fix: ik slover

config/cabin_robot.xml

@@ -32,47 +32,44 @@
 <!--                <LeftArm id="left_arm" devtype="ti5Robot"  />-->
 <!--                <RightArm />-->
 <!--                <Neck/>-->
-<!--                <Humanoid id="hc01" dof="14"-->
+                <Humanoid id="hc01" dof="14"
-<!--                          urdf="/home/tankaitao/cmvr-lgv/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
+                          urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"
-<!--                          baseLink="PELVIS_S"-->
+                          baseLink="PELVIS_S"
-<!--                          jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
+                          jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"
-<!--                          linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"-->
+                          linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"
-<!--                          bufferSize="50"-->
+                          bufferSize="50"
-<!--                          verbose="false">-->
+                          verbose="false">
-<!--                    <CanManger id="" devId="">-->
+                    <CanManger id="" devId="">
-<!--                        <LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">-->
+                        <LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">
-<!--                            <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="22" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                        </LeftArmCan>-->
+                        </LeftArmCan>
-<!--                        <RightArmCan id = " " devId = " " channelId ="1"  enable="false" toolFrame="R_FINGER_TIP">-->
+                        <RightArmCan id = " " devId = " " channelId ="1"  enable="true" toolFrame="R_FINGER_TIP">
-<!--                            <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
+                            <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
-<!--                            <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
+                            <Motor id="1" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
-<!--                        </RightArmCan>-->
+                        </RightArmCan>
-<!--                        <HeadCan id = " " devId = " " channelId ="2" enable="false">-->
+                        <HeadCan id = " " devId = " " channelId ="2" enable="false">
-<!--                            <Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                        </HeadCan>-->
+                        </HeadCan>
-<!--                        <WaistCan id = " " devId = " " channelId ="3" enable="false">-->
+                        <WaistCan id = " " devId = " " channelId ="3" enable="false">
-<!--                            <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                            <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
+                            <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-<!--                        </WaistCan>-->
+                        </WaistCan>
-<!--                    </CanManger>-->
+                    </CanManger>
 
-<!--                </Humanoid>-->
+                </Humanoid>
-<!--                <AuboRobot id="hc02" ip="127.0.0.1" port="30004" username="aubo" password="123456">-->
-
-<!--                </AuboRobot>-->
             </Robot>
 
