 09f7154e574cef81a03137ab1cacee171a7f5ad7 Mon Sep 17 00:00:00 2001
From: Matija Kecman <matijak@google.com>
Date: Fri, 27 Jun 2025 02:48:58 -0700
Subject: [PATCH 65/82] Add option to only sync the state to improve `sync`
 performance in passive mode.

By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.

PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
---
 doc/changelog.rst         |  2 ++
 doc/python.rst            | 50 +++++++++++++++++++++++----------------
 python/mujoco/simulate.cc |  1 +
 python/mujoco/viewer.py   |  4 ++--
 simulate/simulate.cc      | 15 +++++++++---
 simulate/simulate.h       |  7 +++---
 6 files changed, 50 insertions(+), 29 deletions(-)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index ecc4a0da..2f8e4375 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -15,6 +15,8 @@ General
 ^^^^^^^
 - Added support for setting the initial camera in the viewer using
   :ref:`visual/global/cameraid<visual-global-cameraid>`.
+- Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'s ``Sync`` method, this is
+  useful to improve performance. The default behavior is unchanged and copies the entire model and data.
 
 Bug fixes
 ^^^^^^^^^
diff --git a/doc/python.rst b/doc/python.rst
index c6490edc..2d22de9d 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -50,25 +50,17 @@ Interactive viewer
 
 An interactive GUI viewer is provided as part of the Python package in the ``mujoco.viewer`` module. It is based on the
 same codebase as the :ref:`simulate<saSimulate>` application that ships with the MuJoCo binary releases. Three distinct
-use cases are supported:
-
-.. _PyViewerApp:
-
-Standalone app
---------------
-
-- ``python -m mujoco.viewer`` launches an empty visualization session, where a model can be loaded by drag-and-drop.
-- ``python -m mujoco.viewer --mjcf=/path/to/some/mjcf.xml`` launches a visualization session for the specified
-  model file.
+use cases are supported: :ref:`managed viewer<PyViewerManaged>`, :ref:`standalone app<PyViewerApp>`, and :ref:`passive
+viewer<PyViewerPassive>`.
 
 .. _PyViewerManaged:
 
 Managed viewer
 --------------
 
-Called from a Python program/script, through the function ``viewer.launch``. This function *blocks user code* to
-support precise timing of the physics loop. This mode should be used if user code is implemented as
-:ref:`engine plugins<exPlugin>` or :ref:`physics callbacks<glPhysics>`, and is called by MuJoCo during :ref:`mj_step`.
+The ``viewer.launch`` function launches the interactive viewer and *blocks user code* which is useful to support precise
+timing of the physics loop. This mode should be used if user code is implemented as :ref:`engine
+plugins<exPlugin>` or :ref:`physics callbacks<glPhysics>`, and is called by MuJoCo during :ref:`mj_step`.
 
 - ``viewer.launch()`` launches an empty visualization session, where a model can be loaded by drag-and-drop.
 - ``viewer.launch(model)`` launches a visualization session for the given ``mjModel`` where the visualizer
@@ -76,14 +68,26 @@ support precise timing of the physics loop. This mode should be used if user cod
 - ``viewer.launch(model, data)`` is the same as above, except that the visualizer operates directly on the given
   ``mjData`` instance -- upon exit the ``data`` object will have been modified.
 
+.. _PyViewerApp:
+
+Standalone app
+--------------
+
+The ``mujoco.viewer`` Python package uses the ``if __name__ == '__main__'`` mechanism to allow the :ref:`managed
+viewer<PyViewerManaged>` to be called directly from the command line as a standalone app:
+
+- ``python -m mujoco.viewer`` launches an empty visualization session, where a model can be loaded by drag-and-drop.
+- ``python -m mujoco.viewer --mjcf=/path/to/some/mjcf.xml`` launches a visualization session for the specified
+  model file.
+
 .. _PyViewerPassive:
 
 Passive viewer
 --------------
 
-By calling ``viewer.launch_passive(model, data)``. This function *does not block*, allowing user code to continue
-execution. In this mode, the user's script is responsible for timing and advancing the physics state, and mouse-drag
-perturbations will not work unless the user explicitly synchronizes incoming events.
+The ``viewer.launch_passive`` function launches the interactive viewer in a way which *does not block*, allowing user
+code to continue execution. In this mode, the user's script is responsible for timing and advancing the physics state,
+and mouse-drag perturbations will not work unless the user explicitly synchronizes incoming events.
 
 .. warning::
   On MacOS, ``launch_passive`` requires that the user script is executed via a special ``mjpython`` launcher.
@@ -103,10 +107,14 @@ attributes:
   state. These include the ``mjModel`` and ``mjData`` instance passed to ``launch_passive``, and also the ``cam``,
   ``opt``, and ``pert`` properties of the viewer handle.
 
-- ``sync()``: synchronizes state between ``mjModel``, ``mjData``, and GUI user inputs since the previous call to
-  ``sync``. In order to allow user scripts to make arbitrary modifications to ``mjModel`` and ``mjData`` without
-  needing to hold the viewer lock, the passive viewer does not access or modify these structs outside of ``sync``
-  calls.
+- ``sync(state_only=False)``: synchronizes between the user's ``mjModel``, ``mjData`` and the GUI. In order to allow
+  user scripts to make arbitrary modifications to ``mjModel`` and ``mjData`` without needing to hold the viewer lock,
+  the passive viewer does not access or modify these structs outside of ``sync`` calls. If the ``state_only`` argument
+  is ``True``, instead of syncing everything, only the ``mjData`` fields corresponding to
+  :ref:`mjSTATE_INTEGRATION<mjtState>` are synced, followed by a call to :ref:`mj_forward`. The latter option is much
+  faster, but would not pick up arbitrary changes as in the default case. Changes made via the GUI are picked up in
+  either case but changing e.g., ``mjModel.geom_rgba`` via code will be picked up when ``state_only=False`` but not when
+  ``state_only=True``.
 
   User scripts must call ``sync`` in order for the viewer to reflect physics state changes. The ``sync`` function
   also transfers user inputs from the GUI back into ``mjOption`` (inside ``mjModel``) and ``mjData``, including
@@ -1060,5 +1068,5 @@ non-exhaustive list of specific mujoco-py features:
    This is the one context in which the MuJoCo library (and therefore also ``mujoco``) is stateful: it holds a copy in
    memory of the last XML that was compiled, which is used in :ref:`mujoco.mj_saveLastXML(fname) <mj_saveLastXML>`. Note
    that mujoco-py’s implementation has a convenient extra feature, whereby the pose (as determined by ``sim.data``’s
-   state) is transformed to a keyframe that’s added to the model before saving.  This extra feature is not currently
+   state) is transformed to a keyframe that’s added to the model before saving. This extra feature is not currently
    available in ``mujoco``.
diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index a62d1b6b..f44bd9bd 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -336,6 +336,7 @@ PYBIND11_MODULE(_simulate, pymodule) {
            CallIfNotNull(&mujoco::Simulate::LoadMessageClear),
            py::call_guard<py::gil_scoped_release>())
       .def("sync", CallIfNotNull(&mujoco::Simulate::Sync),
+           py::arg("state_only") = false,
            py::call_guard<py::gil_scoped_release>())
       .def("add_to_history", CallIfNotNull(&mujoco::Simulate::AddToHistory),
            py::call_guard<py::gil_scoped_release>())
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index c1de94ec..7140773d 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -230,10 +230,10 @@ class Handle:
       return sim.lock()
     return contextlib.nullcontext()
 
-  def sync(self):
+  def sync(self, state_only: bool = False):
     sim = self._get_sim()
     if sim is not None:
-      sim.sync()  # locks internally
+      sim.sync(state_only)  # locks internally
 
   def update_hfield(self, hfieldid: int):
     sim = self._get_sim()
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index b692302e..17ac9e82 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1912,7 +1912,7 @@ Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
 //------------------------- Synchronize render and physics threads ---------------------------------
 
 // operations which require holding the mutex, prevents racing with physics thread
-void Simulate::Sync() {
+void Simulate::Sync(bool state_only) {
   MutexLock lock(this->mtx);
 
   if (!m_) {
@@ -2159,8 +2159,17 @@ void Simulate::Sync() {
   if (!is_passive_) {
     mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
   } else {
-    mjv_copyModel(m_passive_, m_);
-    mjv_copyData(d_passive_, m_passive_, d_);
+    if (state_only) {
+      int state_size = mj_stateSize(m_, mjSTATE_INTEGRATION);
+      mjtNum* state = new mjtNum[state_size];
+      mj_getState(m_, d_, state, mjSTATE_INTEGRATION);
+      mj_setState(m_passive_, d_passive_, state, mjSTATE_INTEGRATION);
+      mj_forward(m_passive_, d_passive_);
+      delete[] state;
+    } else {
+      mjv_copyModel(m_passive_, m_);
+      mjv_copyData(d_passive_, m_passive_, d_);
+    }
 
     // append geoms from user_scn to scratch space
     if (user_scn) {
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 03c0a0b1..a949615e 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -54,9 +54,10 @@ class Simulate {
       std::unique_ptr<PlatformUIAdapter> platform_ui_adapter,
       mjvCamera* cam, mjvOption* opt, mjvPerturb* pert, bool is_passive);
 
-  // Synchronize mjModel and mjData state with UI inputs, and update
-  // visualization.
-  void Sync();
+  // Synchronize state with UI inputs, and update visualization.  If state_only
+  // is false mjData and mjModel will be updated, otherwise only the subset of
+  // mjData corresponding to mjSTATE_INTEGRATION will be synced.
+  void Sync(bool state_only = false);
 
   void UpdateHField(int hfieldid);
   void UpdateMesh(int meshid);

From 09f44b3c92a01cc453e2c46cd04a08a2b67e440f Mon Sep 17 00:00:00 2001
From: Matija Kecman <matijak@google.com>
Date: Fri, 27 Jun 2025 03:00:17 -0700
Subject: [PATCH 66/82] Explain why mjpython is needed on MacOS

PiperOrigin-RevId: 776500649
Change-Id: Ifc4c944284f541cdb3a7027365ee27caaee39731
---
 doc/python.rst | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/doc/python.rst b/doc/python.rst
index 2d22de9d..cf4c3dd2 100644
--- a/doc/python.rst
+++ b/doc/python.rst
@@ -90,11 +90,11 @@ code to continue execution. In this mode, the user's script is responsible for t
 and mouse-drag perturbations will not work unless the user explicitly synchronizes incoming events.
 
 .. warning::
-  On MacOS, ``launch_passive`` requires that the user script is executed via a special ``mjpython`` launcher.
-  The ``mjpython`` command is installed as part of the ``mujoco`` package, and can be used as a drop-in replacement
-  for the usual ``python`` command and supports an identical set of command line flags and arguments. For example,
-  a script can be executed via ``mjpython my_script.py``, and an IPython shell can be launched via
-  ``mjpython -m IPython``.
+  On MacOS, ``launch_passive`` requires that the user script is executed via a special ``mjpython`` launcher, this is
+  needed to circumvent a platform limitation which requires the main thread to be one that does the rendering. The
+  ``mjpython`` command is installed as part of the ``mujoco`` package, and can be used as a drop-in replacement for the
+  usual ``python`` command and supports an identical set of command line flags and arguments. For example, a script can
+  be executed via ``mjpython my_script.py``, and an IPython shell can be launched via ``mjpython -m IPython``.
 
 The ``launch_passive`` function returns a handle which can be used to interact with the viewer. It has the following
 attributes:

From 2e8e38b492458199d6493dec69a22c581d6ef62e Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 27 Jun 2025 05:56:46 -0700
Subject: [PATCH 67/82] Add double quotes when setting rpath property fixing
 handling of lists.

PiperOrigin-RevId: 776549203
Change-Id: I51375c536729356f023076037ec1f5335d407fa4
---
 cmake/TargetAddRpath.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake/TargetAddRpath.cmake b/cmake/TargetAddRpath.cmake
index 03542231..397014ab 100644
--- a/cmake/TargetAddRpath.cmake
+++ b/cmake/TargetAddRpath.cmake
@@ -179,7 +179,7 @@ function(target_add_rpath)
 
     set_target_properties(
       ${_target}
-      PROPERTIES INSTALL_RPATH ${_install_rpath}
+      PROPERTIES INSTALL_RPATH "${_install_rpath}"
                  INSTALL_RPATH_USE_LINK_PATH ${_ARGS_USE_LINK_PATH}
                  BUILD_WITH_INSTALL_RPATH TRUE
                  MACOSX_RPATH ON # This is ON by default.

From 931ea6938c2e9d972857d527827a65ce4accb615 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Fri, 27 Jun 2025 06:00:30 -0700
Subject: [PATCH 68/82] Add parsing tests for joints.

Also remove the not properly supported SphericalJoint (ball joint).

PiperOrigin-RevId: 776550199
Change-Id: I863dfa89c4cb564cf453e57c19df563ddade92b8
---
 src/experimental/usd/usd_to_mjspec.cc | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
index d1c48ceb..21ef2cb6 100644
--- a/src/experimental/usd/usd_to_mjspec.cc
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -872,10 +872,8 @@ void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
     type = mjJNT_HINGE;
   } else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
     type = mjJNT_SLIDE;
-  } else if (prim.IsA<pxr::UsdPhysicsSphericalJoint>()) {
-    type = mjJNT_BALL;
   } else {
-    // Unknown joint type.
+    // Unsupported joint type.
     mju_warning("Unsupported joint type for %s",
                 prim.GetPath().GetAsString().c_str());
     return;

From e97e5d31d0e5c3205467cc495aa128dd707f520b Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 27 Jun 2025 07:20:43 -0700
Subject: [PATCH 69/82] Replace box SDF with a smooth approximation.

This approximation is equivalent to the exact SDF on the surface and externally, but it is smooth on the inside, rotating the gradient from radial at the box center to normal to the faces at the surface, and interpolated linearly (using two Euler angles) in between. This enables stable contact gradients for deeper penetrations.

PiperOrigin-RevId: 776574022
Change-Id: I562976e9f0535b0067aa12b2bc9d48eccb6472e9
---
 src/engine/engine_collision_sdf.c        | 33 ++++++++++++++++++++----
 test/engine/engine_collision_sdf_test.cc |  4 +--
 2 files changed, 30 insertions(+), 7 deletions(-)

diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
index 591c96b8..b1942970 100644
--- a/src/engine/engine_collision_sdf.c
+++ b/src/engine/engine_collision_sdf.c
@@ -36,6 +36,19 @@
 
 //---------------------------- primitives sdf ---------------------------------------------
 
+static void radialField3d(mjtNum field[3], const mjtNum a[3], const mjtNum x[3],
+                          const mjtNum size[3]) {
+  field[0] = -size[0] / a[0];
+  field[1] = -size[1] / a[1];
+  field[2] = -size[2] / a[2];
+  mju_normalize3(field);
+
+  // flip sign if necessary
+  if (x[0] < 0) field[0] = -field[0];
+  if (x[1] < 0) field[1] = -field[1];
+  if (x[2] < 0) field[2] = -field[2];
+}
+
 static mjtNum geomDistance(const mjModel* m, const mjData* d, const mjpPlugin* p,
                            int i, const mjtNum x[3], mjtGeom type) {
   mjtNum a[3], b[3];
@@ -48,13 +61,23 @@ static mjtNum geomDistance(const mjModel* m, const mjData* d, const mjpPlugin* p
   case mjGEOM_SPHERE:
     return mju_norm3(x) - size[0];
   case mjGEOM_BOX:
+    // compute shortest distance to box surface if outside, otherwise
+    // intersect with a unit gradient that linearly rotates from radial to the face normals
     a[0] = mju_abs(x[0]) - size[0];
     a[1] = mju_abs(x[1]) - size[1];
     a[2] = mju_abs(x[2]) - size[2];
-    b[0] = mju_max(a[0], 0);
-    b[1] = mju_max(a[1], 0);
-    b[2] = mju_max(a[2], 0);
-    return mju_norm3(b) + mju_min(mju_max(a[0], mju_max(a[1], a[2])), 0);
+    if (a[0] >= 0 || a[1] >= 0 || a[2] >= 0) {
+      b[0] = mju_max(a[0], 0);
+      b[1] = mju_max(a[1], 0);
+      b[2] = mju_max(a[2], 0);
+      return mju_norm3(b) + mju_min(mju_max(a[0], mju_max(a[1], a[2])), 0);
+    }
+    radialField3d(b, a, x, size);
+    mjtNum t[3];
+    t[0] = -a[0] / mju_abs(b[0]);
+    t[1] = -a[1] / mju_abs(b[1]);
+    t[2] = -a[2] / mju_abs(b[2]);
+    return -mju_min(t[0], mju_min(t[1], t[2])) * mju_norm3(b);
   case mjGEOM_CAPSULE:
     a[0] = x[0];
     a[1] = x[1];
@@ -111,7 +134,7 @@ static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
     int k = a[0] > a[1] ? 0 : 1;
     int l = a[2] > a[k] ? 2 : k;
     if (a[l] < 0) {
-      gradient[l] = x[l] / mju_abs(x[l]);
+      radialField3d(gradient, a, x, size);
     } else {
       b[0] = mju_max(a[0], 0);
       b[1] = mju_max(a[1], 0);
diff --git a/test/engine/engine_collision_sdf_test.cc b/test/engine/engine_collision_sdf_test.cc
index e20d2fbe..5d38c627 100644
--- a/test/engine/engine_collision_sdf_test.cc
+++ b/test/engine/engine_collision_sdf_test.cc
@@ -60,7 +60,7 @@ TEST_F(SdfTest, SdfPrimitive) {
     {-1, 0, 0, mju_sqrt(2)-1, mju_sqrt(2)-1, mju_sqrt(3)-1},  // sphere
     {-.1, .9, .9, mju_sqrt(2)-.1, .9, mju_sqrt(2)-.1},  // capsule
     {-1, 0, 0, mju_sqrt(2)-1, 0, mju_sqrt(2)-1},  // cylinder
-    {-1, 0, 0, 0, 0, 0},  // box
+    {-mju_sqrt(3), 0, 0, 0, 0, 0},  // box
   };
   mjtNum points[kpoints][3] = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
                                {1, 1, 0}, {0, 1, 1}, {1, 1, 1}};
@@ -71,7 +71,7 @@ TEST_F(SdfTest, SdfPrimitive) {
     sdf.type = mjSDFTYPE_SINGLE;
     sdf.geomtype = (mjtGeom*)(model->geom_type+i);
     for (int j = 0; j < kpoints; j++) {
-      ASSERT_THAT(mjc_distance(model, data, &sdf, points[j]), dist[i][j]);
+      EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j], 1e-9);
       mjc_gradient(model, data, &sdf, gradient, points[j]);
     }
   }

From e80a62c6d5e9b078bdc8e1ecdb76156c9739e08f Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 27 Jun 2025 07:58:27 -0700
Subject: [PATCH 70/82] Allow loading USD files into simulate.

PiperOrigin-RevId: 776584803
Change-Id: I66a5277b3752d69ba5d44ed419204951edb18d41
---
 simulate/CMakeLists.txt             | 24 +++++++++++++
 simulate/main.cc                    | 53 +++++++++++++++++++++++++++--
 src/experimental/usd/CMakeLists.txt |  2 ++
 3 files changed, 76 insertions(+), 3 deletions(-)

diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 85ffaa4e..808de669 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -174,6 +174,14 @@ if(SIMULATE_BUILD_EXECUTABLE)
     lodepng
   )
 
+  if (MUJOCO_WITH_USD)
+    target_link_libraries(
+      simulate
+      mujoco::usd
+      mujoco::usd::mjcf
+    )
+  endif()
+
   target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 
   if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
@@ -240,6 +248,22 @@ if(SIMULATE_BUILD_EXECUTABLE)
       MUJOCO_ENABLE_RPATH
     )
 
+    if (MUJOCO_WITH_USD)
+      target_compile_definitions(simulate PUBLIC SIMULATE_WITH_USD)
+
+      # Add support to RPATH for the samples.
+      target_add_rpath(
+        TARGETS
+        simulate
+        INSTALL_DIRECTORY
+        "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
+        LIB_DIRS
+        ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/mujocoUsd ${USD_DIR}/lib
+        DEPENDS
+        MUJOCO_ENABLE_RPATH
+      )
+    endif()
+
     install(
       TARGETS simulate
       EXPORT ${PROJECT_NAME}
diff --git a/simulate/main.cc b/simulate/main.cc
index 1b5ccb65..e3d42a03 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -25,6 +25,12 @@
 #include <string>
 #include <thread>
 
+#if defined(SIMULATE_WITH_USD)
+#include <mujoco/experimental/usd/usd.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/stage.h>
+#endif
 #include <mujoco/mujoco.h>
 #include "glfw_adapter.h"
 #include "simulate.h"
@@ -224,13 +230,49 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
   char loadError[kErrorLength] = "";
   mjModel* mnew = 0;
   auto load_start = mj::Simulate::Clock::now();
-  if (mju::strlen_arr(filename)>4 &&
-      !std::strncmp(filename + mju::strlen_arr(filename) - 4, ".mjb",
-                    mju::sizeof_arr(filename) - mju::strlen_arr(filename)+4)) {
+
+  std::string filename_str(filename);
+  std::string extension;
+  size_t dot_pos = filename_str.rfind('.');
+
+  if (dot_pos != std::string::npos && dot_pos < filename_str.length() - 1) {
+    extension = filename_str.substr(dot_pos);
+  }
+
+  if (extension == ".mjb") {
     mnew = mj_loadModel(filename, nullptr);
     if (!mnew) {
       mju::strcpy_arr(loadError, "could not load binary model");
     }
+#if defined(SIMULATE_WITH_USD)
+  } else if (extension == ".usda" || extension == ".usd" ||
+             extension == ".usdc" || extension == ".usdz" ) {
+    auto stage = pxr::UsdStage::Open(filename);
+    if (!stage) {
+      mju::strcpy_arr(loadError, "could not open USD stage");
+    } else {
+      mjSpec* spec = mj_parseUSDStage(stage);
+      if (!spec) {
+        mju::strcpy_arr(loadError, "could not parse USD stage to mjSpec");
+      } else {
+        mjModel* model = mj_compile(spec, nullptr);
+        if (!model) {
+          mju::strcpy_arr(loadError,
+                          "could not compile USD parsed mjSpec to mjModel:\n");
+          mju::strcat_arr(loadError, mjs_getError(spec));
+        } else {
+          // handle compile warning
+          if (mjs_isWarning(spec)) {
+            mju::strcpy_arr(
+                loadError,
+                "warning while compiling USD parsed mjSpec to mjModel:\n");
+            mju::strcat_arr(loadError, mjs_getError(spec));
+          }
+        }
+        mnew = model;
+      }
+    }
+#endif
   } else {
     mnew = mj_loadXML(filename, nullptr, loadError, kErrorLength);
 
@@ -495,6 +537,11 @@ int main(int argc, char** argv) {
   // scan for libraries in the plugin directory to load additional plugins
   scanPluginLibraries();
 
+#if defined(SIMULATE_WITH_USD)
+  // If USD is used, print the version.
+  std::printf("OpenUSD version v%d.%02d\n", PXR_MINOR_VERSION, PXR_PATCH_VERSION);
+#endif
+
   mjvCamera cam;
   mjv_defaultCamera(&cam);
 
diff --git a/src/experimental/usd/CMakeLists.txt b/src/experimental/usd/CMakeLists.txt
index 4a256f58..96cd9eeb 100644
--- a/src/experimental/usd/CMakeLists.txt
+++ b/src/experimental/usd/CMakeLists.txt
@@ -152,6 +152,7 @@ endif()
 set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
 
 add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED)
+add_library(mujoco::usd::mjcf ALIAS ${MJCF_PLUGIN_TARGET_NAME})
 target_sources(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
   plugins/mjcf/mjcf_file_format.cc
   plugins/mjcf/mjcf_file_format.h
@@ -190,6 +191,7 @@ target_include_directories(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PUBLIC
 ## mj_usd
 
 add_library(${MJ_USD_TARGET_NAME} SHARED)
+add_library(mujoco::usd ALIAS ${MJ_USD_TARGET_NAME})
 target_sources(${MJ_USD_TARGET_NAME} PRIVATE
   writer.cc
   layer_sink.cc

From c945247e7cc31c7eff7af01e02603bc2489922e3 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 27 Jun 2025 09:06:36 -0700
Subject: [PATCH 71/82] Don't write `limited` and `actuatorfrclimited`
 attributes when "true" is not a valid value.

Saved XMLs are filled with
```
<joint type="free" limited="false" actuatorforcelimited="false"/>
```

but since these are hardcoded to "false" at compile time, there is no point in saving them to XML.

PiperOrigin-RevId: 776606516
Change-Id: Iac61c5126231f776077a8c265be732f9215fbfbb
---
 src/user/user_objects.cc     |  2 ++
 src/xml/xml_native_writer.cc | 10 +++++++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index d925a3a3..c8f21281 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -2392,6 +2392,7 @@ int mjCJoint::Compile(void) {
   if (type == mjJNT_FREE) {
     limited = mjLIMITED_FALSE;
   }
+
   // otherwise if limited is auto, check consistency wrt auto-limits
   else if (limited == mjLIMITED_AUTO) {
     bool hasrange = !(range[0] == 0 && range[1] == 0);
@@ -2423,6 +2424,7 @@ int mjCJoint::Compile(void) {
   if (type == mjJNT_FREE || type == mjJNT_BALL) {
     actfrclimited = mjLIMITED_FALSE;
   }
+
   // otherwise if actfrclimited is auto, check consistency wrt auto-limits
   else if (actfrclimited == mjLIMITED_AUTO) {
     bool hasrange = !(actfrcrange[0] == 0 && actfrcrange[1] == 0);
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 6b27bbc3..8b70e9a2 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -395,10 +395,14 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
   WriteAttr(elem, "solimpfriction", mjNIMP, joint->solimp_friction, def->Joint().solimp_friction,
             true);
   WriteAttr(elem, "stiffness", 1, &joint->stiffness, &def->Joint().stiffness);
-  WriteAttrKey(elem, "limited", TFAuto_map, 3, joint->limited, def->Joint().limited);
+  if (joint->type != mjJNT_FREE) {
+    WriteAttrKey(elem, "limited", TFAuto_map, 3, joint->limited, def->Joint().limited);
+  }
   WriteAttr(elem, "range", 2, joint->range, def->Joint().range);
-  WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, joint->actfrclimited,
-               def->Joint().actfrclimited);
+  if (joint->type != mjJNT_FREE && joint->type != mjJNT_BALL) {
+    WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, joint->actfrclimited,
+                def->Joint().actfrclimited);
+  }
   WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, joint->actgravcomp, def->Joint().actgravcomp);
   WriteAttr(elem, "actuatorfrcrange", 2, joint->actfrcrange, def->Joint().actfrcrange);
   WriteAttr(elem, "margin", 1, &joint->margin, &def->Joint().margin);

From 57b3d6d0f4a8a785c5fd01901bd4ceaaf5e6d235 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 30 Jun 2025 03:15:27 -0700
Subject: [PATCH 72/82] Make island discovery compatible with flex

PiperOrigin-RevId: 777490642
Change-Id: Iae2f4e8297cc24bded833e04ebfe32895f3a5460
---
 src/engine/engine_forward.c       |  4 +-
 src/engine/engine_island.c        | 72 ++++++++++++-------------------
 test/engine/engine_island_test.cc | 29 +++++++++++--
 test/testdata/flex.xml            |  4 +-
 4 files changed, 58 insertions(+), 51 deletions(-)

diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 16d33cae..3acaa713 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -173,9 +173,7 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
 
   TM_RESTART;
   mj_makeConstraint(m, d);
-  if (mjENABLED(mjENBL_ISLAND)) {
-    mj_island(m, d);
-  }
+  mj_island(m, d);
   TM_END(mjTIMER_POS_MAKE);
 
   TM_RESTART;
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
index 05364373..7f898f8c 100644
--- a/src/engine/engine_island.c
+++ b/src/engine/engine_island.c
@@ -141,29 +141,6 @@ int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, cons
 
 
 
-// return upper bound on number of tree-tree edges
-static int countMaxEdge(const mjModel* m, const mjData* d) {
-  int nedge_max = 0;
-  nedge_max += 2*d->ncon;  // contact: 2 edges
-  nedge_max += 2*d->ne;    // equality: 2 edges
-  nedge_max += d->nl;      // limit: 1 edges (always within same tree)
-  nedge_max += d->nf;      // joint friction: 1 edge (always within same tree)
-
-  // tendon limits and friction add up to tendon_num edges
-  for (int i=0; i < m->ntendon; i++) {
-    if (m->tendon_frictionloss[i]) {
-      nedge_max += m->tendon_num[i];
-    }
-    if (m->tendon_limited[i]) {
-      nedge_max += m->tendon_num[i];
-    }
-  }
-
-  return nedge_max;
-}
-
-
-
 // return id of next tree in Jacobian row i that is different from tree, -1 if not found
 //   start search from *index
 //   write the index of the found tree to *index
@@ -242,21 +219,27 @@ static int treeFirst(const mjModel* m, const mjData* d, int tree[2], int i) {
   if (efc_type == mjCNSTR_CONTACT_FRICTIONLESS ||
       efc_type == mjCNSTR_CONTACT_PYRAMIDAL ||
       efc_type == mjCNSTR_CONTACT_ELLIPTIC) {
-    tree[0] = m->body_treeid[m->geom_bodyid[d->contact[efc_id].geom[0]]];
-    tree[1] = m->body_treeid[m->geom_bodyid[d->contact[efc_id].geom[1]]];
+    int g1 = d->contact[efc_id].geom[0];
+    int g2 = d->contact[efc_id].geom[1];
 
-    // handle static bodies
-    if (tree[0] < 0) {
-      if (tree[1] < 0) {
-        mjERROR("contact %d is between two static bodies", efc_id);  // SHOULD NOT OCCUR
-      } else {
-        int tmp = tree[0];
-        tree[0] = tree[1];
-        tree[1] = tmp;
+    // no shortcut for flex contacts (handled in the generic case)
+    if (g1 >=0 && g2 >= 0) {
+      tree[0] = m->body_treeid[m->geom_bodyid[g1]];
+      tree[1] = m->body_treeid[m->geom_bodyid[g2]];
+
+      // handle static bodies
+      if (tree[0] < 0) {
+        if (tree[1] < 0) {
+          mjERROR("contact %d is between two static bodies", efc_id);  // SHOULD NOT OCCUR
+        } else {
+          int tmp = tree[0];
+          tree[0] = tree[1];
+          tree[1] = tmp;
+        }
       }
-    }
 
-    return -1;
+      return -1;
+    }
   }
 
   // connect or weld constraints
@@ -373,9 +356,12 @@ static int findEdges(const mjModel* m, const mjData* d, int* treenedge, int* edg
 
   int nedge = 0;
   for (int i=0; i < nefc; i++) {
-    // row i is still in the same constraint: skip
+    // row i is still in the same constraint: skip it,
     if (efc_type == d->efc_type[i] && efc_id == d->efc_id[i]) {
-      continue;
+      // unless it is a flex equality, where the tree pattern changes per dof
+      if (!(efc_type == mjCNSTR_EQUALITY && m->eq_type[efc_id] == mjEQ_FLEX)) {
+        continue;
+      }
     }
     efc_type = d->efc_type[i];
     efc_id = d->efc_id[i];
@@ -425,21 +411,19 @@ void mj_island(const mjModel* m, mjData* d) {
   int nv = m->nv, nefc = d->nefc, ntree=m->ntree;
 
   // no constraints: quick return
-  if (!nefc || m->nflex) {  // TODO: add flex support to island discovery
-    d->nisland = 0;
-    d->nidof = 0;
+  if (!mjENABLED(mjENBL_ISLAND) || !nefc) {
+    d->nisland = d->nidof = 0;
     return;
   }
 
   mj_markStack(d);
 
-  // allocate edge array
-  int nedge_max = countMaxEdge(m, d);
-  int* edge = mjSTACKALLOC(d, 2*nedge_max, int);
+  // allocate edge array, nJ is an upper bound
+  int* edge = mjSTACKALLOC(d, 2*d->nJ, int);
 
   // get tree-tree edges and rownnz counts from efc arrays
   int* rownnz = mjSTACKALLOC(d, ntree, int);  // number of edges per tree
-  int nedge = findEdges(m, d, rownnz, edge, nedge_max);
+  int nedge = findEdges(m, d, rownnz, edge, d->nJ);
 
   // compute starting address of tree's column indices while resetting rownnz
   int* rowadr = mjSTACKALLOC(d, ntree, int);
diff --git a/test/engine/engine_island_test.cc b/test/engine/engine_island_test.cc
index e59ac3b4..80437e7c 100644
--- a/test/engine/engine_island_test.cc
+++ b/test/engine/engine_island_test.cc
@@ -28,12 +28,11 @@
 namespace mujoco {
 namespace {
 
+using ::testing::DoubleNear;
 using ::testing::ElementsAre;
+using ::testing::Pointwise;
 using IslandTest = MujocoTest;
 
-std::vector<int> AsVector(const int* array, int n) {
-  return std::vector<int>(array, array + n);
-}
 
 TEST_F(IslandTest, FloodFillSingleton) {
   // adjacency matrix for the graph  0   1   2
@@ -368,6 +367,30 @@ TEST_F(IslandTest, IslandEfc) {
   mj_deleteModel(model);
 }
 
+TEST_F(IslandTest, IslandFlex) {
+  const std::string xml_path = GetTestDataFilePath("testdata/flex.xml");
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
+  mjData* data1 = mj_makeData(model);
+  mjData* data2 = mj_makeData(model);
+
+  model->opt.enableflags |= mjENBL_ISLAND;
+  while (data1->time < 0.2) {
+    mj_step(model, data1);
+  }
+
+  model->opt.enableflags &= ~mjENBL_ISLAND;
+  while (data2->time < 0.2) {
+    mj_step(model, data2);
+  }
+
+  EXPECT_THAT(AsVector(data1->qpos, model->nq),
+              Pointwise(DoubleNear(1e-6), AsVector(data2->qpos, model->nq)));
+
+  mj_deleteData(data2);
+  mj_deleteData(data1);
+  mj_deleteModel(model);
+}
+
 static const char* const k2H100Path = "engine/testdata/island/2humanoid100.xml";
 
 TEST_F(IslandTest, IslandJacobian) {
diff --git a/test/testdata/flex.xml b/test/testdata/flex.xml
index 4e243dbf..0bc6403a 100644
--- a/test/testdata/flex.xml
+++ b/test/testdata/flex.xml
@@ -1,5 +1,7 @@
 <mujoco model="flex">
-  <option timestep="0.01" integrator="implicitfast"/>
+  <option timestep="0.01" integrator="implicitfast">
+    <flag island="enable"/>
+  </option>
 
   <asset>
     <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>

From 2ce5caa2395abdb3a590971152e7b814bee29043 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 30 Jun 2025 03:20:59 -0700
Subject: [PATCH 73/82] Update MJX rne_postconstraint with contributions from
 equality connect and equality weld constraints.