             <BioHead>

data/planner/traj.csv

@@ -1,134 +1,110 @@
 t,q1,qd1,qdd1
 0.0000000000,0.0000000000,0.0000000000,0.0000000000
-0.0100000000,0.0000406839,0.0150597278,2.9544225473
+0.0100000000,-0.0000159557,-0.0063777738,-1.9106392001
-0.0200000000,0.0003318988,0.0434389689,2.8328411544
+0.0200000000,-0.0002496495,-0.0461350389,-4.8925174498
-0.0300000000,0.0009089804,0.0721925912,2.9085974602
+0.0300000000,-0.0009799863,-0.1009783500,-5.7006022582
-0.0400000000,0.0017753841,0.1011555878,2.9788370387
+0.0400000000,-0.0022807296,-0.1593365091,-5.9446327575
-0.0500000000,0.0029332621,0.1304223336,2.8974621431
+0.0500000000,-0.0041699534,-0.2185817120,-5.9159701967
-0.0600000000,0.0043835776,0.1596780532,2.9849342393
+0.0600000000,-0.0066533315,-0.2781414650,-5.9705725375
-0.0700000000,0.0061276028,0.1891399125,2.9436385788
+0.0700000000,-0.0097336379,-0.3379378160,-5.9974845155
-0.0800000000,0.0081659118,0.2185494408,2.9100229391
+0.0800000000,-0.0134121852,-0.3977883838,-5.9866809788
-0.0900000000,0.0104989150,0.2480391312,2.9903919563
+0.0900000000,-0.0176896602,-0.4577119179,-5.9970097232
-0.1000000000,0.0131273068,0.2776386486,2.9710319107
+0.1000000000,-0.0225665586,-0.5176710831,-5.9958021374
-0.1100000000,0.0160514180,0.3072295680,2.9553609553
+0.1100000000,-0.0280431623,-0.5776536328,-5.9994155793
-0.1200000000,0.0192715028,0.3368228958,2.9429784390
+0.1200000000,-0.0341196983,-0.6376542617,-5.9998355059
-0.1300000000,0.0227878085,0.3664259693,2.9333976058
+0.1300000000,-0.0407961934,-0.6976428031,-5.9975948022
-0.1400000000,0.0266005752,0.3960787191,2.9965532367
+0.1400000000,-0.0480724867,-0.7576129914,-5.9994877401
-0.1500000000,0.0307100762,0.4257870931,2.9893875915
+0.1500000000,-0.0559484540,-0.8175781906,-5.9948813054
-0.1600000000,0.0351164853,0.4555002329,2.9835420444
+0.1600000000,-0.0644239673,-0.8775223553,-5.9991411360
-0.1700000000,0.0398199454,0.4852198851,2.9788128547
+0.1700000000,-0.0734989367,-0.9374685960,-5.9921968215
-0.1800000000,0.0448205874,0.5149470456,2.9750155809
+0.1800000000,-0.0831732416,-0.9973926934,-5.9980487477
-0.1900000000,0.0501185300,0.5446821560,2.9719877241
+0.1900000000,-0.0934468113,-1.0573180377,-5.9884990499
-0.2000000000,0.0557138798,0.5744252584,2.9695884669
+0.2000000000,-0.1043195108,-1.1172260364,-5.9955305424
-0.2100000000,0.0616067323,0.6041761124,2.9676970254
+0.2100000000,-0.1157912824,-1.1771239542,-5.9828859374
-0.2200000000,0.0677971720,0.6339342832,2.9662104321
+0.2200000000,-0.1278619739,-1.2370190713,-5.9907608055
-0.2300000000,0.0742852736,0.6636992056,2.9650411835
+0.2300000000,-0.1405315123,-1.2968780749,-5.9743209965
-0.2400000000,0.0810711022,0.6934702307,2.9641149689
+0.2400000000,-0.1537997689,-1.3567629311,-5.9826547281
-0.2500000000,0.0881547141,0.7232466591,2.9633685823
+0.2500000000,-0.1676665996,-1.4166118373,-5.9923074269
-0.2600000000,0.0955361574,0.7530277630,2.9627480494
+0.2600000000,-0.1821319218,-1.4764412133,-5.9697616364
-0.2700000000,0.1032154722,0.7828128015,2.9622069731
+0.2700000000,-0.1970596457,-1.5002473361,0.0171102264
-0.2800000000,0.1111926914,0.8126010294,2.9617050786
+0.2800000000,-0.2120611169,-1.5001229872,-0.0936585266
-0.2900000000,0.1194678407,0.8423917022,2.9612069361
+0.2900000000,-0.2270627160,-1.5001591883,0.0626046461
-0.3000000000,0.1280409386,0.8721840779,2.9606808319
+0.3000000000,-0.2420638680,-1.5001494874,-0.0493634487
-0.3100000000,0.1369119973,0.9019774156,2.9600977635
+0.3100000000,-0.2570652126,-1.5001168351,0.0601054870
-0.3200000000,0.1460810222,0.9317709736,2.9594305320
+0.3200000000,-0.2720661740,-1.5001226497,-0.0429343553
-0.3300000000,0.1555480123,0.9615640043,2.9586529089
+0.3300000000,-0.2870673191,-1.5001201883,0.0376000906
-0.3400000000,0.1653129605,0.9913614506,2.9994436646
+0.3400000000,-0.3020681493,-1.5000681224,-0.0536751182
-0.3500000000,0.1753758533,1.0211579226,2.9987759136
+0.3500000000,-0.3170691028,-1.5001264472,0.0082265532
-0.3600000000,0.1857366703,1.0509520895,2.9980466764
+0.3600000000,-0.3320699393,-1.5000247482,0.0601852966
-0.3700000000,0.1963953845,1.0807433647,2.9972296032
+0.3700000000,-0.3470706417,-1.5000970260,-0.0220756027
-0.3800000000,0.2073519622,1.1105311329,2.9962959464
+0.3800000000,-0.3620714540,-1.5000937922,0.0202436733
-0.3900000000,0.2186063626,1.1403147437,2.9952138015
+0.3900000000,-0.3770720959,-1.5000067263,-0.0509307278
-0.4000000000,0.2301585380,1.1700935028,2.9939472846
+0.4000000000,-0.3920727217,-1.5000860034,-0.0153620262
-0.4100000000,0.2420084329,1.1998666617,2.9924556275
+0.4100000000,-0.4070734099,-1.5000814991,0.0158196206
-0.4200000000,0.2541559844,1.2296334033,2.9906921714
+0.4200000000,-0.4220739813,-1.5000096953,0.0433168602
-0.4300000000,0.2666011211,1.2593928252,2.9886032370
+0.4300000000,-0.4370744971,-1.5000652115,-0.0197234398
-0.4400000000,0.2793437633,1.2891439183,2.9861268471
+0.4400000000,-0.4520750926,-1.5000792039,0.0048924020
-0.4500000000,0.2923838217,1.3188855399,2.9831912740
+0.4500000000,-0.4670756435,-1.5000418289,0.0272059475
-0.4600000000,0.3057211976,1.3486163807,2.9797133785
+0.4600000000,-0.4820760839,-1.5000304960,-0.0291077061
-0.4700000000,0.3193557814,1.3783349239,2.9755967043
+0.4700000000,-0.4970765865,-1.5000689907,-0.0084527266
-0.4800000000,0.3332874520,1.4080393945,2.9707292859
+0.4800000000,-0.5120771137,-1.5000650107,0.0108023623
-0.4900000000,0.3475160759,1.4377276969,2.9649811176
+0.4900000000,-0.5270775833,-1.5000230438,0.0289463322
-0.5000000000,0.3620415055,1.4673973379,2.9582012286
+0.5000000000,-0.5420779858,-1.5000379628,-0.0229003696
-0.5100000000,0.3768520933,1.4935024462,2.3994624602
+0.5100000000,-0.5570784597,-1.5000659848,-0.0053852033
-0.5200000000,0.3918443109,1.5001292329,-0.0473926375
+0.5200000000,-0.5720789504,-1.5000591832,0.0116064517
-0.5300000000,0.4068455345,1.5000904478,-0.0558181019
+0.5300000000,-0.5870793908,-1.5000189548,0.0282953124
-0.5400000000,0.4218466876,1.5000544796,-0.0617672439
+0.5400000000,-0.6020797808,-1.5000382186,-0.0217869758
-0.5500000000,0.4368477831,1.5000228970,-0.0657945138
+0.5500000000,-0.6170802457,-1.5000652898,-0.0051190608
-0.5600000000,0.4518488328,1.5000034924,0.0646808468
+0.5600000000,-0.6320807334,-1.5000590120,0.0117371194
-0.5700000000,0.4668498542,1.5000225620,0.0580673577
+0.5700000000,-0.6470811772,-1.5000183275,0.0289971921
-0.5800000000,0.4818508530,1.5000357501,0.0528981018
+0.5800000000,-0.6620815779,-1.5000411362,-0.0221300068
-0.5900000000,0.4968518295,1.5000446841,0.0489129125
+0.5900000000,-0.6770820652,-1.5000691816,-0.0043107723
-0.6000000000,0.5118527850,1.5000505493,0.0458984781