PiperOrigin-RevId: 777491801
Change-Id: Ib32dda4178def7a96d31e91787f3d0866a56cd76
---
 mjx/mujoco/mjx/_src/io.py          |  17 ----
 mjx/mujoco/mjx/_src/io_test.py     |  32 --------
 mjx/mujoco/mjx/_src/smooth.py      | 126 +++++++++++++++++++++++++++--
 mjx/mujoco/mjx/_src/smooth_test.py |  91 ++++++++++++++++++++-
 4 files changed, 208 insertions(+), 58 deletions(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 82551c86..ae747e85 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -248,23 +248,6 @@ def _put_model_jax(
       if t == mujoco.mjtGeom.mjGEOM_MESH:
         mesh_geomid.add(g)
 
-  # check for unsupported sensor and equality constraint combinations
-  sensor_rne_postconstraint = (
-      np.any(m.sensor_type == types.SensorType.ACCELEROMETER)
-      | np.any(m.sensor_type == types.SensorType.FORCE)
-      | np.any(m.sensor_type == types.SensorType.TORQUE)
-      | np.any(m.sensor_type == types.SensorType.FRAMELINACC)
-      | np.any(m.sensor_type == types.SensorType.FRAMEANGACC)
-  )
-  eq_connect_weld = np.any(m.eq_type == types.EqType.CONNECT) | np.any(
-      m.eq_type == types.EqType.WELD
-  )
-  if sensor_rne_postconstraint and eq_connect_weld:
-    raise NotImplementedError(
-        'rne_postconstraint not implemented with equality constraints:'
-        ' connect, weld.'
-    )
-
   for enum_field, enum_type, mj_type in (
       (m.actuator_biastype, types.BiasType, mujoco.mjtBias),
       (m.actuator_dyntype, types.DynType, mujoco.mjtDyn),
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index c8670597..f8d56d09 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -625,38 +625,6 @@ class DataIOTest(parameterized.TestCase):
     with self.assertRaises(NotImplementedError):
       mjx.make_data(m)
 
-  @parameterized.product(
-      sensor=['accelerometer', 'force', 'torque'], equality=['connect', 'weld']
-  )
-  def test_sensor_constraint_compatibility(self, sensor, equality):
-    """Test unsupported sensor and equality constraint combinations."""
-    equality_constraint = f'{equality} body1="body1" body2="body2"'
-    if equality == 'connect':
-      equality_constraint += ' anchor="0 0 0"'
-    m = mujoco.MjModel.from_xml_string(f"""
-        <mujoco>
-          <worldbody>
-            <body name="body1">
-              <freejoint/>
-              <geom size="0.1"/>
-              <site name="site1"/>
-            </body>
-            <body name="body2">
-              <freejoint/>
-              <geom size="0.1"/>
-            </body>
-          </worldbody>
-          <equality>
-            <{equality_constraint}/>
-          </equality>
-          <sensor>
-            <{sensor} site="site1"/>
-          </sensor>
-        </mujoco>
-      """)
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(m, impl='jax')
-
   @parameterized.parameters(JacobianType.DENSE, JacobianType.SPARSE)
   def test_qm_mapm2m(self, jacobian):
     """Test that qM is mapped to M."""
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
index 169e5a25..8f19f6f1 100644
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ b/mjx/mujoco/mjx/_src/smooth.py
@@ -29,6 +29,7 @@ from mujoco.mjx._src.types import EqType
 from mujoco.mjx._src.types import JointType
 from mujoco.mjx._src.types import Model
 from mujoco.mjx._src.types import ModelJAX
+from mujoco.mjx._src.types import ObjType
 from mujoco.mjx._src.types import TrnType
 from mujoco.mjx._src.types import WrapType
 # pylint: enable=g-importing-member
@@ -659,11 +660,126 @@ def rne_postconstraint(m: Model, d: Data) -> Data:
         cfrc_contact.reshape((-1, 6))
     )
 
-  # TODO(taylorhowell): connect and weld constraints
-  if np.any(m.eq_type == EqType.CONNECT):
-    raise NotImplementedError('Connect constraints are not implemented.')
-  if np.any(m.eq_type == EqType.WELD):
-    raise NotImplementedError('Weld constraints are not implemented.')
+  # cfrc_ext += connect, weld
+  cfrc_ext_equality = []
+  cfrc_ext_equality_adr = []
+
+  connect_id = m.eq_type == EqType.CONNECT
+  nconnect = connect_id.sum()
+
+  if nconnect:
+    cfrc_connect_force = d._impl.efc_force[: 3 * nconnect].reshape(
+        (nconnect, 3)
+    )
+
+    is_site = m.eq_objtype == ObjType.SITE
+    body1id = np.copy(m.eq_obj1id)
+    body2id = np.copy(m.eq_obj2id)
+    pos1 = m.eq_data[:, :3]
+    pos2 = m.eq_data[:, 3:6]
+
+    if m.nsite:
+      body1id[is_site] = m.site_bodyid[m.eq_obj1id[is_site]]
+      body2id[is_site] = m.site_bodyid[m.eq_obj2id[is_site]]
+      pos1 = jp.where(is_site[:, None], m.site_pos[m.eq_obj1id], pos1)
+      pos2 = jp.where(is_site[:, None], m.site_pos[m.eq_obj2id], pos2)
+
+    # body 1
+    k1_connect = body1id[connect_id]
+    k1_connect_mask = k1_connect != 0
+    offset1_connect = pos1[connect_id]
+
+    pos1_connect = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
+        offset1_connect, d.xmat[k1_connect], d.xpos[k1_connect]
+    )
+    subtree_com1_connect = d.subtree_com[jp.array(m.body_rootid)[k1_connect]]
+    cfrc_com1_connect = jax.vmap(
+        lambda dif, frc, mask: mask * jp.concatenate([-jp.cross(dif, frc), frc])
+    )(subtree_com1_connect - pos1_connect, cfrc_connect_force, k1_connect_mask)
+
+    # body 2
+    k2_connect = body2id[connect_id]
+    k2_connect_mask = -1 * (k2_connect != 0)
+    offset2_connect = pos2[connect_id]
+
+    pos2_connect = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
+        offset2_connect, d.xmat[k2_connect], d.xpos[k2_connect]
+    )
+    subtree_com2_connect = d.subtree_com[jp.array(m.body_rootid)[k2_connect]]
+    cfrc_com2_connect = jax.vmap(
+        lambda dif, frc, mask: mask * jp.concatenate([-jp.cross(dif, frc), frc])
+    )(subtree_com2_connect - pos2_connect, cfrc_connect_force, k2_connect_mask)
+
+    cfrc_ext_equality.append(jp.vstack([cfrc_com1_connect, cfrc_com2_connect]))
+    cfrc_ext_equality_adr.append(jp.concatenate([k1_connect, k2_connect]))
+
+  weld_id = m.eq_type == EqType.WELD
+  nweld = weld_id.sum()
+
+  if nweld:
+    cfrc_weld = d._impl.efc_force[
+        3 * nconnect : 3 * nconnect + 6 * nweld
+    ].reshape((nweld, 6))
+    cfrc_weld_force = cfrc_weld[:, :3]
+    cfrc_weld_torque = cfrc_weld[:, 3:]
+
+    is_site = m.eq_objtype == ObjType.SITE
+    body1id = np.copy(m.eq_obj1id)
+    body2id = np.copy(m.eq_obj2id)
+    pos1 = m.eq_data[:, 3:6]
+    pos2 = m.eq_data[:, :3]
+
+    if m.nsite:
+      body1id[is_site] = m.site_bodyid[m.eq_obj1id[is_site]]
+      body2id[is_site] = m.site_bodyid[m.eq_obj2id[is_site]]
+      pos1 = jp.where(is_site[:, None], m.site_pos[m.eq_obj1id], pos1)
+      pos2 = jp.where(is_site[:, None], m.site_pos[m.eq_obj2id], pos2)
+
+    # body 1
+    k1_weld = body1id[weld_id]
+    k1_weld_mask = k1_weld != 0
+    offset1_weld = pos1[weld_id]
+
+    pos1_weld = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
+        offset1_weld, d.xmat[k1_weld], d.xpos[k1_weld]
+    )
+    subtree_com1_weld = d.subtree_com[jp.array(m.body_rootid)[k1_weld]]
+    cfrc_com1_weld = jax.vmap(
+        lambda dif, frc, trq, mask: mask
+        * jp.concatenate([trq - jp.cross(dif, frc), frc])
+    )(
+        subtree_com1_weld - pos1_weld,
+        cfrc_weld_force,
+        cfrc_weld_torque,
+        k1_weld_mask,
+    )
+
+    # body 2
+    k2_weld = body2id[weld_id]
+    k2_weld_mask = -1 * (k2_weld != 0)
+    offset2_weld = pos2[weld_id]
+
+    pos2_weld = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
+        offset2_weld, d.xmat[k2_weld], d.xpos[k2_weld]
+    )
+    subtree_com2_weld = d.subtree_com[jp.array(m.body_rootid)[k2_weld]]
+    cfrc_com2_weld = jax.vmap(
+        lambda dif, frc, trq, mask: mask
+        * jp.concatenate([trq - jp.cross(dif, frc), frc])
+    )(
+        subtree_com2_weld - pos2_weld,
+        cfrc_weld_force,
+        cfrc_weld_torque,
+        k2_weld_mask,
+    )
+
+    cfrc_ext_equality.append(jp.vstack([cfrc_com1_weld, cfrc_com2_weld]))
+    cfrc_ext_equality_adr.append(jp.concatenate([k1_weld, k2_weld]))
+
+  if nconnect or nweld:
+    cfrc_ext = cfrc_ext.at[jp.concatenate(cfrc_ext_equality_adr)].add(
+        jp.vstack(cfrc_ext_equality)
+    )
 
   # forward pass over bodies: compute cacc, cfrc_int
   def _forward(carry, cfrc_ext, cinert, cvel, body_dofadr, body_dofnum):
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
index 64c4d32b..061087f9 100644
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ b/mjx/mujoco/mjx/_src/smooth_test.py
@@ -230,21 +230,98 @@ class SmoothTest(absltest.TestCase):
 
 
 class RnePostConstraintTest(parameterized.TestCase):
+  _CONNECT_SITE = """
+    <equality>
+      <connect site1="site1" site2="site2"/>
+    </equality>
+    """
+  _CONNECT_BODY = """
+    <equality>
+      <connect body1="body1" body2="body2" anchor="1 2 3"/>
+    </equality>
+    """
+  _WELD_SITE = """
+    <equality>
+      <weld site1="site1" site2="site2"/>
+    </equality>
+    """
+  _WELD_BODY = """
+    <equality>
+      <weld body1="body1" body2="body2"/>
+    </equality>
+    """
+  _CONNECT_SITE_WELD_SITE = """
+    <equality>
+      <connect site1="site1" site2="site2"/>
+      <weld site1="site1" site2="site2"/>
+    </equality>
+    """
+  _WELD_SITE_CONNECT_SITE = """
+    <equality>
+      <weld site1="site1" site2="site2"/>
+      <connect site1="site1" site2="site2"/>
+    </equality>
+    """
+  _WELD_SITE_CONNECT_SITE_WELD_BODY = """
+    <equality>
+      <weld site1="site1" site2="site2"/>
+      <connect site1="site1" site2="site2"/>
+      <weld body1="body1" body2="body2"/>
+    </equality>
+    """
+  _CONNECT_SITE_WELD_SITE_WELD_BODY = """
+    <equality>
+      <connect site1="site1" site2="site2"/>
+      <weld site1="site1" site2="site2"/>
+      <weld body1="body1" body2="body2"/>
+    </equality>
+    """
+  _CONNECT_SITE_CONNECT_BODY_CONNECT_WELD = """
+    <equality>
+      <connect site1="site1" site2="site2"/>
+      <connect body1="body1" body2="body2" anchor="1 2 3"/>
+      <weld body1="body1" body2="body2"/>
+    </equality>
+    """
 
-  @parameterized.parameters(ConeType)
-  def test_rnepostconstraint(self, cone_type):
+  @parameterized.parameters(
+      ('', ConeType.PYRAMIDAL, None),
+      ('', ConeType.ELLIPTIC, None),
+      (_CONNECT_SITE, ConeType.PYRAMIDAL, None),
+      (_CONNECT_BODY, ConeType.PYRAMIDAL, None),
+      (_WELD_SITE, ConeType.PYRAMIDAL, None),
+      (_WELD_BODY, ConeType.PYRAMIDAL, None),
+      (_CONNECT_SITE_WELD_SITE, ConeType.PYRAMIDAL, None),
+      (
+          _WELD_SITE_CONNECT_SITE,
+          ConeType.PYRAMIDAL,
+          np.array([6, 7, 8, 0, 1, 2, 3, 4, 5]),
+      ),
+      (
+          _WELD_SITE_CONNECT_SITE_WELD_BODY,
+          ConeType.PYRAMIDAL,
+          np.array([6, 7, 8, 0, 1, 2, 3, 4, 5]),
+      ),
+      (_CONNECT_SITE_WELD_SITE_WELD_BODY, ConeType.PYRAMIDAL, None),
+      (_CONNECT_SITE_CONNECT_BODY_CONNECT_WELD, ConeType.PYRAMIDAL, None),
+  )
+  def test_rnepostconstraint(self, equality, cone_type, efc_map):
     """Tests MJX rne_postconstraint function to match MuJoCo mj_rnePostConstraint."""
 
-    m = mujoco.MjModel.from_xml_string("""
+    m = mujoco.MjModel.from_xml_string(f"""
         <mujoco>
           <worldbody>
             <geom name="floor" size="10 10 .05" type="plane"/>
-            <body pos="0 0 1">
+            <site name="site1"/>
+            <body name="body1">
+            </body>
+            <body pos="0 0 1" name="body2">
               <joint type="ball" damping="1"/>
               <geom type="capsule" size="0.1 0.5" fromto="0 0 0 0.5 0 0" condim="1"/>
               <body pos="0.5 0 0">
                 <joint type="ball" damping="1"/>
                 <geom type="capsule" size="0.1 0.5" fromto="0 0 0 0.5 0 0"  condim="3"/>
+                <site name="site2"/>
               </body>
             </body>
             <body pos="0 1 1">
@@ -256,6 +333,7 @@ class RnePostConstraintTest(parameterized.TestCase):
               </body>
             </body>
           </worldbody>
+          {equality}
           <keyframe>
             <key qpos='0.424577 0.450592 0.451703 -0.642391 0.729379 0.545151 0.407756 0.0674697 0.424577 1.450592 0.451703 -0.642391 0.729379 0.545151 0.407756 0.0674697'/>
           </keyframe>
@@ -273,6 +351,11 @@ class RnePostConstraintTest(parameterized.TestCase):
     mx = mjx.put_model(m)
     dx = mjx.put_data(m, d)
 
+    if efc_map is not None:
+      efc_force = d.efc_force.copy()
+      efc_force[: len(efc_map)] = d.efc_force[efc_map]
+      dx = dx.tree_replace({'_impl.efc_force': jp.array(efc_force)})
+
     # rne postconstraint
     mujoco.mj_rnePostConstraint(m, d)
     dx = jax.jit(mjx.rne_postconstraint)(mx, dx)

From 1c98dfd86e493663a4da2068b20438aa9004de17 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 30 Jun 2025 04:08:21 -0700
Subject: [PATCH 74/82] Remove unused header

PiperOrigin-RevId: 777505320
Change-Id: I39d4ccf47a49bfb6f74090e59c68373e76a0bcf5
---
 test/engine/engine_core_smooth_test.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 59e4ca3e..87897f7c 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -18,7 +18,6 @@
 #include "src/engine/engine_util_misc.h"
 #include "src/engine/engine_util_sparse.h"
 
-#include <algorithm>
 #include <string>
 #include <string_view>
 #include <vector>

From 106df98946a942bccf2cc8e38038bc8933858b0c Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Mon, 30 Jun 2025 07:47:47 -0700
Subject: [PATCH 75/82] Create Keyframe schema in mjcPhysics.

PiperOrigin-RevId: 777568003
Change-Id: I036fd54e2926c138f9ca8de87040b263b8427df3
---
 .../experimental/usd/mjcPhysics/keyframe.h    | 292 ++++++++++++++++++
 .../experimental/usd/mjcPhysics/tokens.h      |  38 ++-
 .../usd/mjcPhysics/generatedSchema.usda       |  24 ++
 src/experimental/usd/mjcPhysics/keyframe.cpp  | 185 +++++++++++
 src/experimental/usd/mjcPhysics/plugInfo.json |  13 +-
 src/experimental/usd/mjcPhysics/schema.usda   |  32 ++
 src/experimental/usd/mjcPhysics/tokens.cpp    |  14 +
 7 files changed, 590 insertions(+), 8 deletions(-)
 create mode 100644 include/mujoco/experimental/usd/mjcPhysics/keyframe.h
 create mode 100644 src/experimental/usd/mjcPhysics/keyframe.cpp

diff --git a/include/mujoco/experimental/usd/mjcPhysics/keyframe.h b/include/mujoco/experimental/usd/mjcPhysics/keyframe.h
new file mode 100644
index 00000000..bf66efb2
--- /dev/null
+++ b/include/mujoco/experimental/usd/mjcPhysics/keyframe.h
@@ -0,0 +1,292 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_KEYFRAME_H
+#define MJCPHYSICS_GENERATED_KEYFRAME_H
+
+/// \file mjcPhysics/keyframe.h
+
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usd/typed.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// KEYFRAME                                                                   //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsKeyframe
+///
+/// Represents time independent keyframe values.
+///
+class MjcPhysicsKeyframe : public UsdTyped {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
+
+  /// Construct a MjcPhysicsKeyframe on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsKeyframe(const UsdPrim &prim = UsdPrim())
+      : UsdTyped(prim) {}
+
+  /// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsKeyframe(const UsdSchemaBase &schemaObj)
+      : UsdTyped(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsKeyframe();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsKeyframe holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsKeyframe Get(const UsdStagePtr &stage, const SdfPath &path);
+
+  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
+  /// is defined (according to UsdPrim::IsDefined()) on this stage.
+  ///
+  /// If a prim adhering to this schema at \p path is already defined on this
+  /// stage, return that prim.  Otherwise author an \a SdfPrimSpec with
+  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
+  /// the prim at \p path at the current EditTarget.  Author \a SdfPrimSpec s
+  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
+  /// current EditTarget for any nonexistent, or existing but not \a Defined
+  /// ancestors.
+  ///
+  /// The given \a path must be an absolute prim path that does not contain
+  /// any variant selections.
+  ///
+  /// If it is impossible to author any of the necessary PrimSpecs, (for
+  /// example, in case \a path cannot map to the current UsdEditTarget's
+  /// namespace) issue an error and return an invalid \a UsdPrim.
+  ///
+  /// Note that this method may return a defined prim whose typeName does not
+  /// specify this schema class, in case a stronger typeName opinion overrides
+  /// the opinion at the current EditTarget.
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsKeyframe Define(const UsdStagePtr &stage,
+                                   const SdfPath &path);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCQPOS
+  // --------------------------------------------------------------------- //
+  /// Vector of joint positions, copied into mjData.qpos when the simulation
+  /// state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:qpos` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcQposAttr() const;
+
+  /// See GetMjcQposAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcQposAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCQVEL
+  // --------------------------------------------------------------------- //
+  /// Vector of joint velocities, copied into mjData.qvel when the simulation
+  /// state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:qvel` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcQvelAttr() const;
+
+  /// See GetMjcQvelAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcQvelAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACT
+  // --------------------------------------------------------------------- //
+  /// Vector of actuator activations, copied into mjData.act when the simulation
+  /// state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:act` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActAttr() const;
+
+  /// See GetMjcActAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActAttr(VtValue const &defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRL
+  // --------------------------------------------------------------------- //
+  /// Vector of controls, copied into mjData.ctrl when the simulation state is
+  /// set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:ctrl` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlAttr() const;
+
+  /// See GetMjcCtrlAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCMPOS
+  // --------------------------------------------------------------------- //
+  /// Vector of mocap body positions, copied into mjData.mocap_pos when the
+  /// simulation state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:mpos` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcMposAttr() const;
+
+  /// See GetMjcMposAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcMposAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCMQUAT
+  // --------------------------------------------------------------------- //
+  /// Vector of mocap body quaternions, copied into mjData.mocap_quat when the
+  /// simulation state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:mquat` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcMquatAttr() const;
+
+  /// See GetMjcMquatAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcMquatAttr(VtValue const &defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/tokens.h b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
index 50170a59..df19f843 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/tokens.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
@@ -130,6 +130,10 @@ struct MjcPhysicsTokensType {
   ///
   /// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
   const TfToken legacy;
+  /// \brief "mjc:act"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcAct;
   /// \brief "mjc:actDim"
   ///
   /// MjcPhysicsActuatorAPI
@@ -162,6 +166,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcCrankLength;
+  /// \brief "mjc:ctrl"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcCtrl;
   /// \brief "mjc:ctrlLimited"
   ///
   /// MjcPhysicsActuatorAPI
@@ -314,6 +322,14 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcLengthRangeMin;
+  /// \brief "mjc:mpos"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcMpos;
+  /// \brief "mjc:mquat"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcMquat;
   /// \brief "mjc:option:actuatorgroupdisable"
   ///
   /// MjcPhysicsSceneAPI
@@ -418,6 +434,14 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcOptionWind;
+  /// \brief "mjc:qpos"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcQpos;
+  /// \brief "mjc:qvel"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcQvel;
   /// \brief "mjc:refSite"
   ///
   /// MjcPhysicsActuatorAPI
@@ -484,23 +508,27 @@ struct MjcPhysicsTokensType {
   const TfToken user;
   /// \brief "CollisionAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsCollisionAPI
+  /// Schema identifier and family for MjcPhysicsCollisionAPI
   const TfToken CollisionAPI;
+  /// \brief "Keyframe"
+  ///
+  /// Schema identifier and family for MjcPhysicsKeyframe
+  const TfToken Keyframe;
   /// \brief "MeshCollisionAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsMeshCollisionAPI
+  /// Schema identifier and family for MjcPhysicsMeshCollisionAPI
   const TfToken MeshCollisionAPI;
   /// \brief "PhysicsActuatorAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsActuatorAPI
+  /// Schema identifier and family for MjcPhysicsActuatorAPI
   const TfToken PhysicsActuatorAPI;
   /// \brief "SceneAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsSceneAPI
+  /// Schema identifier and family for MjcPhysicsSceneAPI
   const TfToken SceneAPI;
   /// \brief "SiteAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsSiteAPI
+  /// Schema identifier and family for MjcPhysicsSiteAPI
   const TfToken SiteAPI;
   /// A vector of all of the tokens listed above.
   const std::vector<TfToken> allTokens;
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index 91b0f7fd..d88cebee 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -331,3 +331,27 @@ class "PhysicsActuatorAPI" (
     )
 }
 