+0.6000000000,-0.6920825806,-1.5000599565,0.0144703189
-0.6100000000,0.5268537219,1.5000542156,0.0436792658
+0.6100000000,-0.7070830438,-1.5000094950,0.0344841461
-0.6200000000,0.5418546430,1.5000563308,0.0421099146
+0.6200000000,-0.7220834921,-1.5000550755,-0.0204007575
-0.6300000000,0.5568555514,1.5000573907,0.0410687802
+0.6300000000,-0.7370840458,-1.5000780803,0.0010977386
-0.6400000000,0.5718564501,1.5000577910,0.0404523670
+0.6400000000,-0.7520846130,-1.5000518625,0.0246543532
-0.6500000000,0.5868573425,1.5000578650,0.0401704239
+0.6500000000,-0.7670850940,-1.5000277946,-0.0362960678
-0.6600000000,0.6018582318,1.5000579132,0.0401415090
+0.6600000000,-0.7820856746,-1.5000839673,-0.0101938888
-0.6700000000,0.6168591213,1.5000582237,0.0402888495
+0.6700000000,-0.7970863370,-1.5000768918,0.0192059116
-0.6800000000,0.6318600142,1.5000590879,0.0405363350
+0.6800000000,-0.8120869163,-1.5000079810,-0.0500617756
-0.6900000000,0.6468609138,1.5000608096,0.0408044882
+0.6900000000,-0.8270875558,-1.5000937560,-0.0161395518
-0.7000000000,0.6618618236,1.5000637088,0.0410062532
+0.7000000000,-0.8420883334,-1.5000899803,0.0230861013
-0.7100000000,0.6768627471,1.5000681192,0.0410424371
+0.7100000000,-0.8570890000,-1.5000264122,-0.0561275847
-0.7200000000,0.6918636881,1.5000743763,0.0407966178
+0.7200000000,-0.8720897997,-1.5001202617,-0.0085789842
-0.7300000000,0.7068646509,1.5000827939,0.0401293113
+0.7300000000,-0.8870907129,-1.5000718602,0.0477346007
-0.7400000000,0.7218656402,1.5000936245,0.0388711525
+0.7400000000,-0.9020914935,-1.5001047330,-0.0409993467
-0.7500000000,0.7368666615,1.5001069976,0.0368147988
+0.7500000000,-0.9170925757,-1.5001292996,0.0312149063
-0.7600000000,0.7518677212,1.5001228260,0.0337052009
+0.7600000000,-0.9320934962,-1.5000800883,-0.0699810062
-0.7700000000,0.7668688267,1.5001406711,0.0292278068
+0.7700000000,-0.9470947367,-1.5001636089,0.0266269093
-0.7800000000,0.7818699858,1.5001595500,0.0229941581
+0.7800000000,-0.9620958396,-1.5000957794,-0.0858124395
-0.7900000000,0.7968712072,1.5001776641,0.0145242063
+0.7900000000,-0.9770973277,-1.5001775357,0.0497342643
-0.8000000000,0.8118724982,1.5001920227,0.0032245014
+0.8000000000,-0.9920986393,-1.5001878235,-0.0674476188
-0.8100000000,0.8268408076,1.4875275785,-2.4236229211
+0.8100000000,-1.0071004195,-1.5000874072,0.1329867627
-0.8200000000,0.8415850092,1.4600455429,-2.9763843157
+0.8200000000,-1.0219392817,-1.4598649714,5.9855481837
-0.8300000000,0.8560369100,1.4303603856,-2.9821334464
+0.8300000000,-1.0362386361,-1.4000134628,5.9761092719
-0.8400000000,0.8701919621,1.4006590026,-2.9869477296
+0.8400000000,-1.0499395206,-1.3401551196,5.9954386163
-0.8500000000,0.8840500235,1.3709435235,-2.9909698326
+0.8500000000,-1.0630417494,-1.2802946681,5.9861781069
-0.8600000000,0.8976109653,1.3412157309,-2.9943223520
+0.8600000000,-1.0755452385,-1.2203987456,5.9782697343
-0.8700000000,0.9108746707,1.3114771308,-2.9971106438
+0.8700000000,-1.0874498709,-1.1605200735,5.9923908792
-0.8800000000,0.9238410335,1.2817290081,-2.9994252697
+0.8800000000,-1.0987555135,-1.1006126206,5.9851787314
-0.8900000000,0.9365099596,1.2519856123,-2.9516661304
+0.8900000000,-1.1094621009,-1.0407014354,5.9959626652
-0.9000000000,0.9488813661,1.2222373806,-2.9548394352
+0.9000000000,-1.1195694896,-0.9807796092,5.9898010161
-0.9100000000,0.9609551735,1.1924800852,-2.9575790728
+0.9100000000,-1.1290776208,-0.9208443071,5.9978168972
-0.9200000000,0.9727313111,1.1627149317,-2.9599417699
+0.9200000000,-1.1379863614,-0.8609046692,5.9930906392
-0.9300000000,0.9842097169,1.1329430086,-2.9619771266
+0.9300000000,-1.1462956389,-0.8009489668,5.9986985104
-0.9400000000,0.9953903367,1.1031653091,-2.9637287294
+0.9400000000,-1.1540053226,-0.7409868136,5.9960412019
-0.9500000000,1.0062731238,1.0733827485,-2.9652351488
+0.9500000000,-1.1611153106,-0.6810089169,5.9993530710
-0.9600000000,1.0168580392,1.0435961801,-2.9665308469
+0.9600000000,-1.1676254504,-0.6210160321,6.0002469001
-0.9700000000,1.0271450505,1.0138064072,-2.9676470105
+0.9700000000,-1.1735356080,-0.5610186206,5.9983480103
-0.9800000000,1.0371341323,0.9840141940,-2.9686123313
+0.9800000000,-1.1788458912,-0.5010412674,5.9984313020
-0.9900000000,1.0468252659,0.9542202743,-2.9694537486
+0.9900000000,-1.1835565264,-0.4410898752,5.9914009231
-1.0000000000,1.0562184391,0.9244253592,-2.9701971713
+1.0000000000,-1.1876678759,-0.3811931772,5.9988240228
-1.0100000000,1.0653136460,0.8946301430,-2.9708681970
+1.0100000000,-1.1911804273,-0.3213300729,5.9806076203
-1.0200000000,1.0741108876,0.8648353085,-2.9714928442
+1.0200000000,-1.1940950327,-0.2616201787,5.9451605548
-1.0300000000,1.0826101708,0.8350415301,-2.9720983147
+1.0300000000,-1.1964133597,-0.2020822778,5.9652439958
-1.0400000000,1.0908115096,0.8052494763,-2.9727138063
+1.0400000000,-1.1981383931,-0.1430012424,5.8369634669
-1.0500000000,1.0987149244,0.7754598102,-2.9733713929
+1.0500000000,-1.1992783791,-0.0854621410,5.4905248998
-1.0600000000,1.1063204427,0.7456731880,-2.9741069935
+1.0600000000,-1.1998598641,-0.0324705716,5.6308791939
-1.0700000000,1.1136280987,0.7158902540,-2.9749614500
+1.0700000000,-1.1999956445,-0.0024097970,0.9995966965
-1.0800000000,1.1206379346,0.6861116337,-2.9759817342
+1.0772269967,-1.2000000000,0.0000000000,0.0000000000
-1.0900000000,1.1273500000,0.6563379202,-2.9772223010
-1.1000000000,1.1337643527,0.6265696561,-2.9787465964
-1.1100000000,1.1398810593,0.5968073062,-2.9806287192
-1.1200000000,1.1457001954,0.5670512198,-2.9829552013
-1.1300000000,1.1512218466,0.5373015791,-2.9858268288
-1.1400000000,1.1564461083,0.5075583300,-2.9893603321
-1.1500000000,1.1613730868,0.4778210896,-2.9936896219
-1.1600000000,1.1660028991,0.4480890268,-2.9989659697
-1.1700000000,1.1703356966,0.4184158210,-2.9408728463
-1.1800000000,1.1743716794,0.3887671793,-2.9472841555
-1.1900000000,1.1781110347,0.3591305176,-2.9556079643
-1.2000000000,1.1815539662,0.3295023791,-2.9662283169
-1.2100000000,1.1847006925,0.2998771665,-2.9795424021
-1.2200000000,1.1875514414,0.2702465011,-2.9958998774
-1.2300000000,1.1901065598,0.2407521222,-2.9205021381
-1.2400000000,1.1923666133,0.2112921989,-2.9478052207
-1.2500000000,1.1943319553,0.1817988988,-2.9816509494
-1.2600000000,1.1960030174,0.1524407057,-2.8915887933
-1.2700000000,1.1973809412,0.1231678311,-2.9572485748
-1.2800000000,1.1984662906,0.0939921512,-2.8580629729
-1.2900000000,1.1992609116,0.0648770893,-2.9932552277
-1.3000000000,1.1997676425,0.0364479401,-2.9790115923
-1.3100000000,1.1999870932,0.0078713741,-2.8408663580
-1.3175726744,1.2000000000,-0.0000000000,-0.0000000000