+class Keyframe "Keyframe" (
+    doc = "Represents time independent keyframe values."
+)
+{
+    double[] mjc:act (
+        doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
+    )
+    double[] mjc:ctrl (
+        doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
+    )
+    double[] mjc:mpos (
+        doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
+    )
+    double[] mjc:mquat (
+        doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
+    )
+    double[] mjc:qpos (
+        doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
+    )
+    double[] mjc:qvel (
+        doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
+    )
+}
+
diff --git a/src/experimental/usd/mjcPhysics/keyframe.cpp b/src/experimental/usd/mjcPhysics/keyframe.cpp
new file mode 100644
index 00000000..05a4eb46
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/keyframe.cpp
@@ -0,0 +1,185 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
+
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsKeyframe, TfType::Bases<UsdTyped> >();
+
+  // Register the usd prim typename as an alias under UsdSchemaBase. This
+  // enables one to call
+  // TfType::Find<UsdSchemaBase>().FindDerivedByName("Keyframe")
+  // to find TfType<MjcPhysicsKeyframe>, which is how IsA queries are
+  // answered.
+  TfType::AddAlias<UsdSchemaBase, MjcPhysicsKeyframe>("Keyframe");
+}
+
+/* virtual */
+MjcPhysicsKeyframe::~MjcPhysicsKeyframe() {}
+
+/* static */
+MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr &stage,
+                                           const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsKeyframe();
+  }
+  return MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
+}
+
+/* static */
+MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr &stage,
+                                              const SdfPath &path) {
+  static TfToken usdPrimTypeName("Keyframe");
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsKeyframe();
+  }
+  return MjcPhysicsKeyframe(stage->DefinePrim(path, usdPrimTypeName));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsKeyframe::_GetSchemaKind() const {
+  return MjcPhysicsKeyframe::schemaKind;
+}
+
+/* static */
+const TfType &MjcPhysicsKeyframe::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsKeyframe>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsKeyframe::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsKeyframe::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+UsdAttribute MjcPhysicsKeyframe::GetMjcQposAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQpos);
+}
+
+UsdAttribute MjcPhysicsKeyframe::CreateMjcQposAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcQpos, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsKeyframe::GetMjcQvelAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQvel);
+}
+
+UsdAttribute MjcPhysicsKeyframe::CreateMjcQvelAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcQvel, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsKeyframe::GetMjcActAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcAct);
+}
+
+UsdAttribute MjcPhysicsKeyframe::CreateMjcActAttr(VtValue const &defaultValue,
+                                                  bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcAct, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsKeyframe::GetMjcCtrlAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrl);
+}
+
+UsdAttribute MjcPhysicsKeyframe::CreateMjcCtrlAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcCtrl, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsKeyframe::GetMjcMposAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMpos);
+}
+
+UsdAttribute MjcPhysicsKeyframe::CreateMjcMposAttr(VtValue const &defaultValue,
+                                                   bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcMpos, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsKeyframe::GetMjcMquatAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMquat);
+}
+
+UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const &defaultValue,
+                                                    bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcMquat, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
+}
+
+namespace {
+static inline TfTokenVector _ConcatenateAttributeNames(
+    const TfTokenVector &left, const TfTokenVector &right) {
+  TfTokenVector result;
+  result.reserve(left.size() + right.size());
+  result.insert(result.end(), left.begin(), left.end());
+  result.insert(result.end(), right.begin(), right.end());
+  return result;
+}
+}  // namespace
+
+/*static*/
+const TfTokenVector &MjcPhysicsKeyframe::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcQpos, MjcPhysicsTokens->mjcQvel,
+      MjcPhysicsTokens->mjcAct,  MjcPhysicsTokens->mjcCtrl,
+      MjcPhysicsTokens->mjcMpos, MjcPhysicsTokens->mjcMquat,
+  };
+  static TfTokenVector allNames = _ConcatenateAttributeNames(
+      UsdTyped::GetSchemaAttributeNames(true), localNames);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index 12f8beae..b66c1eb0 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -1,6 +1,3 @@
-#Portions of this file auto - generated by usdGenSchema.
-#Edits will survive regeneration except for comments and
-#changes to types with autoGenerated = true.
 {
   "Plugins": [
     {
@@ -26,6 +23,16 @@
             ],
             "schemaKind": "singleApplyAPI"
           },
+          "MjcPhysicsKeyframe": {
+            "alias": {
+              "UsdSchemaBase": "Keyframe"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdTyped"
+            ],
+            "schemaKind": "concreteTyped"
+          },
           "MjcPhysicsMeshCollisionAPI": {
             "alias": {
               "UsdSchemaBase": "MeshCollisionAPI"
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index a59c6bb9..9b9196a4 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -663,3 +663,35 @@ class "PhysicsActuatorAPI"
 }
 
 
+class Keyframe "Keyframe"
+(
+    doc = """Represents time independent keyframe values."""
+
+    inherits = </Typed>
+)
+{
+  double[] mjc:qpos (
+    doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
+  )
+
+  double[] mjc:qvel (
+    doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
+  )
+
+  double[] mjc:act (
+    doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
+  )
+
+  double[] mjc:ctrl (
+    doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
+  )
+
+  double[] mjc:mpos (
+    doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
+  )
+
+  double[] mjc:mquat (
+    doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
+  )
+}
+
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index 0fa5cef2..e18394ed 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -33,6 +33,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       implicitfast("implicitfast", TfToken::Immortal),
       integrator("integrator", TfToken::Immortal),
       legacy("legacy", TfToken::Immortal),
+      mjcAct("mjc:act", TfToken::Immortal),
       mjcActDim("mjc:actDim", TfToken::Immortal),
       mjcActEarly("mjc:actEarly", TfToken::Immortal),
       mjcActLimited("mjc:actLimited", TfToken::Immortal),
@@ -41,6 +42,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
       mjcBiasType("mjc:biasType", TfToken::Immortal),
       mjcCrankLength("mjc:crankLength", TfToken::Immortal),
+      mjcCtrl("mjc:ctrl", TfToken::Immortal),
       mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
       mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
       mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
@@ -79,6 +81,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
       mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
       mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
+      mjcMpos("mjc:mpos", TfToken::Immortal),
+      mjcMquat("mjc:mquat", TfToken::Immortal),
       mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
                                     TfToken::Immortal),
       mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
@@ -108,6 +112,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
       mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
       mjcOptionWind("mjc:option:wind", TfToken::Immortal),
+      mjcQpos("mjc:qpos", TfToken::Immortal),
+      mjcQvel("mjc:qvel", TfToken::Immortal),
       mjcRefSite("mjc:refSite", TfToken::Immortal),
       mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
       mjcSliderSite("mjc:sliderSite", TfToken::Immortal),
@@ -122,6 +128,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       true_("true", TfToken::Immortal),
       user("user", TfToken::Immortal),
       CollisionAPI("CollisionAPI", TfToken::Immortal),
+      Keyframe("Keyframe", TfToken::Immortal),
       MeshCollisionAPI("MeshCollisionAPI", TfToken::Immortal),
       PhysicsActuatorAPI("PhysicsActuatorAPI", TfToken::Immortal),
       SceneAPI("SceneAPI", TfToken::Immortal),
@@ -142,6 +149,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  implicitfast,
                  integrator,
                  legacy,
+                 mjcAct,
                  mjcActDim,
                  mjcActEarly,
                  mjcActLimited,
@@ -150,6 +158,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcBiasPrm,
                  mjcBiasType,
                  mjcCrankLength,
+                 mjcCtrl,
                  mjcCtrlLimited,
                  mjcCtrlRangeMax,
                  mjcCtrlRangeMin,
@@ -188,6 +197,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcJointInParent,
                  mjcLengthRangeMax,
                  mjcLengthRangeMin,
+                 mjcMpos,
+                 mjcMquat,
                  mjcOptionActuatorgroupdisable,
                  mjcOptionApirate,
                  mjcOptionCcd_iterations,
@@ -214,6 +225,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcOptionTolerance,
                  mjcOptionViscosity,
                  mjcOptionWind,
+                 mjcQpos,
+                 mjcQvel,
                  mjcRefSite,
                  mjcShellinertia,
                  mjcSliderSite,
@@ -228,6 +241,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  true_,
                  user,
                  CollisionAPI,
+                 Keyframe,
                  MeshCollisionAPI,
                  PhysicsActuatorAPI,
                  SceneAPI,

From 5c1f1f9dba1e56a42aae59b26a1cadada7b542a6 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 30 Jun 2025 10:49:08 -0700
Subject: [PATCH 76/82] Add octree to meshes of SDF geoms.

PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
---
 doc/includes/references.h            |   9 +++
 include/mujoco/mjmodel.h             |   8 ++
 include/mujoco/mjvisualize.h         |   1 +
 include/mujoco/mjxmacro.h            |   6 ++
 model/plugin/sdf/octree.xml          |  31 ++++++++
 python/mujoco/introspect/structs.py  |  50 ++++++++++++
 python/mujoco/structs.cc             |   1 +
 src/engine/engine_io.c               |   7 +-
 src/engine/engine_io.h               |   2 +-
 src/engine/engine_vis_visualize.c    |  39 ++++++++-
 src/user/user_mesh.cc                |  12 +++
 src/user/user_model.cc               |  19 ++++-
 src/user/user_model.h                |   1 +
 src/user/user_objects.cc             | 113 ++++++++++++++++++++++++++-
 src/user/user_objects.h              |  51 +++++++++++-
 test/user/user_mesh_test.cc          |  24 ++++++
 unity/Runtime/Bindings/MjBindings.cs |   7 ++
 17 files changed, 369 insertions(+), 12 deletions(-)
 create mode 100644 model/plugin/sdf/octree.xml

diff --git a/doc/includes/references.h b/doc/includes/references.h
index e8a694d3..3f121f15 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -959,6 +959,7 @@ struct mjModel_ {
   int nbvh;                       // number of total bounding volumes in all bodies
   int nbvhstatic;                 // number of static bounding volumes (aabb stored in mjModel)
   int nbvhdynamic;                // number of dynamic bounding volumes (aabb stored in mjData)
+  int noct;                       // number of total octree cells in all meshes
   int njnt;                       // number of joints
   int ngeom;                      // number of geoms
   int nsite;                      // number of sites
@@ -1092,6 +1093,11 @@ struct mjModel_ {
   int*      bvh_nodeid;           // geom or elem id of node; -1: non-leaf    (nbvh x 1)
   mjtNum*   bvh_aabb;             // local bounding box (center, size)        (nbvhstatic x 6)
 
+  // octree spatial partitioning
+  int*      oct_depth;            // depth in the octree                      (noct x 1)
+  int*      oct_child;            // children of octree node                  (noct x 8)
+  mjtNum*   oct_aabb;             // octree node bounding box (center, size)  (noct x 6)
+
   // joints
   int*      jnt_type;             // type of joint (mjtJoint)                 (njnt x 1)
   int*      jnt_qposadr;          // start addr in 'qpos' for joint's data    (njnt x 1)
@@ -1279,6 +1285,8 @@ struct mjModel_ {
   int*      mesh_facenum;         // number of faces                          (nmesh x 1)
   int*      mesh_bvhadr;          // address of bvh root                      (nmesh x 1)
   int*      mesh_bvhnum;          // number of bvh                            (nmesh x 1)
+  int*      mesh_octadr;          // address of octree root                   (nmesh x 1)
+  int*      mesh_octnum;          // number of octree nodes                   (nmesh x 1)
   int*      mesh_normaladr;       // first normal address                     (nmesh x 1)
   int*      mesh_normalnum;       // number of normals                        (nmesh x 1)
   int*      mesh_texcoordadr;     // texcoord data address; -1: no texcoord   (nmesh x 1)
@@ -2876,6 +2884,7 @@ struct mjvOption_ {                  // abstract visualization options
   mjtByte  skingroup[mjNGROUP];      // skin visualization by group
   mjtByte  flags[mjNVISFLAG];        // visualization flags (indexed by mjtVisFlag)
   int      bvh_depth;                // depth of the bounding volume hierarchy to be visualized
+  int      oct_depth;                // depth of the octree to be visualized
   int      flex_layer;               // element layer to be visualized for 3D flex
 };
 typedef struct mjvOption_ mjvOption;
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index f0a80d79..0ceb9d53 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -631,6 +631,7 @@ struct mjModel_ {
   int nbvh;                       // number of total bounding volumes in all bodies
   int nbvhstatic;                 // number of static bounding volumes (aabb stored in mjModel)
   int nbvhdynamic;                // number of dynamic bounding volumes (aabb stored in mjData)
+  int noct;                       // number of total octree cells in all meshes
   int njnt;                       // number of joints
   int ngeom;                      // number of geoms
   int nsite;                      // number of sites
@@ -764,6 +765,11 @@ struct mjModel_ {
   int*      bvh_nodeid;           // geom or elem id of node; -1: non-leaf    (nbvh x 1)
   mjtNum*   bvh_aabb;             // local bounding box (center, size)        (nbvhstatic x 6)
 
+  // octree spatial partitioning
+  int*      oct_depth;            // depth in the octree                      (noct x 1)
+  int*      oct_child;            // children of octree node                  (noct x 8)
+  mjtNum*   oct_aabb;             // octree node bounding box (center, size)  (noct x 6)
+
   // joints
   int*      jnt_type;             // type of joint (mjtJoint)                 (njnt x 1)
   int*      jnt_qposadr;          // start addr in 'qpos' for joint's data    (njnt x 1)
@@ -951,6 +957,8 @@ struct mjModel_ {
   int*      mesh_facenum;         // number of faces                          (nmesh x 1)
   int*      mesh_bvhadr;          // address of bvh root                      (nmesh x 1)
   int*      mesh_bvhnum;          // number of bvh                            (nmesh x 1)
+  int*      mesh_octadr;          // address of octree root                   (nmesh x 1)
+  int*      mesh_octnum;          // number of octree nodes                   (nmesh x 1)
   int*      mesh_normaladr;       // first normal address                     (nmesh x 1)
   int*      mesh_normalnum;       // number of normals                        (nmesh x 1)
   int*      mesh_texcoordadr;     // texcoord data address; -1: no texcoord   (nmesh x 1)
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index efff4d03..2c7fd535 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -292,6 +292,7 @@ struct mjvOption_ {                  // abstract visualization options
   mjtByte  skingroup[mjNGROUP];      // skin visualization by group
   mjtByte  flags[mjNVISFLAG];        // visualization flags (indexed by mjtVisFlag)
   int      bvh_depth;                // depth of the bounding volume hierarchy to be visualized
+  int      oct_depth;                // depth of the octree to be visualized
   int      flex_layer;               // element layer to be visualized for 3D flex
 };
 typedef struct mjvOption_ mjvOption;
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 93542a88..3da0df54 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -75,6 +75,7 @@
     X( nbvh )               \
     X( nbvhstatic )         \
     X( nbvhdynamic )        \
+    X( noct )               \
     X( njnt )               \
     X( ngeom )              \
     X( nsite )              \
@@ -216,6 +217,9 @@
     X   ( int,     bvh_child,             nbvh,          2                    ) \
     X   ( int,     bvh_nodeid,            nbvh,          1                    ) \
     X   ( mjtNum,  bvh_aabb,              nbvhstatic,    6                    ) \
+    X   ( int,     oct_depth,             noct,          1                    ) \
+    X   ( int,     oct_child,             noct,          8                    ) \
+    X   ( mjtNum,  oct_aabb,              noct,          6                    ) \
     X   ( int,     jnt_type,              njnt,          1                    ) \
     X   ( int,     jnt_qposadr,           njnt,          1                    ) \
     X   ( int,     jnt_dofadr,            njnt,          1                    ) \
@@ -390,6 +394,8 @@
     X   ( int,     mesh_facenum,          nmesh,         1                    ) \
     X   ( int,     mesh_bvhadr,           nmesh,         1                    ) \
     X   ( int,     mesh_bvhnum,           nmesh,         1                    ) \
+    X   ( int,     mesh_octadr,           nmesh,         1                    ) \
+    X   ( int,     mesh_octnum,           nmesh,         1                    ) \
     X   ( int,     mesh_graphadr,         nmesh,         1                    ) \
     X   ( mjtNum,  mesh_scale,            nmesh,         3                    ) \
     X   ( mjtNum,  mesh_pos,              nmesh,         3                    ) \
diff --git a/model/plugin/sdf/octree.xml b/model/plugin/sdf/octree.xml
new file mode 100644
index 00000000..63bcf8df
--- /dev/null
+++ b/model/plugin/sdf/octree.xml
@@ -0,0 +1,31 @@
+<mujoco>
+  <compiler texturedir="asset"/>
+
+  <asset>
+    <texture name="texspot" type="2d" file="spot.png"/>
+    <material name="matspot" texture="texspot"/>
+    <mesh name="spot" file="asset/spot.obj"/>
+  </asset>
+
+  <option sdf_iterations="20" sdf_initpoints="40"/>
+
+  <visual>
+    <map force="1000"/>
+  </visual>
+
+  <default>
+    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/>
+  </default>
+
+  <statistic meansize="0.2"/>
+
+  <include file="scene.xml"/>
+
+  <worldbody>
+    <body euler="90 0 0" pos="0 0 .7">
+      <geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
+    </body>
+    <light name="left" pos="0 0 1"/>
+    <light name="right" pos="1 0 1"/>
+  </worldbody>
+</mujoco>
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index c12bab47..a6577b7e 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -873,6 +873,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='number of dynamic bounding volumes (aabb stored in mjData)',  # pylint: disable=line-too-long
              ),
+             StructFieldDecl(
+                 name='noct',
+                 type=ValueType(name='int'),
+                 doc='number of total octree cells in all meshes',
+             ),
              StructFieldDecl(
                  name='njnt',
                  type=ValueType(name='int'),
@@ -1560,6 +1565,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='local bounding box (center, size)',
                  array_extent=('nbvhstatic', 6),
              ),
+             StructFieldDecl(
+                 name='oct_depth',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='depth in the octree',
+                 array_extent=('noct',),
+             ),
+             StructFieldDecl(
+                 name='oct_child',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='children of octree node',
+                 array_extent=('noct', 8),
+             ),
+             StructFieldDecl(
+                 name='oct_aabb',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='octree node bounding box (center, size)',
+                 array_extent=('noct', 6),
+             ),
              StructFieldDecl(
                  name='jnt_type',
                  type=PointerType(
@@ -2920,6 +2949,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='number of bvh',
                  array_extent=('nmesh',),
              ),
+             StructFieldDecl(
+                 name='mesh_octadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='address of octree root',
+                 array_extent=('nmesh',),
+             ),
+             StructFieldDecl(
+                 name='mesh_octnum',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of octree nodes',
+                 array_extent=('nmesh',),
+             ),
              StructFieldDecl(
                  name='mesh_normaladr',
                  type=PointerType(
@@ -6873,6 +6918,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='depth of the bounding volume hierarchy to be visualized',
              ),
+             StructFieldDecl(
+                 name='oct_depth',
+                 type=ValueType(name='int'),
+                 doc='depth of the octree to be visualized',
+             ),
              StructFieldDecl(
                  name='flex_layer',
                  type=ValueType(name='int'),
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 4501d593..f9421e50 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -1110,6 +1110,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(label);
   X(frame);
   X(bvh_depth);
+  X(oct_depth);
   X(flex_layer);
 #undef X
 