python/vision_servo/robot_warpper_test.py

@@ -32,9 +32,10 @@ robot = Robot("/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml", "hc01")
 # js = robot.getJointQ('right')
 # print(js)
 # 控制左臂关节
+robot.calibrateZeroQ("R_WRIST_R")
 robot.calibrateZeroQ("R_WRIST_Y")
-# robot.calibrateZeroQ("R_WRIST_R")
+time.sleep(1)
-time.sleep(3)
+print("--------------------------")
 # robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])
 # # robot.moveJ("right", [-0.344938,  0.935147, 2.27031,1.68959, -2.32841,0.460145, 0.300996])
 # robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])

src/common/utils/math/support_functions.h

@@ -138,4 +138,66 @@ public:
         Ti.block<3,1>(0,3) = -Rt * t;
         return Ti;
     }
+
+
+    static int calcLookahead(double qd_ref,
+                                        double qdd_ref,
+                                        double v_max,
+                                        double dt,
+                                        int n_min = 1,
+                                        int n_max = 5)
+    {
+        double v0   = std::abs(qd_ref);
+        double a    = std::abs(qdd_ref);
+        double vmax = std::abs(v_max);
+
+        // 1) 已经在接近最大速度的匀速阶段：直接用 1 步
+        const double vel_sat_ratio = 0.95;  // 95% vmax 就认为是全速段
+        if (v0 >= vel_sat_ratio * vmax) {
+            return 1;
+        }
+
+        // 2) 其他情况再用“加速 + 饱和”的那套公式
+        double s_target = vmax * dt;
+
+        if (v0 < 1e-6 && a < 1e-6) {
+            return n_min;
+        }
+
+        double tau = 0.0;
+
+        if (a < 1e-6) {
+            // 近似匀速：v0 * tau = s_target
+            tau = s_target / (v0 + 1e-6);
+        } else {
+            double A = 0.5 * a;
+            double B = v0;
+            double C = -s_target;
+
+            double disc = B * B - 4.0 * A * C;
+            if (disc < 0.0) disc = 0.0;
+            double sqrt_disc = std::sqrt(disc);
+
+            double tau_quad = (-B + sqrt_disc) / (2.0 * A);
+            double v_at_tau = v0 + a * tau_quad;
+
+            if (v_at_tau <= vmax + 1e-9) {
+                tau = tau_quad;
+            } else {
+                double t_sat = (vmax - v0) / a;
+                double s_sat = v0 * t_sat + 0.5 * a * t_sat * t_sat;
+
+                if (s_target <= s_sat) {
+                    tau = std::min(tau_quad, t_sat);
+                } else {
+                    tau = t_sat + (s_target - s_sat) / vmax;
+                }
+            }
+        }
+
+        int n = (int)std::ceil(tau / dt);
+        if (n < n_min) n = n_min;
+        if (n > n_max) n = n_max;
+        return n;
+    }
 };

src/data_center/include/data_center.h

@@ -21,11 +21,11 @@ namespace cmvr {
         ~DataCenter() {}
 
     public:
-        std::shared_ptr<MotorsInfo> getMotorsInfo() const {
+        const MotorsInfo* getMotorsInfo() const {
             return motors_info_;
         }
 
     private:
-        std::shared_ptr<MotorsInfo> motors_info_{nullptr};
+        MotorsInfo* motors_info_{nullptr};
     };
 }

src/data_center/include/motors_info.h

@@ -31,9 +31,9 @@ namespace cmvr {
             return &instance;
         }
 
-        void getJointsAngle(const std::vector<std::string> &joints_name,std::unordered_map<std::string, double> &joint_qs) const;
+        bool getJointsQ(const std::vector<std::string> &joints_name,std::unordered_map<std::string, double> &joint_qs) const;
-
+        bool getJointsQ(const std::vector<std::string> &joints_name,std::vector<double> &joint_qs) const;
-        void getJointsAngle(const std::vector<std::string> &joints_name,std::vector<double> &joint_qs) const;
+        bool getJointsQ(std::unordered_map<std::string, double> &joint_qs) const;
 
         std::shared_ptr<device::MotorManager> getMotorManager() const {
             return motor_manager_;

src/data_center/src/data_center.cpp

@@ -8,6 +8,6 @@ using namespace cmvr;
 