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 0af6092e..0fc78434 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -460,7 +460,7 @@ static void freeModelBuffers(mjModel* m) {
 // allocate and initialize mjModel structure
 void mj_makeModel(mjModel** dest,
     int nq, int nv, int nu, int na, int nbody, int nbvh,
-    int nbvhstatic, int nbvhdynamic, int njnt, int ngeom, int nsite, int ncam,
+    int nbvhstatic, int nbvhdynamic, int noct, int njnt, int ngeom, int nsite, int ncam,
     int nlight, int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem,
     int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
     int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
@@ -499,6 +499,7 @@ void mj_makeModel(mjModel** dest,
   m->nbvh = nbvh;
   m->nbvhstatic = nbvhstatic;
   m->nbvhdynamic = nbvhdynamic;
+  m->noct = noct;
   m->njnt = njnt;
   m->ngeom = ngeom;
   m->nsite = nsite;
@@ -639,7 +640,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
   if (!dest) {
     mj_makeModel(&dest,
       src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
-      src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
+      src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->ngeom, src->nsite,
       src->ncam, src->nlight, src->nflex, src->nflexnode, src->nflexvert, src->nflexedge,
       src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
       src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
@@ -835,7 +836,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
                ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
                ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
                ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
-               ints[63], ints[64], ints[65], ints[66], ints[67], ints[68]);
+               ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69]);
   if (!m || m->nbuffer != sizes[getnsize()-1]) {
     mju_warning("Corrupted model, wrong size parameters");
     mj_deleteModel(m);
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index bdf0e2ce..d0950384 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -52,7 +52,7 @@ void mj_defaultStatistic(mjStatistic* stat);
 
 // allocate mjModel
 void mj_makeModel(mjModel** dest,
-    int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic,
+    int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic, int noct,
     int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexnode, int nflexvert,
     int nflexedge, int nflexelem, int nflexelemdata, int nflexelemedge, int nflexshelldata,
     int nflexevpair, int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal,
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index adcc410c..3973ecb0 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -763,7 +763,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   if (vopt->flags[mjVIS_MESHBVH]) {
     for (int geomid = 0; geomid < m->ngeom; geomid++) {
       int meshid = m->geom_dataid[geomid];
-      if (meshid == -1) {
+      if (m->geom_type[geomid] == mjGEOM_SDF || meshid == -1) {
         continue;
       }
 
@@ -806,6 +806,43 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
     }
   }
 
+  // mesh octree
+  category = mjCAT_DECOR;
+  objtype = mjOBJ_UNKNOWN;
+  if (vopt->flags[mjVIS_MESHBVH]) {
+    for (int geomid = 0; geomid < m->ngeom; geomid++) {
+      int meshid = m->geom_dataid[geomid];
+      if (m->geom_type[geomid] != mjGEOM_SDF || meshid == -1) {
+        continue;
+      }
+
+      for (int b = 0; b < m->mesh_octnum[meshid]; b++) {
+        int i = b + m->mesh_octadr[meshid];
+
+        START
+        if (m->oct_depth[i] != vopt->bvh_depth) {
+          continue;
+        }
+
+        // box color
+        const float* rgba = m->vis.rgba.bv;
+
+        // get xpos, xmat, size
+        const mjtNum* xpos = d->geom_xpos + 3 * geomid;
+        const mjtNum* xmat = d->geom_xmat + 9 * geomid;
+        const mjtNum *size = m->oct_aabb + 6*i + 3;
+
+        // offset xpos with aabb center (not always at geom origin)
+        const mjtNum *center = m->oct_aabb + 6*i;
+        mjtNum pos[3];
+        mju_mulMatVec3(pos, xmat, center);
+        mju_addTo3(pos, xpos);
+        mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
+        FINISH
+      }
+    }
+  }
+
   // inertia
   objtype = mjOBJ_BODY;
   if (vopt->flags[mjVIS_INERTIA]) {
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index 03ad956c..c8ef9cc6 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -139,6 +139,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
   maxhullvert_ = -1;
   processed_ = false;
   visual_ = true;
+  needoct_ = false;
 
   // reset to default if given
   if (_def) {
@@ -406,6 +407,7 @@ void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource) {
   }
   mesh->tree_ = tree_;
   mesh->face_aabb_ = face_aabb_;
+  mesh->octree_ = octree_;
 
   // calculate estimated size of mesh
   std::size_t size = sizeof(mjCMesh)
@@ -423,6 +425,7 @@ void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource) {
                      + (sizeof(double) * 18)
                      + (sizeof(int) * ncenter)
                      + tree_.Size()
+                     + octree_.Size()
                      + (sizeof(double) * face_aabb_.size());
 
   std::shared_ptr<const void> cached_data(mesh, +[] (const void* data) {
@@ -682,6 +685,14 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
     }
   }
 
+  // make octree
+  if (!needoct_) {
+    octree_.Clear();
+  } else if (octree_.Nodes().empty()) {
+    octree_.SetFace(vert_, face_);
+    octree_.CreateOctree(aamm_);
+  }
+
   // close resource
   if (resource_ != nullptr) {
     mju_closeResource(resource_);
@@ -1073,6 +1084,7 @@ bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
     }
     tree_ = mesh->tree_;
     face_aabb_ = mesh->face_aabb_;
+    octree_ = mesh->octree_;
     return true;
   };
 
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 4470a082..25931205 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -963,6 +963,7 @@ void mjCModel::Clear() {
   nbvh = 0;
   nbvhstatic = 0;
   nbvhdynamic = 0;
+  noct = 0;
   njnt = 0;
   ngeom = 0;
   nsite = 0;
@@ -1726,6 +1727,7 @@ void mjCModel::IndexAssets(bool discard) {
           ((mjCMesh*)mesh)->SetNotVisual();  // reset to true by mesh->Compile()
         }
         geom->mesh = (discard && geom->visual_) ? nullptr : (mjCMesh*)mesh;
+        static_cast<mjCMesh*>(mesh)->needoct_ |= geom->spec.type == mjGEOM_SDF;
       } else {
         throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
       }
@@ -1936,6 +1938,7 @@ void mjCModel::SetSizes() {
   }
   for (int i=0; i < nmesh; i++) {
     nbvhstatic += meshes_[i]->tree().Nbvh();
+    noct += meshes_[i]->octree().NumNodes();
   }
   for (int i=0; i < nflex; i++) {
     nbvhdynamic += flexes_[i]->tree.Nbvh();
@@ -2943,7 +2946,7 @@ int mjCModel::CountNJmom(const mjModel* m) {
 
 // copy objects outside kinematic tree
 void mjCModel::CopyObjects(mjModel* m) {
-  int adr, bone_adr, vert_adr, node_adr, normal_adr, face_adr, texcoord_adr;
+  int adr, bone_adr, vert_adr, node_adr, normal_adr, face_adr, texcoord_adr, oct_adr;
   int edge_adr, elem_adr, elemdata_adr, elemedge_adr, shelldata_adr, evpair_adr;
   int bonevert_adr, graph_adr, data_adr, bvh_adr;
   int poly_adr, polymap_adr, polyvert_adr;
@@ -2963,6 +2966,7 @@ void mjCModel::CopyObjects(mjModel* m) {
   }
 
   // meshes
+  oct_adr = 0;
   vert_adr = 0;
   normal_adr = 0;
   texcoord_adr = 0;
@@ -2989,6 +2993,8 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
     m->mesh_bvhnum[i] = pme->tree().Nbvh();
     m->mesh_bvhadr[i] = pme->tree().Nbvh() ? bvh_adr : -1;
+    m->mesh_octnum[i] = pme->octree().NumNodes();
+    m->mesh_octadr[i] = pme->octree().NumNodes() ? oct_adr : -1;
     mjuu_copyvec(&m->mesh_scale[3 * i], pme->Scale(), 3);
     mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetPosPtr(), 3);
     mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetQuatPtr(), 4);
@@ -3023,6 +3029,14 @@ void mjCModel::CopyObjects(mjModel* m) {
       }
     }
 
+    // copy octree data
+    if (pme->octree().NumNodes()) {
+      int n_oct = pme->octree().NumNodes();
+      memcpy(m->oct_aabb + 6*oct_adr, pme->octree().Nodes().data(), 6*n_oct*sizeof(mjtNum));
+      memcpy(m->oct_child + 8*oct_adr, pme->octree().Child().data(), 8*n_oct*sizeof(int));
+      memcpy(m->oct_depth + oct_adr, pme->octree().Level().data(), n_oct*sizeof(int));
+    }
+
     // advance counters
     poly_adr += pme->npolygon();
     polyvert_adr += pme->npolygonvert();
@@ -3033,6 +3047,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     face_adr += pme->nface();
     graph_adr += pme->szgraph();
     bvh_adr += pme->tree().Nbvh();
+    oct_adr += pme->octree().NumNodes();
   }
 
   // flexes
@@ -4523,7 +4538,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
   // create low-level model
   mj_makeModel(&m,
-               nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
+               nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ngeom, nsite,
                ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
                nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
                nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,
diff --git a/src/user/user_model.h b/src/user/user_model.h
index a7dcbe8b..b5e937bd 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -87,6 +87,7 @@ class mjCModel_ : public mjsElement {
   int nbvh;            // number of total boundary volume hierarchies
   int nbvhstatic;      // number of static boundary volume hierarchies
   int nbvhdynamic;     // number of dynamic boundary volume hierarchies
+  int noct;            // number of total octree cells
   int nflexnode;       // number of nodes in all flexes
   int nflexvert;       // number of vertices in all flexes
   int nflexedge;       // number of edges in all flexes
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index c8f21281..a0a4df06 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -404,9 +404,15 @@ mjCBoundingVolumeHierarchy::AddBoundingVolume(const int* id, int contype, int co
 
 // create bounding volume hierarchy
 void mjCBoundingVolumeHierarchy::CreateBVH() {
+  std::vector<BVElement> elements;
+  Make(elements);
+  MakeBVH(elements.begin(), elements.end());
+}
+
+
+void mjCBoundingVolumeHierarchy::Make(std::vector<BVElement>& elements) {
   // precompute the positions of each element in the hierarchy's axes, and drop
   // visual-only elements.
-  std::vector<BVElement> elements;
   elements.reserve(bvleaf_.size());
   double qinv[4] = {iquat_[0], -iquat_[1], -iquat_[2], -iquat_[3]};
   for (int i = 0; i < bvleaf_.size(); i++) {
@@ -420,9 +426,9 @@ void mjCBoundingVolumeHierarchy::CreateBVH() {
       elements.push_back(std::move(element));
     }
   }
-  MakeBVH(elements.begin(), elements.end());
 }
 
+
 // compute bounding volume hierarchy
 int mjCBoundingVolumeHierarchy::MakeBVH(
   std::vector<BVElement>::iterator elements_begin,
@@ -546,10 +552,109 @@ int mjCBoundingVolumeHierarchy::MakeBVH(
   return index;
 }
 
+
+
+//------------------------- class mjCOctree implementation --------------------------------------------
+
+void mjCOctree::SetFace(const std::vector<double>& vert, const std::vector<int>& face) {
+  for (int i = 0; i < face.size(); i += 3) {
+    std::array<double, 3> v0 = {vert[3*face[i+0]], vert[3*face[i+0]+1], vert[3*face[i+0]+2]};
+    std::array<double, 3> v1 = {vert[3*face[i+1]], vert[3*face[i+1]+1], vert[3*face[i+1]+2]};
+    std::array<double, 3> v2 = {vert[3*face[i+2]], vert[3*face[i+2]+1], vert[3*face[i+2]+2]};
+    face_.push_back({v0, v1, v2});
+  }
+}
+
+
+// TODO: use the same code as mjCBoundingVolumeHierarchy::Make()
+void mjCOctree::Make(std::vector<Triangle>& elements) {
+  // rotate triangles to the body inertial frame
+  elements.assign(face_.size(), {{{0}}});
+  double qinv[4] = {iquat_[0], -iquat_[1], -iquat_[2], -iquat_[3]};
+  for (int i = 0; i < face_.size(); i++) {
+    for (int j = 0; j < 3; j++) {
+      double vert[3] = {face_[i][j][0] - ipos_[0],
+                        face_[i][j][1] - ipos_[1],
+                        face_[i][j][2] - ipos_[2]};
+      mjuu_rotVecQuat(elements[i][j].data(), vert, qinv);
+    }
+  }
+}
+
+
+void mjCOctree::CreateOctree(const double aamm[6]) {
+  std::vector<Triangle> elements;
+  Make(elements);
+  std::vector<Triangle*> elements_ptrs(elements.size());
+  std::transform(elements.begin(), elements.end(), elements_ptrs.begin(),
+                 [](Triangle& triangle) { return &triangle; });
+  MakeOctree(elements_ptrs, aamm);
+}
+
+
+static bool boxTriangle(const Triangle& element, const double aamm[6]) {
+  for (int i = 0; i < 3; i++) {
+    if (element[0][i] < aamm[i] && element[1][i] < aamm[i] && element[2][i] < aamm[i]) {
+      return false;
+    }
+    int j = i + 3;
+    if (element[0][i] > aamm[j] && element[1][i] > aamm[j] && element[2][i] > aamm[j]) {
+      return false;
+    }
+  }
+  // TODO: add additionally separating axis tests
+  return true;
+}
+
+
+int mjCOctree::MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6], int lev) {
+  level_.push_back(lev);
+
+  // create a new node
+  int index = nnode_++;
+  double aabb[6] = {(aamm[0] + aamm[3]) / 2, (aamm[1] + aamm[4]) / 2, (aamm[2] + aamm[5]) / 2,
+                    (aamm[3] - aamm[0]) / 2, (aamm[4] - aamm[1]) / 2, (aamm[5] - aamm[2]) / 2};
+  for (int i = 0; i < 6; i++) {
+    node_.push_back(aabb[i]);
+  }
+  for (int i = 0; i < 8; i++) {
+    child_.push_back(-1);
+  }
+
+  // find all triangles that intersect the current box
+  std::vector<Triangle*> colliding;
+  for (auto* element : elements) {
+    if (boxTriangle(*element, aamm)) {
+      colliding.push_back(element);
+    }
+  }
+
+  // return if the box is empty
+  if (colliding.empty() || lev >= 6) {
+    return index;
+  }
+
+  // split the box into 8 sub-boxes
+  double new_aamm[8][6];
+  for (int i = 0; i < 8; i++) {
+    new_aamm[i][0] = aabb[0] + aabb[3] * (i & 1 ? -1 : 0);
+    new_aamm[i][1] = aabb[1] + aabb[4] * (i & 2 ? -1 : 0);
+    new_aamm[i][2] = aabb[2] + aabb[5] * (i & 4 ? -1 : 0);
+    new_aamm[i][3] = aabb[0] + aabb[3] * (i & 1 ? 0 : 1);
+    new_aamm[i][4] = aabb[1] + aabb[4] * (i & 2 ? 0 : 1);
+    new_aamm[i][5] = aabb[2] + aabb[5] * (i & 4 ? 0 : 1);
+  }
+
+  // recursive calls to create sub-boxes
+  for (int i = 0; i < 8; i++) {
+    child_[8*index + i] = MakeOctree(colliding, new_aamm[i], lev + 1);
+  }
+
+  return index;
+}
+
 //------------------------- class mjCDef implementation --------------------------------------------
 
-
-
 // constructor
 mjCDef::mjCDef() {
   name.clear();
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index b9977f7f..dd013963 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -206,13 +206,54 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
     // position of the element in the BVH axes
     double lpos[3];
   };
-
+  void Make(std::vector<BVElement>& elements);
   int MakeBVH(std::vector<BVElement>::iterator elements_begin,
               std::vector<BVElement>::iterator elements_end, int lev = 0);
 };
 
 
 
+//------------------------- class mjCOctree --------------------------------------------------------
+
+typedef std::array<std::array<double, 3>, 3> Triangle;
+
+struct mjCOctree_ {
+  int nnode_ = 0;
+  std::vector<int> child_;           // children of each node     (nnode x 8)
+  std::vector<double> node_;         // bounding boxes            (nnode x 6)
+  std::vector<int> level_;           // levels of each node       (nnode x 1)
+  std::vector<Triangle> face_;       // mesh faces                (nface x 3)
+  double ipos_[3] = {0, 0, 0};
+  double iquat_[4] = {1, 0, 0, 0};
+};
+
+class mjCOctree : public mjCOctree_ {
+ public:
+  void CreateOctree(const double aamm[6]);
+
+  int NumNodes() const { return nnode_; }
+  const std::vector<int>& Child() const { return child_; }
+  const std::vector<double>& Nodes() const { return node_; }
+  const std::vector<int>& Level() const { return level_; }
+  void SetFace(const std::vector<double>& vert, const std::vector<int>& face);
+  int Size() const {
+    return sizeof(int) * child_.size() + sizeof(double) * node_.size() +
+           sizeof(int) * level_.size() + sizeof(Triangle) * face_.size();
+  }
+  void Clear() {
+    child_.clear();
+    node_.clear();
+    level_.clear();
+    face_.clear();
+  }
+
+ private:
+  void Make(std::vector<Triangle>& elements);
+  int MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6], int lev = 0);
+};
+
+
+
 //------------------------- class mjCBase ----------------------------------------------------------
 // Generic functionality for all derived classes
 
@@ -965,6 +1006,7 @@ class mjCMesh_ : public mjCBase {
   std::vector<int> spec_facetexcoord_;
 