 DataCenter::DataCenter()
 {
-    motors_info_ = std::shared_ptr<MotorsInfo>(MotorsInfo::getInstance());
+    motors_info_ = MotorsInfo::getInstance();
 
 }

src/data_center/src/motors_info.cpp

@@ -151,8 +151,9 @@ void MotorsInfo::init(const XmlNode &cfg) {
     LOG(INFO) << "All enabled motors initialized successfully.";
 }
 
-void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name,
+bool MotorsInfo::getJointsQ(const std::vector<std::string> &joints_name,
                                 std::unordered_map<std::string, double> &joint_qs) const {
+    auto res{true};
     joint_qs.clear();
     for (auto &name: joints_name) {
         auto motor = motor_manager_->getMotor(name);
@@ -160,11 +161,14 @@ void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name,
             joint_qs.emplace(name, motor->getQ());
         } else {
             joint_qs.emplace(name, std::numeric_limits<double>::quiet_NaN());
+            res = false;
         }
     }
+    return res;
 }
 
-void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name, std::vector<double> &joint_qs) const {
+bool MotorsInfo::getJointsQ(const std::vector<std::string> &joints_name, std::vector<double> &joint_qs) const {
+    auto res{true};
     joint_qs.clear();
     for (auto &name: joints_name) {
         auto motor = motor_manager_->getMotor(name);
@@ -172,6 +176,20 @@ void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name, std
             joint_qs.emplace_back(motor->getQ());
         } else {
             joint_qs.emplace_back(std::numeric_limits<double>::quiet_NaN());
+            res = false;
         }
     }
+    return res;
 }
+
+bool MotorsInfo::getJointsQ(std::unordered_map<std::string, double> &joint_qs) const {
+    joint_qs.clear();
+    auto motors = motor_manager_->motorsMap();
+    for (auto &motor_pair: motors) {
+        auto motor = motor_pair.second;
+        joint_qs.emplace(motor->jointName(), motor->getQ());
+    }
+    return true;
+
+}
+

src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_rpdo1.cpp

@@ -16,11 +16,11 @@ void Ti5MotorRPDO1::UpdateData(uint8_t *data) {
     data[2] = target_pos_ >> 16 & 0xFF;
     data[3] = target_pos_ >> 24 & 0xFF;
     //
-    // data[4] = ctrl_word_ & 0xFF;
+    data[4] = ctrl_word_ & 0xFF;
-    // data[5] = ctrl_word_ >> 8 & 0xFF;
+    data[5] = ctrl_word_ >> 8 & 0xFF;
 
-    data[4] = target_vel_ & 0xFF;
+    // data[4] = target_vel_ & 0xFF;
-    data[5] = target_vel_ >> 8 & 0xFF;
+    // data[5] = target_vel_ >> 8 & 0xFF;
-    data[6] = target_vel_ >> 16 & 0xFF;
+    // data[6] = target_vel_ >> 16 & 0xFF;
-    data[7] = target_vel_ >> 24 & 0xFF;
+    // data[7] = target_vel_ >> 24 & 0xFF;
 }

src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_rpdo1.h

@@ -25,7 +25,7 @@ namespace cmvr {
                 void UpdateData(uint8_t *data) override;
 
                 int32_t GetLength() const override {
-                    return 0x08;
+                    return 0x06;
                 }
 
                 uint32_t GetPeriod() const override {

src/devices/motor/ti5_motor/canopen/ti5_motor_canopen_protocol.cpp

@@ -331,7 +331,7 @@ void Ti5MotorCanopenProtocol::configRPDO1(uint8_t node_id, bool start) {
 
     //6 : 映射控制字
     seedSdoRequest(node_id, CS_WRITE_FOUR_BYTES, RPDO1_MAP_1600, SUB_INDEX_2,
-                   PROFILE_SPEED_6081 << 16 | SUB_INDEX_0 << 8 | 32);
+                        CONTROL_WORD_6040 << 16 | SUB_INDEX_0 << 8 | 16);
 
 
     if (start) {

src/devices/robot/humanoid_robot/src/humanoid_robot.cpp

@@ -7,6 +7,7 @@
 #include "motor/ti5_motor/ti5_motor.h"
 #include "../../../../utils/base/include/abstract_interpolation.h"
 #include "data_center/include/motors_info.h"
+#include "common/utils/math/support_functions.h"
 
 using namespace std;
 using namespace cmvr::device;
@@ -62,7 +63,7 @@ template<int DOF>
 void HumanoidRobot<DOF>::torqueOff() {
     try {
         for (const auto &pair: motor_manager_->motorsMap()) {
-            if (pair.second->jointName() != "R_WRIST_R" && pair.second->jointName() != "WAIST_P")
+            if (pair.second->jointName() != "WAIST_Y" && pair.second->jointName() != "WAIST_P")
                 pair.second->torqueOff();
         }
     } catch (std::exception &e) {
@@ -219,23 +220,12 @@ template<int DOF>
 void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double acc) {
     if (cmd.empty()) return;
 
-    LOG(INFO) << "vel " << vel << "  acc" << acc << " " << cmd.size() << endl;
 