   // used by the compiler
+  bool needoct_;                                 // needs octree
   bool visual_;                                  // true: the mesh is only visual
   std::vector< std::pair<int, int> > halfedge_;  // half-edge data
 
@@ -985,9 +1027,13 @@ class mjCMesh_ : public mjCBase {
   bool needhull_;                     // needs convex hull for collisions
   int maxhullvert_;                   // max vertex count of convex hull
 
+  // bounding volume hierarchy tree
   mjCBoundingVolumeHierarchy tree_;   // bounding volume hierarchy
   std::vector<double> face_aabb_;     // bounding boxes of all faces
 
+  // octree
+  mjCOctree octree_;                  // octree of the mesh
+
   // paths stored during model attachment
   mujoco::user::FilePath modelfiledir_;
   mujoco::user::FilePath meshdir_;
@@ -1061,6 +1107,9 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   // bounding volume hierarchy tree
   const mjCBoundingVolumeHierarchy& tree() { return tree_; }
 
+  // octree
+  const mjCOctree& octree() { return octree_; }
+
   void Compile(const mjVFS* vfs);                   // compiler
   double* GetPosPtr();                              // get position
   double* GetQuatPtr();                             // get orientation
diff --git a/test/user/user_mesh_test.cc b/test/user/user_mesh_test.cc
index d93a4822..dfa736bf 100644
--- a/test/user/user_mesh_test.cc
+++ b/test/user/user_mesh_test.cc
@@ -1264,6 +1264,30 @@ TEST_F(MjCMeshTest, LoadSkin) {
   mj_deleteSpec(spec);
 }
 
+// ------------- test octree ---------------------------------------------------
+
+TEST_F(MjCMeshTest, Octree) {
+  const std::string xml_path = GetTestDataFilePath(kTorusPath);
+  std::array<char, 1024> error;
+  mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
+  mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
+  geom->type = mjGEOM_SDF;
+  mjModel* model = mj_compile(spec, 0);
+  ASSERT_THAT(model, NotNull()) << error.data();
+  EXPECT_GT(model->mesh_octnum[0], 0);
+  mj_deleteSpec(spec);
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, OctreeNotComputedForNonSDF) {
+  const std::string xml_path = GetTestDataFilePath(kTorusPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << error.data();
+  EXPECT_EQ(model->noct, 0);
+  mj_deleteModel(model);
+}
+
 
 }  // namespace
 }  // namespace mujoco
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 23006d1d..ea06d907 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -5242,6 +5242,7 @@ public unsafe struct mjModel_ {
   public int nbvh;
   public int nbvhstatic;
   public int nbvhdynamic;
+  public int noct;
   public int njnt;
   public int ngeom;
   public int nsite;
@@ -5358,6 +5359,9 @@ public unsafe struct mjModel_ {
   public int* bvh_child;
   public int* bvh_nodeid;
   public double* bvh_aabb;
+  public int* oct_depth;
+  public int* oct_child;
+  public double* oct_aabb;
   public int* jnt_type;
   public int* jnt_qposadr;
   public int* jnt_dofadr;
@@ -5528,6 +5532,8 @@ public unsafe struct mjModel_ {
   public int* mesh_facenum;
   public int* mesh_bvhadr;
   public int* mesh_bvhnum;
+  public int* mesh_octadr;
+  public int* mesh_octnum;
   public int* mesh_normaladr;
   public int* mesh_normalnum;
   public int* mesh_texcoordadr;
@@ -6111,6 +6117,7 @@ public unsafe struct mjvOption_ {
   public fixed byte skingroup[6];
   public fixed byte flags[32];
   public int bvh_depth;
+  public int oct_depth;
   public int flex_layer;
 }
 

From 9eb0745968913d7e4b1e7b8d748b9d7494d7706f Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Tue, 1 Jul 2025 05:33:01 -0700
Subject: [PATCH 77/82] Fix comment typo in getimpedance.

PiperOrigin-RevId: 777997980
Change-Id: I0fe87196360e6771db10f4d9b08d43448ea5f54e
---
 src/engine/engine_core_constraint.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 52befb97..b77d546e 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -1390,7 +1390,7 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
     yP = solimp[4] * a*power(x, solimp[4]-1);
   }
 
-  // y(x) = 1-b*(1-x)^p is x>midpoint
+  // y(x) = 1-b*(1-x)^p if x>midpoint
   else {
     mjtNum b = 1/power(1-solimp[3], solimp[4]-1);
     y = 1-b*power(1-x, solimp[4]);

From 3db03dcce5d62dec2ad18a2a325644058c6cd768 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 1 Jul 2025 05:35:23 -0700
Subject: [PATCH 78/82] Don't output a warning about duplicate geom names for
 unnamed geoms in URDF.

PiperOrigin-RevId: 777998616
Change-Id: Id87533e30567fe5a0e372220ba57819383d42236
---
 src/xml/xml_urdf.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
index 5598366c..2f49d9c0 100644
--- a/src/xml/xml_urdf.cc
+++ b/src/xml/xml_urdf.cc
@@ -329,7 +329,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
         if (urGeomNames.find(geom_name) == urGeomNames.end()) {
           mjs_setString(pgeom->name, geom_name.c_str());
           urGeomNames.insert(geom_name);
-        } else {
+        } else if (!geom_name.empty()) {
           std::cerr << "WARNING: Geom with duplicate name '" << geom_name
                     << "' encountered in URDF, creating an unnamed geom."
                     << std::endl;
@@ -352,7 +352,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
       if (urGeomNames.find(geom_name) == urGeomNames.end()) {
         mjs_setString(pgeom->name, geom_name.c_str());
         urGeomNames.insert(geom_name);
-      } else {
+      } else if (!geom_name.empty()) {
         std::cerr << "WARNING: Geom with duplicate name '" << geom_name
                   << "' encountered in URDF, creating an unnamed geom."
                   << std::endl;

From 862436f9b32ebe65d8cfadd6a078ffb563c437c7 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Tue, 1 Jul 2025 07:20:37 -0700
Subject: [PATCH 79/82] Add JointAPI schema in mjcPhysics.

PiperOrigin-RevId: 778030981
Change-Id: I22a4bf2a550fb78e47bef0ff171b10ce5912887e
---
 .../experimental/usd/mjcPhysics/jointAPI.h    | 622 ++++++++++++++++++
 .../experimental/usd/mjcPhysics/tokens.h      |  77 ++-
 .../usd/mjcPhysics/generatedSchema.usda       |  55 ++
 src/experimental/usd/mjcPhysics/jointAPI.cpp  | 303 +++++++++
 src/experimental/usd/mjcPhysics/plugInfo.json |  10 +
 src/experimental/usd/mjcPhysics/schema.usda   |  75 +++
 src/experimental/usd/mjcPhysics/tokens.cpp    |  34 +
 7 files changed, 1173 insertions(+), 3 deletions(-)
 create mode 100644 include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
 create mode 100644 src/experimental/usd/mjcPhysics/jointAPI.cpp

diff --git a/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h b/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
new file mode 100644
index 00000000..75d04637
--- /dev/null
+++ b/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
@@ -0,0 +1,622 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_JOINTAPI_H
+#define MJCPHYSICS_GENERATED_JOINTAPI_H
+
+/// \file mjcPhysics/jointAPI.h
+
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/apiSchemaBase.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// PHYSICSJOINTSAPI                                                           //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsJointAPI
+///
+/// API describing a Mujoco joint.
+///
+/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
+/// below that are text/tokens, the actual token is published and defined in
+/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
+/// use MjcPhysicsTokens->rightHanded as the value.
+///
+class MjcPhysicsJointAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsJointAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsJointAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsJointAPI(const UsdPrim &prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsJointAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsJointAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsJointAPI(const UsdSchemaBase &schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsJointAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsJointAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsJointAPI Get(const UsdStagePtr &stage, const SdfPath &path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "PhysicsJointsAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsJointAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsJointAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsJointAPI Apply(const UsdPrim &prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSPRINGDAMPER
+  // --------------------------------------------------------------------- //
+  /// When both numbers are positive, the compiler will override any stiffness
+  /// and damping values specified with the attributes below, and will instead
+  /// set them automatically so that the resulting mass-spring-damper for this
+  /// joint has the desired time constant (first value) and damping ratio
+  /// (second value). This is done by taking into account the joint inertia in
+  /// the model reference configuration. Note that the format is the same as the
+  /// solref parameter of the constraint solver.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:springdamper = [0, 0]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcSpringdamperAttr() const;
+
+  /// See GetMjcSpringdamperAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcSpringdamperAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSOLREFLIMIT
+  // --------------------------------------------------------------------- //
+  /// Constraint solver parameters for simulating joint limits.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:solreflimit = [0.02, 1]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcSolreflimitAttr() const;
+
+  /// See GetMjcSolreflimitAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcSolreflimitAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSOLIMPLIMIT
+  // --------------------------------------------------------------------- //
+  /// Constraint solver parameters for simulating joint limits.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001,
+  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
+  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcSolimplimitAttr() const;
+
+  /// See GetMjcSolimplimitAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcSolimplimitAttr(VtValue const &defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSOLREFFRICTION
+  // --------------------------------------------------------------------- //
+  /// Constraint solver parameters for simulating dry friction.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:solreffriction = [0.02, 1]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcSolreffrictionAttr() const;
+
+  /// See GetMjcSolreffrictionAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcSolreffrictionAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSOLIMPFRICTION
+  // --------------------------------------------------------------------- //
+  /// Constraint solver parameters for simulating dry friction.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001,
+  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
+  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcSolimpfrictionAttr() const;
+
+  /// See GetMjcSolimpfrictionAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcSolimpfrictionAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSTIFFNESS
+  // --------------------------------------------------------------------- //
+  /// Joint stiffness. If this value is positive, a spring will be created with
+  /// equilibrium position given by springref below. The spring force is
+  /// computed along with the other passive forces.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:stiffness = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcStiffnessAttr() const;
+
+  /// See GetMjcStiffnessAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcStiffnessAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTUATORFRCRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping total actuator forces acting on this joint. See
+  /// Force limits for details. It is available only for scalar joints (hinge
+  /// and slider) and ignored for ball and free joints. The compiler expects the
+  /// first value to be smaller than the second value. Setting this attribute
+  /// without specifying actuatorfrclimited is an error if compiler-autolimits
+  /// is 'false'.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:actuatorfrcrange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActuatorfrcrangeMinAttr() const;
+
+  /// See GetMjcActuatorfrcrangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActuatorfrcrangeMinAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTUATORFRCRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping total actuator forces acting on this joint. See
+  /// Force limits for details. It is available only for scalar joints (hinge
+  /// and slider) and ignored for ball and free joints. The compiler expects the
+  /// first value to be smaller than the second value. Setting this attribute
+  /// without specifying actuatorfrclimited is an error if compiler-autolimits
+  /// is 'false'.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:actuatorfrcrange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActuatorfrcrangeMaxAttr() const;
+
+  /// See GetMjcActuatorfrcrangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActuatorfrcrangeMaxAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTUATORFRCLIMITED
+  // --------------------------------------------------------------------- //
+  /// This attribute specifies whether actuator forces acting on the joint
+  /// should be clamped. See Force limits for details. It is available only for
+  /// scalar joints (hinge and slider) and ignored for ball and free joints.
+  /// This attribute interacts with the actuatorfrcrange attribute. If this
+  /// attribute is 'false', actuator force clamping is disabled. If it is
+  /// 'true', actuator force clamping is enabled. If this attribute is 'auto',
+  /// and autolimits is set in compiler, actuator force clamping will be enabled
+  /// if actuatorfrcrange is defined.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:actuatorfrclimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActuatorfrclimitedAttr() const;
+
+  /// See GetMjcActuatorfrclimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActuatorfrclimitedAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTUATORGRAVCOMP
+  // --------------------------------------------------------------------- //
+  /// If this flag is enabled, gravity compensation applied to this joint is
+  /// added to actuator forces (mjData.qfrc_actuator) rather than passive forces
+  /// (mjData.qfrc_passive). Notionally, this means that gravity compensation is
+  /// the result of a control system rather than natural buoyancy. In practice,
+  /// enabling this flag is useful when joint-level actuator force clamping is
+  /// used. In this case, the total actuation force applied on a joint,
+  /// including gravity compensation, is guaranteed to not exceed the specified
+  /// limits. See Force limits and actuatorfrcrange for more details on this
+  /// type of force limit.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:actuatorgravcomp = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActuatorgravcompAttr() const;
+
+  /// See GetMjcActuatorgravcompAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActuatorgravcompAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCMARGIN
+  // --------------------------------------------------------------------- //
+  /// The distance threshold below which limits become active. Recall that the
+  /// Constraint solver normally generates forces as soon as a constraint
+  /// becomes active, even if the margin parameter makes that happen at a
+  /// distance. This attribute together with solreflimit and solimplimit can be
+  /// used to model a soft joint limit.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:margin = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcMarginAttr() const;
+
+  /// See GetMjcMarginAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcMarginAttr(VtValue const &defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCREF
+  // --------------------------------------------------------------------- //
+  /// The reference position or angle of the joint. This attribute is only used
+  /// for slide and hinge joints. It defines the joint value corresponding to
+  /// the initial model configuration. The amount of spatial transformation that
+  /// the joint applies at runtime equals the current joint value stored in
+  /// mjData.qpos minus this reference value stored in mjModel.qpos0. The
+  /// meaning of these vectors was discussed in the Stand-alone section in the
+  /// Overview chapter.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:ref = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcRefAttr() const;
+
+  /// See GetMjcRefAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcRefAttr(VtValue const &defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSPRINGREF
+  // --------------------------------------------------------------------- //
+  /// The joint position or angle in which the joint spring (if any) achieves
+  /// equilibrium. Similar to the vector mjModel.qpos0 which stores all joint
+  /// reference values specified with the ref attribute above, all spring
+  /// reference values specified with this attribute are stored in the vector
+  /// mjModel.qpos_spring. The model configuration corresponding to
+  /// mjModel.qpos_spring is also used to compute the spring reference lengths
+  /// of all tendons, stored in mjModel.tendon_lengthspring. This is because
+  /// tendons can also have springs.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:springref = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcSpringrefAttr() const;
+
+  /// See GetMjcSpringrefAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcSpringrefAttr(VtValue const &defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCARMATURE
+  // --------------------------------------------------------------------- //
+  /// Additional inertia associated with movement of the joint that is not due
+  /// to body mass. This added inertia is usually due to a rotor (a.k.a
+  /// armature) spinning faster than the joint itself due to a geared
+  /// transmission. The value applies to all degrees of freedom created by this
+  /// joint. Besides increasing the realism of joints with geared transmission,
+  /// positive armature significantly improves simulation stability, even for
+  /// small values, and is a recommended possible fix when encountering
+  /// stability issues.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:armature = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcArmatureAttr() const;
+
+  /// See GetMjcArmatureAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcArmatureAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCDAMPING
+  // --------------------------------------------------------------------- //
+  /// Damping applied to all degrees of freedom created by this joint. Unlike
+  /// friction loss which is computed by the constraint solver, damping is
+  /// simply a force linear in velocity. It is included in the passive forces.
+  /// Despite this simplicity, larger damping values can make numerical
+  /// integrators unstable, which is why our Euler integrator handles damping
+  /// implicitly. See Integration in the Computation chapter.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:damping = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcDampingAttr() const;
+
+  /// See GetMjcDampingAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcDampingAttr(VtValue const &defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFRICTIONLOSS
+  // --------------------------------------------------------------------- //
+  /// Friction loss due to dry friction. This value is the same for all degrees
+  /// of freedom created by this joint. Semantically friction loss does not make
+  /// sense for free joints, but the compiler allows it. To enable friction
+  /// loss, set this attribute to a positive value.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:frictionloss = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcFrictionlossAttr() const;
+
+  /// See GetMjcFrictionlossAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcFrictionlossAttr(
+      VtValue const &defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/tokens.h b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
index df19f843..c5de4644 100644
--- a/include/mujoco/experimental/usd/mjcPhysics/tokens.h
+++ b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
@@ -63,7 +63,8 @@ struct MjcPhysicsTokensType {
   /// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
   /// for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Fallback value for
   /// MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Fallback value for
-  /// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(),  This token represents
+  /// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Fallback value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(),  This token represents
   /// the auto constraint Jacobian and matrices computed from it.
   const TfToken auto_;
   /// \brief "cg"
@@ -98,7 +99,8 @@ struct MjcPhysicsTokensType {
   ///
   /// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
   /// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
-  /// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
+  /// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
   const TfToken false_;
   /// \brief "filter"
   ///
@@ -154,6 +156,26 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcActRangeMin;
+  /// \brief "mjc:actuatorfrclimited"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcActuatorfrclimited;
+  /// \brief "mjc:actuatorfrcrange:max"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcActuatorfrcrangeMax;
+  /// \brief "mjc:actuatorfrcrange:min"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcActuatorfrcrangeMin;
+  /// \brief "mjc:actuatorgravcomp"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcActuatorgravcomp;
+  /// \brief "mjc:armature"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcArmature;
   /// \brief "mjc:biasPrm"
   ///
   /// MjcPhysicsActuatorAPI
@@ -182,6 +204,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcCtrlRangeMin;
+  /// \brief "mjc:damping"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcDamping;
   /// \brief "mjc:dynPrm"
   ///
   /// MjcPhysicsActuatorAPI
@@ -294,6 +320,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcForceRangeMin;
+  /// \brief "mjc:frictionloss"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcFrictionloss;
   /// \brief "mjc:gainPrm"
   ///
   /// MjcPhysicsActuatorAPI
@@ -322,6 +352,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcLengthRangeMin;
+  /// \brief "mjc:margin"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcMargin;
   /// \brief "mjc:mpos"
   ///
   /// MjcPhysicsKeyframe
@@ -442,6 +476,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsKeyframe
   const TfToken mjcQvel;
+  /// \brief "mjc:ref"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcRef;
   /// \brief "mjc:refSite"
   ///
   /// MjcPhysicsActuatorAPI
@@ -454,6 +492,34 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcSliderSite;
+  /// \brief "mjc:solimpfriction"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSolimpfriction;
+  /// \brief "mjc:solimplimit"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSolimplimit;
+  /// \brief "mjc:solreffriction"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSolreffriction;
+  /// \brief "mjc:solreflimit"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSolreflimit;
+  /// \brief "mjc:springdamper"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSpringdamper;
+  /// \brief "mjc:springref"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSpringref;
+  /// \brief "mjc:stiffness"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcStiffness;
   /// \brief "muscle"
   ///
   /// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
@@ -498,7 +564,8 @@ struct MjcPhysicsTokensType {
   ///
   /// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
   /// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
-  /// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
+  /// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
   const TfToken true_;
   /// \brief "user"
   ///
@@ -522,6 +589,10 @@ struct MjcPhysicsTokensType {
   ///
   /// Schema identifier and family for MjcPhysicsActuatorAPI
   const TfToken PhysicsActuatorAPI;
+  /// \brief "PhysicsJointsAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsJointAPI
+  const TfToken PhysicsJointsAPI;
   /// \brief "SceneAPI"
   ///
   /// Schema identifier and family for MjcPhysicsSceneAPI
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
index d88cebee..43afe14e 100644
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -355,3 +355,58 @@ class Keyframe "Keyframe" (
     )
 }
 