+    // 1. 读当前关节角
     std::unordered_map<std::string, double> cur_joints_angle;
     cur_joints_angle.reserve(cmd.size());
-
-    std::vector<std::shared_ptr<AbstractMotor> > motors;
-    motors.reserve(cmd.size());
-
     for (auto &jp: cmd) {
-        auto motor = motor_manager_->getMotor(jp.joint_name);
+        cur_joints_angle.emplace(jp.joint_name, 0.0); // 预填 key
-        motors.push_back(motor);
-        // 切 CSP
-        if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
-            motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
-        }
-        // 为 map 预填 key
-        cur_joints_angle.emplace(jp.joint_name, 0.0);
     }
 
     getJointQ(cur_joints_angle);
@@ -243,24 +233,27 @@ void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double
     std::vector<double> q_start, q_goal;
     q_start.reserve(cmd.size());
     q_goal.reserve(cmd.size());
+
     for (auto &jp: cmd) {
         auto it = cur_joints_angle.find(jp.joint_name);
         if (it == cur_joints_angle.end()) {
             LOG(ERROR) << "missing current angle for " << jp.joint_name;
             return;
         }
-        q_start.push_back(it->second); // 当前读到的弧度
+        q_start.push_back(it->second);
-        q_goal.push_back(jp.rad); // 目标弧度
+        q_goal.push_back(jp.rad);
+    }
+    if (q_start.size() != q_goal.size()) {
+        LOG(ERROR) << "q_start size != q_goal size";
+        return;
     }
-    if (q_start.size() != q_goal.size()) return;
-
 
+    // 2. 轨迹规划
     TrajPtr traj;
     joint_space_planner_->setPathType(PathType::Quintic);
     joint_space_planner_->setSymmetricLimits(std::vector<double>(cmd.size(), vel),
                                              std::vector<double>(cmd.size(), acc));
 
-
     bool ok = joint_space_planner_->plan(q_start, q_goal, traj);
     if (!ok) {
         LOG(ERROR) << "planner plan() failed";
@@ -268,7 +261,7 @@ void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double
     }
 
 
-    // 10ms
+    // 3. 采样
     const double dt = 0.001;
     auto samples = joint_space_planner_->sampleTrajectory(traj, dt);
     if (samples.size() < 2) {
@@ -276,37 +269,56 @@ void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double
         return;
     }
 
-    const auto t0 = std::chrono::steady_clock::now();
 
-    //  k=0 开始
+    // 4. 切模式、设速度
-    size_t k = 0;
+    std::vector<std::shared_ptr<AbstractMotor> > motors;
+    motors.reserve(cmd.size());
+    for (auto &jp: cmd) {
+        auto motor = motor_manager_->getMotor(jp.joint_name);
+        if (!motor) {
+            LOG(ERROR) << "getMotor failed for " << jp.joint_name;
+            return;
+        }
+        if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
+            motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
+        }
+        motor->setQd(vel);
+        motors.push_back(motor);
+    }
+
+
+    // 5. 下发命令
+    const auto t0 = std::chrono::steady_clock::now();
+    size_t k = 1;
     const size_t K = samples.size();
 
+
     while (k < K) {
-        // // ——根据墙钟计算“应当在的拍次”，用于追赶——
-        // auto now = std::chrono::steady_clock::now();
-        // double elapsed = std::chrono::duration<double>(now - t0).count();
-        // size_t k_should = static_cast<size_t>(std::floor(elapsed / dt)); // 向下取整更保守
-        // if (k_should >= K) k_should = K - 1;
-        // if (k < k_should) k = k_should;  // 追赶，避免越拖越晚
-
-        // ——下发第 k 个采样点——
         const auto &s = samples[k];
-
         for (size_t i = 0; i < motors.size(); ++i) {
-            // motors[i]->setQd(s.qd[i]);
+            motors[i]->setQ(s.q[i]);
-            // motors[i]->setQ(s.q[i]);
-            motors[i]->set(s.q[i],s.qd[i]);
         }
 
         ++k;
-        if (k <= K) {
+        if (k < K) {
             auto next_t = t0 + std::chrono::duration<double>(k * dt);
             std::this_thread::sleep_until(next_t);
         }
     }
+
+    // 6 输出误差
+    getJointQ(cur_joints_angle);
+    for (auto &jp: cmd) {
+        auto it = cur_joints_angle.find(jp.joint_name);
+        if (it == cur_joints_angle.end()) {
+            LOG(ERROR) << "missing current angle for " << jp.joint_name;
+            return;
+        }
+        LOG(INFO) << jp.joint_name << " pos err = " << std::abs(it->second - jp.rad);
+    }
 }
 
+
 template<int DOF>
 void HumanoidRobot<DOF>::calibrateZeroQ(const std::string &joint_name) {
     auto motor = motor_manager_->getMotor(joint_name);

src/ik_solver/ik_solver/include/ik_solver.h

@@ -28,6 +28,31 @@ namespace cmvr {
             return false;
         };
 
+        // 1:单次求解,即moveJ ,调用 ik 之前 一定要使用机械臂的真实关节角度 去更新
+        // moveJ()
+        // update_joints_state(械臂的真实关节角度)
+        // ik()
+        // 2 ： 多次求解，即moveL ,
+        // moveL(){
+        // update_joints_state(械臂的真实关节角度)
+        // for(i = 0 , i ++)
+        //    ik()
+        //    update_joints_state(使用ik的值)
+        void update_joints_state(std::vector<double> cur_joints_angle) {
+            cur_joints_angle_ = std::move(cur_joints_angle);
+        }
+
+
+    protected:
+        //机械臂末端工具坐标系相对于末端法兰的变换矩阵
+        Eigen::Matrix4d T_tool_flange_{};
+
+        // 机械臂基座相对于机器人基座的变换矩阵
+        Eigen::Matrix4d T_arm_robot_{};
+
+        // 上次调用ik 时计算的结果
+        std::vector<double> cur_joints_angle_{};
+
         // 设置 机械臂末端工具坐标系相对于末端法兰的变换矩阵
         void setTcpTransform(const Eigen::Matrix4d& T_tool_flange) {
             T_tool_flange_ = T_tool_flange;
@@ -39,11 +64,5 @@ namespace cmvr {
             T_arm_robot_ = T_arm_robot;
         }
 