+class "PhysicsJointsAPI" (
+    doc = "API describing a Mujoco joint."
+)
+{
+    uniform token mjc:actuatorfrclimited = "auto" (
+        allowedTokens = ["false", "true", "auto"]
+        doc = "This attribute specifies whether actuator forces acting on the joint should be clamped. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. This attribute interacts with the actuatorfrcrange attribute. If this attribute is 'false', actuator force clamping is disabled. If it is 'true', actuator force clamping is enabled. If this attribute is 'auto', and autolimits is set in compiler, actuator force clamping will be enabled if actuatorfrcrange is defined."
+    )
+    uniform double mjc:actuatorfrcrange:max = 0 (
+        doc = "Maximum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
+    )
+    uniform double mjc:actuatorfrcrange:min = 0 (
+        doc = "Minimum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
+    )
+    uniform bool mjc:actuatorgravcomp = 0 (
+        doc = "If this flag is enabled, gravity compensation applied to this joint is added to actuator forces (mjData.qfrc_actuator) rather than passive forces (mjData.qfrc_passive). Notionally, this means that gravity compensation is the result of a control system rather than natural buoyancy. In practice, enabling this flag is useful when joint-level actuator force clamping is used. In this case, the total actuation force applied on a joint, including gravity compensation, is guaranteed to not exceed the specified limits. See Force limits and actuatorfrcrange for more details on this type of force limit."
+    )
+    uniform double mjc:armature = 0 (
+        doc = "Additional inertia associated with movement of the joint that is not due to body mass. This added inertia is usually due to a rotor (a.k.a armature) spinning faster than the joint itself due to a geared transmission. The value applies to all degrees of freedom created by this joint. Besides increasing the realism of joints with geared transmission, positive armature significantly improves simulation stability, even for small values, and is a recommended possible fix when encountering stability issues."
+    )
+    uniform double mjc:damping = 0 (
+        doc = "Damping applied to all degrees of freedom created by this joint. Unlike friction loss which is computed by the constraint solver, damping is simply a force linear in velocity. It is included in the passive forces. Despite this simplicity, larger damping values can make numerical integrators unstable, which is why our Euler integrator handles damping implicitly. See Integration in the Computation chapter."
+    )
+    uniform double mjc:frictionloss = 0 (
+        doc = "Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint. Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss, set this attribute to a positive value."
+    )
+    uniform double mjc:margin = 0 (
+        doc = "The distance threshold below which limits become active. Recall that the Constraint solver normally generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit."
+    )
+    uniform double mjc:ref = 0 (
+        doc = "The reference position or angle of the joint. This attribute is only used for slide and hinge joints. It defines the joint value corresponding to the initial model configuration. The amount of spatial transformation that the joint applies at runtime equals the current joint value stored in mjData.qpos minus this reference value stored in mjModel.qpos0. The meaning of these vectors was discussed in the Stand-alone section in the Overview chapter."
+    )
+    uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001, 0.5, 2] (
+        doc = "Constraint solver parameters for simulating dry friction."
+    )
+    uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001, 0.5, 2] (
+        doc = "Constraint solver parameters for simulating joint limits."
+    )
+    uniform double[] mjc:solreffriction = [0.02, 1] (
+        doc = "Constraint solver parameters for simulating dry friction."
+    )
+    uniform double[] mjc:solreflimit = [0.02, 1] (
+        doc = "Constraint solver parameters for simulating joint limits."
+    )
+    uniform double[] mjc:springdamper = [0, 0] (
+        doc = "When both numbers are positive, the compiler will override any stiffness and damping values specified with the attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has the desired time constant (first value) and damping ratio (second value). This is done by taking into account the joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the constraint solver."
+    )
+    uniform double mjc:springref = 0 (
+        doc = "The joint position or angle in which the joint spring (if any) achieves equilibrium. Similar to the vector mjModel.qpos0 which stores all joint reference values specified with the ref attribute above, all spring reference values specified with this attribute are stored in the vector mjModel.qpos_spring. The model configuration corresponding to mjModel.qpos_spring is also used to compute the spring reference lengths of all tendons, stored in mjModel.tendon_lengthspring. This is because tendons can also have springs."
+    )
+    uniform double mjc:stiffness = 0 (
+        doc = "Joint stiffness. If this value is positive, a spring will be created with equilibrium position given by springref below. The spring force is computed along with the other passive forces."
+    )
+}
+
diff --git a/src/experimental/usd/mjcPhysics/jointAPI.cpp b/src/experimental/usd/mjcPhysics/jointAPI.cpp
new file mode 100644
index 00000000..0adaf2ed
--- /dev/null
+++ b/src/experimental/usd/mjcPhysics/jointAPI.cpp
@@ -0,0 +1,303 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
+
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsJointAPI, TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsJointAPI::~MjcPhysicsJointAPI() {}
+
+/* static */
+MjcPhysicsJointAPI MjcPhysicsJointAPI::Get(const UsdStagePtr &stage,
+                                           const SdfPath &path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsJointAPI();
+  }
+  return MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsJointAPI::_GetSchemaKind() const {
+  return MjcPhysicsJointAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsJointAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsJointAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsJointAPI MjcPhysicsJointAPI::Apply(const UsdPrim &prim) {
+  if (prim.ApplyAPI<MjcPhysicsJointAPI>()) {
+    return MjcPhysicsJointAPI(prim);
+  }
+  return MjcPhysicsJointAPI();
+}
+
+/* static */
+const TfType &MjcPhysicsJointAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsJointAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsJointAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType &MjcPhysicsJointAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringdamper);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringdamperAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcSpringdamper, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcSolreflimitAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreflimit);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreflimitAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcSolreflimit, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcSolimplimitAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimplimit);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimplimitAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcSolimplimit, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcSolreffrictionAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreffriction);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreffrictionAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcSolreffriction, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcSolimpfrictionAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimpfriction);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimpfrictionAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcSolimpfriction, SdfValueTypeNames->DoubleArray,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcStiffnessAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcStiffness);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcStiffnessAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcStiffness, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMinAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMin);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMinAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActuatorfrcrangeMin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMaxAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMax);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMaxAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActuatorfrcrangeMax, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrclimited);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrclimitedAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActuatorfrclimited, SdfValueTypeNames->Token,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorgravcompAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorgravcomp);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorgravcompAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcActuatorgravcomp, SdfValueTypeNames->Bool,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcMarginAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMargin);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcMarginAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcRefAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRef);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcRefAttr(VtValue const &defaultValue,
+                                                  bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcRef, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcSpringrefAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringref);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringrefAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcSpringref, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcArmatureAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcArmature);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcArmatureAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcArmature, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcDampingAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDamping);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcDampingAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcDamping, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+UsdAttribute MjcPhysicsJointAPI::GetMjcFrictionlossAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFrictionloss);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateMjcFrictionlossAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcFrictionloss, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
+namespace {
+static inline TfTokenVector _ConcatenateAttributeNames(
+    const TfTokenVector &left, const TfTokenVector &right) {
+  TfTokenVector result;
+  result.reserve(left.size() + right.size());
+  result.insert(result.end(), left.begin(), left.end());
+  result.insert(result.end(), right.begin(), right.end());
+  return result;
+}
+}  // namespace
+
+/*static*/
+const TfTokenVector &MjcPhysicsJointAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcSpringdamper,
+      MjcPhysicsTokens->mjcSolreflimit,
+      MjcPhysicsTokens->mjcSolimplimit,
+      MjcPhysicsTokens->mjcSolreffriction,
+      MjcPhysicsTokens->mjcSolimpfriction,
+      MjcPhysicsTokens->mjcStiffness,
+      MjcPhysicsTokens->mjcActuatorfrcrangeMin,
+      MjcPhysicsTokens->mjcActuatorfrcrangeMax,
+      MjcPhysicsTokens->mjcActuatorfrclimited,
+      MjcPhysicsTokens->mjcActuatorgravcomp,
+      MjcPhysicsTokens->mjcMargin,
+      MjcPhysicsTokens->mjcRef,
+      MjcPhysicsTokens->mjcSpringref,
+      MjcPhysicsTokens->mjcArmature,
+      MjcPhysicsTokens->mjcDamping,
+      MjcPhysicsTokens->mjcFrictionloss,
+  };
+  static TfTokenVector allNames = _ConcatenateAttributeNames(
+      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
index b66c1eb0..a55a4f2d 100644
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ b/src/experimental/usd/mjcPhysics/plugInfo.json
@@ -23,6 +23,16 @@
             ],
             "schemaKind": "singleApplyAPI"
           },
+          "MjcPhysicsJointAPI": {
+            "alias": {
+              "UsdSchemaBase": "PhysicsJointsAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          },
           "MjcPhysicsKeyframe": {
             "alias": {
               "UsdSchemaBase": "Keyframe"
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
index 9b9196a4..4892f809 100644
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ b/src/experimental/usd/mjcPhysics/schema.usda
@@ -695,3 +695,78 @@ class Keyframe "Keyframe"
   )
 }
 
+class "PhysicsJointsAPI"
+(
+    customData = {
+        string className = "JointAPI"
+    }
+    doc = """API describing a Mujoco joint."""
+
+    inherits = </APISchemaBase>
+)
+{
+    uniform double[] mjc:springdamper = [0, 0] (
+        doc = "When both numbers are positive, the compiler will override any stiffness and damping values specified with the attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has the desired time constant (first value) and damping ratio (second value). This is done by taking into account the joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the constraint solver."
+    )
+
+    uniform double[] mjc:solreflimit = [0.02, 1.0] (
+        doc = "Constraint solver parameters for simulating joint limits."
+    )
+
+    uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001, 0.5, 2.0] (
+        doc = "Constraint solver parameters for simulating joint limits."
+    )
+
+    uniform double[] mjc:solreffriction = [0.02, 1.0] (
+        doc = "Constraint solver parameters for simulating dry friction."
+    )
+
+    uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001, 0.5, 2.0] (
+        doc = "Constraint solver parameters for simulating dry friction."
+    )
+
+    uniform double mjc:stiffness = 0 (
+        doc = "Joint stiffness. If this value is positive, a spring will be created with equilibrium position given by springref below. The spring force is computed along with the other passive forces."
+    )
+
+    uniform double mjc:actuatorfrcrange:min = 0 (
+        doc = "Minimum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
+    )
+
+    uniform double mjc:actuatorfrcrange:max = 0 (
+        doc = "Maximum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
+    )
+
+    uniform token mjc:actuatorfrclimited = "auto" (
+        doc = "This attribute specifies whether actuator forces acting on the joint should be clamped. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. This attribute interacts with the actuatorfrcrange attribute. If this attribute is 'false', actuator force clamping is disabled. If it is 'true', actuator force clamping is enabled. If this attribute is 'auto', and autolimits is set in compiler, actuator force clamping will be enabled if actuatorfrcrange is defined."
+        allowedTokens = ["false", "true", "auto"]
+    )
+
+    uniform bool mjc:actuatorgravcomp = false (
+        doc = "If this flag is enabled, gravity compensation applied to this joint is added to actuator forces (mjData.qfrc_actuator) rather than passive forces (mjData.qfrc_passive). Notionally, this means that gravity compensation is the result of a control system rather than natural buoyancy. In practice, enabling this flag is useful when joint-level actuator force clamping is used. In this case, the total actuation force applied on a joint, including gravity compensation, is guaranteed to not exceed the specified limits. See Force limits and actuatorfrcrange for more details on this type of force limit."
+    )
+
+    uniform double mjc:margin = 0 (
+        doc = "The distance threshold below which limits become active. Recall that the Constraint solver normally generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit."
+    )
+
+    uniform double mjc:ref = 0 (
+        doc = "The reference position or angle of the joint. This attribute is only used for slide and hinge joints. It defines the joint value corresponding to the initial model configuration. The amount of spatial transformation that the joint applies at runtime equals the current joint value stored in mjData.qpos minus this reference value stored in mjModel.qpos0. The meaning of these vectors was discussed in the Stand-alone section in the Overview chapter."
+    )
+
+    uniform double mjc:springref = 0 (
+        doc = "The joint position or angle in which the joint spring (if any) achieves equilibrium. Similar to the vector mjModel.qpos0 which stores all joint reference values specified with the ref attribute above, all spring reference values specified with this attribute are stored in the vector mjModel.qpos_spring. The model configuration corresponding to mjModel.qpos_spring is also used to compute the spring reference lengths of all tendons, stored in mjModel.tendon_lengthspring. This is because tendons can also have springs."
+    )
+
+    uniform double mjc:armature = 0 (
+        doc = "Additional inertia associated with movement of the joint that is not due to body mass. This added inertia is usually due to a rotor (a.k.a armature) spinning faster than the joint itself due to a geared transmission. The value applies to all degrees of freedom created by this joint. Besides increasing the realism of joints with geared transmission, positive armature significantly improves simulation stability, even for small values, and is a recommended possible fix when encountering stability issues."
+    )
+
+    uniform double mjc:damping = 0 (
+        doc = "Damping applied to all degrees of freedom created by this joint. Unlike friction loss which is computed by the constraint solver, damping is simply a force linear in velocity. It is included in the passive forces. Despite this simplicity, larger damping values can make numerical integrators unstable, which is why our Euler integrator handles damping implicitly. See Integration in the Computation chapter."
+    )
+
+    uniform double mjc:frictionloss = 0 (
+        doc = "Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint. Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss, set this attribute to a positive value."
+    )
+}
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
index e18394ed..de990c4c 100644
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ b/src/experimental/usd/mjcPhysics/tokens.cpp
@@ -39,6 +39,11 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcActLimited("mjc:actLimited", TfToken::Immortal),
       mjcActRangeMax("mjc:actRange:max", TfToken::Immortal),
       mjcActRangeMin("mjc:actRange:min", TfToken::Immortal),
+      mjcActuatorfrclimited("mjc:actuatorfrclimited", TfToken::Immortal),
+      mjcActuatorfrcrangeMax("mjc:actuatorfrcrange:max", TfToken::Immortal),
+      mjcActuatorfrcrangeMin("mjc:actuatorfrcrange:min", TfToken::Immortal),
+      mjcActuatorgravcomp("mjc:actuatorgravcomp", TfToken::Immortal),
+      mjcArmature("mjc:armature", TfToken::Immortal),
       mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
       mjcBiasType("mjc:biasType", TfToken::Immortal),
       mjcCrankLength("mjc:crankLength", TfToken::Immortal),
@@ -46,6 +51,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
       mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
       mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
+      mjcDamping("mjc:damping", TfToken::Immortal),
       mjcDynPrm("mjc:dynPrm", TfToken::Immortal),
       mjcDynType("mjc:dynType", TfToken::Immortal),
       mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
@@ -74,6 +80,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcForceLimited("mjc:forceLimited", TfToken::Immortal),
       mjcForceRangeMax("mjc:forceRange:max", TfToken::Immortal),
       mjcForceRangeMin("mjc:forceRange:min", TfToken::Immortal),
+      mjcFrictionloss("mjc:frictionloss", TfToken::Immortal),
       mjcGainPrm("mjc:gainPrm", TfToken::Immortal),
       mjcGainType("mjc:gainType", TfToken::Immortal),
       mjcGear("mjc:gear", TfToken::Immortal),
@@ -81,6 +88,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
       mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
       mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
+      mjcMargin("mjc:margin", TfToken::Immortal),
       mjcMpos("mjc:mpos", TfToken::Immortal),
       mjcMquat("mjc:mquat", TfToken::Immortal),
       mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
@@ -114,9 +122,17 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcOptionWind("mjc:option:wind", TfToken::Immortal),
       mjcQpos("mjc:qpos", TfToken::Immortal),
       mjcQvel("mjc:qvel", TfToken::Immortal),
+      mjcRef("mjc:ref", TfToken::Immortal),
       mjcRefSite("mjc:refSite", TfToken::Immortal),
       mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
       mjcSliderSite("mjc:sliderSite", TfToken::Immortal),
+      mjcSolimpfriction("mjc:solimpfriction", TfToken::Immortal),
+      mjcSolimplimit("mjc:solimplimit", TfToken::Immortal),
+      mjcSolreffriction("mjc:solreffriction", TfToken::Immortal),
+      mjcSolreflimit("mjc:solreflimit", TfToken::Immortal),
+      mjcSpringdamper("mjc:springdamper", TfToken::Immortal),
+      mjcSpringref("mjc:springref", TfToken::Immortal),
+      mjcStiffness("mjc:stiffness", TfToken::Immortal),
       muscle("muscle", TfToken::Immortal),
       newton("newton", TfToken::Immortal),
       none("none", TfToken::Immortal),
@@ -131,6 +147,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       Keyframe("Keyframe", TfToken::Immortal),
       MeshCollisionAPI("MeshCollisionAPI", TfToken::Immortal),
       PhysicsActuatorAPI("PhysicsActuatorAPI", TfToken::Immortal),
+      PhysicsJointsAPI("PhysicsJointsAPI", TfToken::Immortal),
       SceneAPI("SceneAPI", TfToken::Immortal),
       SiteAPI("SiteAPI", TfToken::Immortal),
       allTokens({affine,
@@ -155,6 +172,11 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcActLimited,
                  mjcActRangeMax,
                  mjcActRangeMin,
+                 mjcActuatorfrclimited,
+                 mjcActuatorfrcrangeMax,
+                 mjcActuatorfrcrangeMin,
+                 mjcActuatorgravcomp,
+                 mjcArmature,
                  mjcBiasPrm,
                  mjcBiasType,
                  mjcCrankLength,
@@ -162,6 +184,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcCtrlLimited,
                  mjcCtrlRangeMax,
                  mjcCtrlRangeMin,
+                 mjcDamping,
                  mjcDynPrm,
                  mjcDynType,
                  mjcFlagActuation,
@@ -190,6 +213,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcForceLimited,
                  mjcForceRangeMax,
                  mjcForceRangeMin,
+                 mjcFrictionloss,
                  mjcGainPrm,
                  mjcGainType,
                  mjcGear,
@@ -197,6 +221,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcJointInParent,
                  mjcLengthRangeMax,
                  mjcLengthRangeMin,
+                 mjcMargin,
                  mjcMpos,
                  mjcMquat,
                  mjcOptionActuatorgroupdisable,
@@ -227,9 +252,17 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcOptionWind,
                  mjcQpos,
                  mjcQvel,
+                 mjcRef,
                  mjcRefSite,
                  mjcShellinertia,
                  mjcSliderSite,
+                 mjcSolimpfriction,
+                 mjcSolimplimit,
+                 mjcSolreffriction,
+                 mjcSolreflimit,
+                 mjcSpringdamper,
+                 mjcSpringref,
+                 mjcStiffness,
                  muscle,
                  newton,
                  none,
@@ -244,6 +277,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  Keyframe,
                  MeshCollisionAPI,
                  PhysicsActuatorAPI,
+                 PhysicsJointsAPI,
                  SceneAPI,
                  SiteAPI}) {}
 

From 9dc67b50cdbdba7a830df1ceae544f36f60695a2 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Tue, 1 Jul 2025 07:34:19 -0700
Subject: [PATCH 80/82] Write new Mujoco-specific JointAPI data to USD.