-    protected:
-        //机械臂末端工具坐标系相对于末端法兰的变换矩阵
-        Eigen::Matrix4d T_tool_flange_{};
-
-        // 机械臂基座相对于机器人基座的变换矩阵
-        Eigen::Matrix4d T_arm_robot_{};
     };
 }

src/ik_solver/ik_solver/include/ik_solver_creator.h

@@ -6,7 +6,7 @@
 
 #include <memory>
 #include <unordered_map>
-#include "ik_solver.h"
+#include "ik_solver/ik_solver/include/ik_solver.h"
 
 namespace cmvr
 {

src/ik_solver/ik_solver/src/ik_solver_creator.cpp

@@ -4,6 +4,7 @@
 
 
 #include "ik_solver/include/ik_solver_creator.h"
+#include "ik_solver/opt_psi_limit_bias_solver/include/opt_psi_limit_bias_solver.h"
 namespace cmvr
 {
     std::unordered_map<IkSolverType, std::shared_ptr<IKSolver>>
@@ -31,7 +32,7 @@ namespace cmvr
         case IK_SOLVER_UNKNOWN:
             return nullptr;
         case OPT_PSI_LIMIT_BIAS_SRS:
-            // return std::make_shared<HybridAstarParkIn>();
+            return std::make_shared<OptPsiLimitBiasSolver>();
         default:
             return nullptr;
         }

src/ik_solver/opt_psi_limit_bias_solver/include/opt_psi_limit_bias_solver.h

@@ -19,13 +19,8 @@ namespace cmvr{
 
         bool init() override;
         bool ik(const Eigen::Matrix4d &target_pose, std::vector<double> &joints_angle) override;
-
         bool fk(const std::vector<double> &joints_angle, Eigen::Matrix4d &cur_pose, bool robot_base = false) override;
 
-        // 机械臂运动完成后一定要调用一下此接口
-        void update_joints_state(std::vector<double> cur_joints_angle) {
-            cur_joints_angle_ = std::move(cur_joints_angle);
-        }
     private:
         std::shared_ptr<BiasSRSIkSolver> bias_srs_ik_solver_{nullptr};
         std::shared_ptr<JointsLimitAnalyzer> joints_limit_analyzer_{nullptr};
@@ -36,9 +31,6 @@ namespace cmvr{
             bool valid{false};
         }prev_opt_psi_;
 
-
-        // todo :: 后续添加到 data_center
-        std::vector<double> cur_joints_angle_{};
     };
 }
 

src/ik_solver/opt_psi_limit_bias_solver/src/opt_psi_limit_bias_solver.cpp

@@ -91,6 +91,14 @@ bool OptPsiLimitBiasSolver::ik(const Eigen::Matrix4d &target_pose, std::vector<d
 
     // 4 : 求取关节角
     joints_angle = bias_srs_ik_solver_->inverse_kinematics(target_cal_pose, best_psi);
+
+    // 5： 验证有没有超出限制
+    for (int i = 0; i < joints_angle.size(); ++i) {
+        if ((joints_angle[i] > joints_limits[i].second) || (joints_angle[i] < joints_limits[i].first)) {
+            return false;
+        }
+    }
+
     return true;
 }
 

src/ik_solver/opt_psi_limit_bias_solver/src/srs_ik_test.cpp

@@ -360,6 +360,7 @@ TEST(SRS_IK_TEST, TR_TEST) {
            0.0,              0.0,              0.0,              1.0;
 
     std::vector<double> joint_angles = {0.00203898, 1.34062, 0.0, 0.522261, 0.0, -0.000210733, -0.0942364};
+    std::vector<double> last_joint_angles = {0.00203898, 1.34062, 0.111, 0.622261, 0.256, -0.0210733, 1.00};
 
 
 
@@ -368,6 +369,17 @@ TEST(SRS_IK_TEST, TR_TEST) {
     solver.fk(joint_angles,pose,true);
     cout << "Target Pose (FK from seed joints):\n" << pose << endl;
 
-    // solver.ik(T,joint_angles);
+
+
+    solver.update_joints_state(last_joint_angles);
+    solver.ik(pose,joint_angles);
+
+    for (double joint_angle: joint_angles) {
+        cout << joint_angle  << endl;
+    }
+
+    solver.fk(joint_angles,pose,true);
+    cout << "Target Pose (FK from seed joints):\n" << pose << endl;
+
 
 }

src/planner/joint_space_planner/src/joint_space_planner_test.cpp

@@ -5,21 +5,58 @@
 #include "gtest/gtest.h"
 #include "planner/joint_space_planner/include/toppra_bspline.h"
 #include "planner/joint_space_planner/include/joint_space_planner_creator.h"
+#include "common/utils/math/support_functions.h"
+#include <thread>
 using namespace cmvr;
 TEST(JOINT_SPACE_PLANNER_TEST,TOPPRA_TEST) {
 
     auto planner = JointSpacePlannerCreator::create(JointSpacePlannerType::TOPPRA_BSPLINE);
-    planner->setPathType(PathType::Quintic);
+    planner->setPathType(PathType::CubicHermite);
 
     planner->setSymmetricLimits(std::vector<double>(1, 1.5),
-                               std::vector<double>(1, 3.0));
+                               std::vector<double>(1, 6.0));
     TrajPtr traj;
     std::vector<double> q0{0.0};
-    std::vector<double> q1{1.2};
+    std::vector<double> q1{-1.2};
     if (!planner->plan(q0, q1, traj)) { std::cerr << "plan failed\n"; }
 
     // 2) 采样 0.01 s
-    auto samples = planner->sampleTrajectory(traj, 0.01);
+    double dt = 0.01;
+    auto samples = planner->sampleTrajectory(traj, dt);
+
+
+    const auto t0 = std::chrono::steady_clock::now();
+    size_t k = 1;
+    const size_t K = samples.size();
+
+    const int lookahead_steps = 1; // 看前 1 个点，或者直接设 0 就是你的原版
+
+    while (k < K) {
+        const auto &s_now = samples[k];
+
+        int global_lookahead = 1;
+        for (size_t i = 0; i < q0.size(); ++i) {
+            int la_i = SupportFunctions::calcLookahead(
+                s_now.qd[i],
+                s_now.qdd[i],
+                1.5,
+                dt,1,10);
+            global_lookahead = std::max(global_lookahead, la_i);
+        }
+
+        size_t k_la = std::min(k + (size_t) global_lookahead, K - 1);
+        const auto &s_cmd = samples[k];
+
+        std::cout << s_cmd.q << std::endl;
+
+
+
+        ++k;
+        if (k < K) {
+            auto next_t = t0 + std::chrono::duration<double>(k * dt);
+            std::this_thread::sleep_until(next_t);
+        }
+    }
 