PiperOrigin-RevId: 778035661
Change-Id: I945aa38fc58973023d78ab0ab5fad7783d23e1ef
---
 .../usd/plugins/mjcf/mujoco_to_usd.cc         | 81 ++++++++++++++++++-
 .../usd/plugins/mjcf/mjcf_file_format_test.cc | 70 +++++++++++++++-
 2 files changed, 144 insertions(+), 7 deletions(-)

diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index bac02a5e..0a5ee0e2 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -557,13 +557,13 @@ class ModelWriter {
                           MjcPhysicsTokens->mjcOptionMagnetic, magnetic);
 
     pxr::VtArray<double> o_solref(spec_->option.o_solref,
-                                  spec_->option.o_solref + 2);
+                                  spec_->option.o_solref + mjNREF);
     WriteUniformAttribute(physics_scene_path,
                           pxr::SdfValueTypeNames->DoubleArray,
                           MjcPhysicsTokens->mjcOptionO_solref, o_solref);
 
     pxr::VtArray<double> o_solimp(spec_->option.o_solimp,
-                                  spec_->option.o_solimp + 5);
+                                  spec_->option.o_solimp + mjNIMP);
     WriteUniformAttribute(physics_scene_path,
                           pxr::SdfValueTypeNames->DoubleArray,
                           MjcPhysicsTokens->mjcOptionO_solimp, o_solimp);
@@ -1716,6 +1716,80 @@ class ModelWriter {
               upper_limit);
         }
       }
+
+      // Finally write the mjcPhysicsJointAPI attributes.
+      ApplyApiSchema(data_, joint_path, MjcPhysicsTokens->PhysicsJointsAPI);
+
+      WriteUniformAttribute(
+          joint_path, pxr::SdfValueTypeNames->DoubleArray,
+          MjcPhysicsTokens->mjcSpringdamper,
+          pxr::VtArray<double>(joint->springdamper, joint->springdamper + 2));
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->DoubleArray,
+                            MjcPhysicsTokens->mjcSolreflimit,
+                            pxr::VtArray<double>(joint->solref_limit,
+                                                 joint->solref_limit + mjNREF));
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->DoubleArray,
+                            MjcPhysicsTokens->mjcSolimplimit,
+                            pxr::VtArray<double>(joint->solimp_limit,
+                                                 joint->solimp_limit + mjNIMP));
+
+      WriteUniformAttribute(
+          joint_path, pxr::SdfValueTypeNames->DoubleArray,
+          MjcPhysicsTokens->mjcSolreffriction,
+          pxr::VtArray<double>(joint->solref_friction,
+                               joint->solref_friction + mjNREF));
+
+      WriteUniformAttribute(
+          joint_path, pxr::SdfValueTypeNames->DoubleArray,
+          MjcPhysicsTokens->mjcSolimpfriction,
+          pxr::VtArray<double>(joint->solimp_friction,
+                               joint->solimp_friction + mjNIMP));
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcStiffness, joint->stiffness);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcActuatorfrcrangeMin,
+                            joint->actfrcrange[0]);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcActuatorfrcrangeMax,
+                            joint->actfrcrange[1]);
+
+      pxr::TfToken actuatorfrclimited_token = MjcPhysicsTokens->auto_;
+      if (joint->actfrclimited == mjLIMITED_TRUE) {
+        actuatorfrclimited_token = MjcPhysicsTokens->true_;
+      } else if (joint->actfrclimited == mjLIMITED_FALSE) {
+        actuatorfrclimited_token = MjcPhysicsTokens->false_;
+      }
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Token,
+                            MjcPhysicsTokens->mjcActuatorfrclimited,
+                            actuatorfrclimited_token);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Bool,
+                            MjcPhysicsTokens->mjcActuatorgravcomp,
+                            static_cast<bool>(joint->actgravcomp));
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcMargin, joint->margin);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcRef, joint->ref);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcSpringref, joint->springref);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcArmature, joint->armature);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcDamping, joint->damping);
+
+      WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
+                            MjcPhysicsTokens->mjcFrictionloss,
+                            joint->frictionloss);
     }
     if (joint_id >= 0) {
       joint_paths_[joint_id] = joint_path;
@@ -1824,8 +1898,7 @@ class ModelWriter {
     // If the parent is not the world body, but is child of the world body
     // then we need to apply the articulation root API.
     if (parent_id != kWorldIndex) {
-      int parent_parent_id =
-          mjs_getId(mjs_getParent(parent->element)->element);
+      int parent_parent_id = mjs_getId(mjs_getParent(parent->element)->element);
       if (parent_parent_id == kWorldIndex) {
         ApplyApiSchema(data_, parent_path,
                        pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
index 5faec4f7..98fafdf9 100644
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
@@ -19,6 +19,7 @@
 #include <gtest/gtest.h>
 #include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
@@ -1169,13 +1170,13 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
   // test_body_3 is a child of the world but has no children so should not be
   // an articulation root.
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body_3",
-                          pxr::UsdPhysicsArticulationRootAPI);
+                              pxr::UsdPhysicsArticulationRootAPI);
 
   // Articulation root is not applied to other bodies or world body.
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test",
-                          pxr::UsdPhysicsArticulationRootAPI);
+                              pxr::UsdPhysicsArticulationRootAPI);
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
-                          pxr::UsdPhysicsArticulationRootAPI);
+                              pxr::UsdPhysicsArticulationRootAPI);
 
   // Geoms should not have RigidBodyAPI applied either.
   EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",
@@ -1589,6 +1590,69 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
   ExpectAttributeEqual(stage, "/test/body/crank.mjc:crankLength", 1.23);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
+  static constexpr char xml[] = R"(
+  <mujoco model="test">
+    <worldbody>
+      <body name="parent">
+        <body name="child">
+          <joint name="my_joint" type="hinge"
+            springdamper="1 2"
+            solreflimit="0.1 0.2"
+            solimplimit="0.3 0.4 0.5 0.6 0.7"
+            solreffriction="0.8 0.9"
+            solimpfriction="1.0 1.1 1.2 1.3 1.4"
+            stiffness="1.5"
+            actuatorfrcrange="-1.6 1.7"
+            actuatorfrclimited="true"
+            actuatorgravcomp="true"
+            margin="1.8"
+            ref="1.9"
+            springref="2.0"
+            armature="2.1"
+            damping="2.2"
+            frictionloss="2.3"
+          />
+          <geom type="sphere" size="1"/>
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
+  )";
+  auto stage = OpenStageWithPhysics(xml);
+
+  const SdfPath joint_path("/test/parent/child/my_joint");
+  EXPECT_PRIM_API_APPLIED(stage, joint_path, pxr::MjcPhysicsJointAPI);
+
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springdamper",
+                       pxr::VtArray<double>({1, 2}));
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solreflimit",
+                       pxr::VtArray<double>({0.1, 0.2}));
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solimplimit",
+                       pxr::VtArray<double>({0.3, 0.4, 0.5, 0.6, 0.7}));
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solreffriction",
+                       pxr::VtArray<double>({0.8, 0.9}));
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solimpfriction",
+                       pxr::VtArray<double>({1.0, 1.1, 1.2, 1.3, 1.4}));
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:stiffness", 1.5);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child/my_joint.mjc:actuatorfrcrange:min", -1.6);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child/my_joint.mjc:actuatorfrcrange:max", 1.7);
+  ExpectAttributeEqual(stage,
+                       "/test/parent/child/my_joint.mjc:actuatorfrclimited",
+                       MjcPhysicsTokens->true_);
+  ExpectAttributeEqual(
+      stage, "/test/parent/child/my_joint.mjc:actuatorgravcomp", true);
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:margin", 1.8);
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:ref", 1.9);
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springref", 2.0);
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:armature", 2.1);
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:damping", 2.2);
+  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:frictionloss",
+                       2.3);
+}
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsFloatingAndFixedBaseBody) {
   static constexpr char kXml[] = R"(
     <mujoco model="test">

From 50de1b3c2c62a42b394167b853cba9813f6b99c7 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Tue, 1 Jul 2025 07:39:17 -0700
Subject: [PATCH 81/82] Read new Mujoco-specific JointAPI when converting USD.

PiperOrigin-RevId: 778037519
Change-Id: Idd81dc5dc14e2dfb40ba7db4404fd09f9ff50a9f
---
 src/experimental/usd/usd_to_mjspec.cc | 169 ++++++++++++++++++++++++++
 1 file changed, 169 insertions(+)

diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
index 21ef2cb6..da4e4f2a 100644
--- a/src/experimental/usd/usd_to_mjspec.cc
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -25,6 +25,7 @@
 
 #include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
+#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
 #include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
@@ -717,6 +718,170 @@ void ParseMjcPhysicsGeneralActuatorAPI(mjSpec* spec,
   }
 }
 
+void ParseMjcPhysicsJointAPI(mjsJoint* mj_joint,
+                             const pxr::MjcPhysicsJointAPI& joint_api) {
+  auto springdamper_attr = joint_api.GetMjcSpringdamperAttr();
+  if (springdamper_attr.HasAuthoredValue()) {
+    pxr::VtDoubleArray springdamper;
+    springdamper_attr.Get(&springdamper);
+    if (springdamper.size() == 2) {
+      mj_joint->springdamper[0] = springdamper[0];
+      mj_joint->springdamper[1] = springdamper[1];
+    } else {
+      mju_warning(
+          "springdamper attribute for joint %s has incorrect size %zu, "
+          "expected 2.",
+          mj_joint->name->c_str(), springdamper.size());
+    }
+  }
+
+  auto solreflimit_attr = joint_api.GetMjcSolreflimitAttr();
+  if (solreflimit_attr.HasAuthoredValue()) {
+    pxr::VtDoubleArray solreflimit;
+    solreflimit_attr.Get(&solreflimit);
+    if (solreflimit.size() == mjNREF) {
+      for (int i = 0; i < mjNREF; ++i) {
+        mj_joint->solref_limit[i] = solreflimit[i];
+      }
+    } else {
+      mju_warning(
+          "solreflimit attribute for joint %s has incorrect size %zu, "
+          "expected %d.",
+          mj_joint->name->c_str(), solreflimit.size(), mjNREF);
+    }
+  }
+
+  auto solimplimit_attr = joint_api.GetMjcSolimplimitAttr();
+  if (solimplimit_attr.HasAuthoredValue()) {
+    pxr::VtDoubleArray solimplimit;
+    solimplimit_attr.Get(&solimplimit);
+    if (solimplimit.size() == mjNIMP) {
+      for (int i = 0; i < mjNIMP; ++i) {
+        mj_joint->solimp_limit[i] = solimplimit[i];
+      }
+    } else {
+      mju_warning(
+          "solimplimit attribute for joint %s has incorrect size %zu, "
+          "expected %d.",
+          mj_joint->name->c_str(), solimplimit.size(), mjNIMP);
+    }
+  }
+
+  auto solreffriction_attr = joint_api.GetMjcSolreffrictionAttr();
+  if (solreffriction_attr.HasAuthoredValue()) {
+    pxr::VtDoubleArray solreffriction;
+    solreffriction_attr.Get(&solreffriction);
+    if (solreffriction.size() == mjNREF) {
+      for (int i = 0; i < mjNREF; ++i) {
+        mj_joint->solref_friction[i] = solreffriction[i];
+      }
+    } else {
+      mju_warning(
+          "solreffriction attribute for joint %s has incorrect size %zu, "
+          "expected %d.",
+          mj_joint->name->c_str(), solreffriction.size(), mjNREF);
+    }
+  }
+
+  auto solimpfriction_attr = joint_api.GetMjcSolimpfrictionAttr();
+  if (solimpfriction_attr.HasAuthoredValue()) {
+    pxr::VtDoubleArray solimpfriction;
+    solimpfriction_attr.Get(&solimpfriction);
+    if (solimpfriction.size() == mjNIMP) {
+      for (int i = 0; i < mjNIMP; ++i) {
+        mj_joint->solimp_friction[i] = solimpfriction[i];
+      }
+    } else {
+      mju_warning(
+          "solimpfriction attribute for joint %s has incorrect size %zu, "
+          "expected %d.",
+          mj_joint->name->c_str(), solimpfriction.size(), mjNIMP);
+    }
+  }
+
+  auto stiffness_attr = joint_api.GetMjcStiffnessAttr();
+  if (stiffness_attr.HasAuthoredValue()) {
+    double stiffness;
+    stiffness_attr.Get(&stiffness);
+    mj_joint->stiffness = stiffness;
+  }
+
+  auto actuatorfrcrange_min_attr = joint_api.GetMjcActuatorfrcrangeMinAttr();
+  if (actuatorfrcrange_min_attr.HasAuthoredValue()) {
+    double min_val;
+    actuatorfrcrange_min_attr.Get(&min_val);
+    mj_joint->actfrcrange[0] = min_val;
+  }
+  auto actuatorfrcrange_max_attr = joint_api.GetMjcActuatorfrcrangeMaxAttr();
+  if (actuatorfrcrange_max_attr.HasAuthoredValue()) {
+    double max_val;
+    actuatorfrcrange_max_attr.Get(&max_val);
+    mj_joint->actfrcrange[1] = max_val;
+  }
+
+  auto actuatorfrclimited_attr = joint_api.GetMjcActuatorfrclimitedAttr();
+  if (actuatorfrclimited_attr.HasAuthoredValue()) {
+    pxr::TfToken limited;
+    actuatorfrclimited_attr.Get(&limited);
+    if (limited == MjcPhysicsTokens->true_) {
+      mj_joint->actfrclimited = mjLIMITED_TRUE;
+    } else if (limited == MjcPhysicsTokens->false_) {
+      mj_joint->actfrclimited = mjLIMITED_FALSE;
+    } else if (limited == MjcPhysicsTokens->auto_) {
+      mj_joint->actfrclimited = mjLIMITED_AUTO;
+    }
+  }
+
+  auto actuatorgravcomp_attr = joint_api.GetMjcActuatorgravcompAttr();
+  if (actuatorgravcomp_attr.HasAuthoredValue()) {
+    bool gravcomp;
+    actuatorgravcomp_attr.Get(&gravcomp);
+    mj_joint->actgravcomp = gravcomp;
+  }
+
+  auto margin_attr = joint_api.GetMjcMarginAttr();
+  if (margin_attr.HasAuthoredValue()) {
+    double margin;
+    margin_attr.Get(&margin);
+    mj_joint->margin = margin;
+  }
+
+  auto ref_attr = joint_api.GetMjcRefAttr();
+  if (ref_attr.HasAuthoredValue()) {
+    double ref;
+    ref_attr.Get(&ref);
+    mj_joint->ref = ref;
+  }
+
+  auto springref_attr = joint_api.GetMjcSpringrefAttr();
+  if (springref_attr.HasAuthoredValue()) {
+    double springref;
+    springref_attr.Get(&springref);
+    mj_joint->springref = springref;
+  }
+
+  auto armature_attr = joint_api.GetMjcArmatureAttr();
+  if (armature_attr.HasAuthoredValue()) {
+    double armature;
+    armature_attr.Get(&armature);
+    mj_joint->armature = armature;
+  }
+
+  auto damping_attr = joint_api.GetMjcDampingAttr();
+  if (damping_attr.HasAuthoredValue()) {
+    double damping;
+    damping_attr.Get(&damping);
+    mj_joint->damping = damping;
+  }
+
+  auto frictionloss_attr = joint_api.GetMjcFrictionlossAttr();
+  if (frictionloss_attr.HasAuthoredValue()) {
+    double frictionloss;
+    frictionloss_attr.Get(&frictionloss);
+    mj_joint->frictionloss = frictionloss;
+  }
+}
+
 void ParseUsdPhysicsCollider(mjSpec* spec,
                              const pxr::UsdPhysicsCollisionAPI& collision_api,
                              const pxr::UsdPrim& parent_prim, mjsBody* parent,
@@ -959,6 +1124,10 @@ void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
     ParseMjcPhysicsGeneralActuatorAPI(spec, pxr::MjcPhysicsActuatorAPI(prim),
                                       mjtTrn::mjTRN_JOINT, mj_joint->name);
   }
+
+  if (prim.HasAPI<pxr::MjcPhysicsJointAPI>()) {
+    ParseMjcPhysicsJointAPI(mj_joint, pxr::MjcPhysicsJointAPI(prim));
+  }
 }
 
 void ParseMjcPhysicsSite(mjSpec* spec, const pxr::MjcPhysicsSiteAPI& site_api,

From 072b32743034ad6890e5079a64bae42fae624037 Mon Sep 17 00:00:00 2001
From: Robin Alazard <robinalazard@google.com>
Date: Tue, 1 Jul 2025 11:06:13 -0700
Subject: [PATCH 82/82] Fix the parsing of USD scenes that use ResetXformStack

Also add a new test for it

PiperOrigin-RevId: 778114814
Change-Id: Ib019768ac45ecf7ec6d437199a3d1427557b2f06
---
 src/experimental/usd/usd_to_mjspec.cc | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
index da4e4f2a..7a25e156 100644
--- a/src/experimental/usd/usd_to_mjspec.cc
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -63,7 +63,6 @@
 #include <pxr/usd/usdPhysics/revoluteJoint.h>
 #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
 #include <pxr/usd/usdPhysics/scene.h>
-#include <pxr/usd/usdPhysics/sphericalJoint.h>
 namespace {
 
 using pxr::MjcPhysicsTokens;
@@ -1350,7 +1349,7 @@ void ParseCurrentAndDescendants(mjSpec* spec, const pxr::UsdPrim& prim,
     if (child.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
       continue;
     }
-    if (xform_cache.GetResetXformStack(prim)) {
+    if (xform_cache.GetResetXformStack(child)) {
       continue;
     }
     ParseCurrentAndDescendants(spec, child, prim, body, xform_cache);
@@ -1458,12 +1457,15 @@ pxr::UsdPrim GetNestingBodyPrim(const pxr::UsdPrim& prim,
   }
   pxr::UsdPrim previous_prim = prim.GetParent();
   while (previous_prim.IsValid()) {
-    if (xform_cache.GetResetXformStack(previous_prim)) {
-      return pxr::UsdPrim();
-    }
+    // If we find a rigid body, this is our answer. The prim is nested.
     if (previous_prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
       return previous_prim;
     }
+    // If we encounter a prim that resets the transform stack *before* finding
+    // a rigid body, the chain is broken. The prim is not nested.
+    if (xform_cache.GetResetXformStack(previous_prim)) {
+      return pxr::UsdPrim();
+    }
     previous_prim = previous_prim.GetParent();
   }
   return pxr::UsdPrim();