     // 3) 写 CSV
     if (!planner->writeTrajectoryCsv("/home/lgv/cmvr/cmvr-es/data/planner/traj.csv", samples)) {

third_party/mujoco/3.3.7/MUJOCO_LOG.TXT

@@ -0,0 +1,3 @@
+Wed Nov 19 10:46:50 2025
+ERROR: could not initialize GLFW
+

third_party/mujoco/3.3.7/THIRD_PARTY_NOTICES

@@ -0,0 +1,630 @@
+MuJoCo version 3.3.7 incorporates the following open-source libraries:
+
+  - libccd
+  - Collisions
+  - TinyXML2
+  - LodePNG
+  - Qhull
+  - GLAD
+  - GLFW
+  - TinyObjLoader
+  - MarchingCubeCpp
+  - {fmt}
+  - OpenGL Mathematics
+  - TriangleMeshDistance
+
+MuJoCo was built for GNU/Linux using LLVM/Clang.
+LLVM/Clang incorporates portions of its standard headers and runtime libraries
+in the resulting MuJoCo binary.
+
+Third-party copyright and license information is included below.
+
+
+
+=========================  LIBCCD  =============================================
+
+Copyright (c)2010-2012 Daniel Fiser <danfis@danfis.cz>,
+Intelligent and Mobile Robotics Group, Department of Cybernetics,
+Faculty of Electrical Engineering, Czech Technical University in Prague.
+All rights reserved.
+
+
+This work was supported by SYMBRION and REPLICATOR projects.
+The SYMBRION project is funded by European Commission within the work
+"Future and Emergent Technologies Proactive" under grant agreement no.
+216342.
+The REPLICATOR project is funded within the work programme "Cognitive
+Systems, Interaction, Robotics" under grant agreement no. 216240.
+http://www.symbrion.eu/
+http://www.replicators.eu/
+
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+ - Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+ - Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+ - Neither the name of the University nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+
+
+
+=========================  COLLISIONS  =========================================
+
+Copyright (c) 2015 Svetoslav Kolev
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+
+
+=========================  TINYXML2  ===========================================
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+
+
+
+=========================  LODEPNG  ============================================
+
+Copyright (c) 2005-2018 Lode Vandevenne
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+    claim that you wrote the original software. If you use this software
+    in a product, an acknowledgment in the product documentation would be
+    appreciated but is not required.
+
+    2. Altered source versions must be plainly marked as such, and must not be
+    misrepresented as being the original software.
+
+    3. This notice may not be removed or altered from any source
+    distribution.
+
+
+
+=========================  QHULL  ==============================================
+
+                    Qhull, Copyright (c) 1993-2020
+
+                            C.B. Barber
+                           Arlington, MA
+
+                               and
+
+       The National Science and Technology Research Center for
+        Computation and Visualization of Geometric Structures
+                        (The Geometry Center)
+                       University of Minnesota
+
+                       email: qhull@qhull.org
+
+This software includes Qhull from C.B. Barber and The Geometry Center.
+Files derived from Qhull 1.0 are copyrighted by the Geometry Center.  The
+remaining files are copyrighted by C.B. Barber.  Qhull is free software
+and may be obtained via http from www.qhull.org.  It may be freely copied,
+modified, and redistributed under the following conditions:
+
+1. All copyright notices must remain intact in all files.
+
+2. A copy of this text file must be distributed along with any copies
+   of Qhull that you redistribute; this includes copies that you have
+   modified, or copies of programs or other software products that
+   include Qhull.
+
+3. If you modify Qhull, you must include a notice giving the
+   name of the person performing the modification, the date of
+   modification, and the reason for such modification.
+
+4. When distributing modified versions of Qhull, or other software
+   products that include Qhull, you must provide notice that the original
+   source code may be obtained as noted above.
+
+5. There is no warranty or other guarantee of fitness for Qhull, it is
+   provided solely "as is".  Bug reports or fixes may be sent to
+   qhull_bug@qhull.org; the authors may or may not act on them as
+   they desire.
+
+
+
+=========================  GLAD  ===============================================
+
+The glad generated code itself is CC0. The source files for the generated code
+are under various licenses from Khronos.
+
+--------------------------------------------------------------------------------
+
+Copyright 2013-2020 The Khronos Group Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and/or associated documentation files (the
+"Materials"), to deal in the Materials without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Materials, and to
+permit persons to whom the Materials are furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Materials.
+
+THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+
+
+
+=========================  GLFW  ===============================================
+
+Copyright (c) 2002-2006 Marcus Geelnard
+
+Copyright (c) 2006-2019 Camilla Löwy
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not
+   claim that you wrote the original software. If you use this software
+   in a product, an acknowledgment in the product documentation would
+   be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and must not
+   be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+   distribution.
+
+
+
+========================= TINYOBJLOADER ========================================
+
+The MIT License (MIT)
+
+Copyright (c) 2012-2019 Syoyo Fujita and many contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+
+
+========================= MARCHINGCUBECPP ======================================
+
+The MIT License (MIT)
+
+Copyright (c) 2020 Axel Paris
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+
+
+========================= FMT ==================================================
+
+Copyright (c) 2012 - present, Victor Zverovich and {fmt} contributors
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+--- Optional exception to the license ---
+
+As an exception, if, as a result of your compiling your source code, portions
+of this Software are embedded into a machine-executable object form of such
+source code, you may redistribute such embedded portions in such object form
+without including the above copyright and permission notices.
+
+
+
+========================= TRIANGLEMESHDISTANCE =================================
+
+MIT License
+
+Copyright (c) 2021 Jose Antonio Fernandez Fernandez
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+
+================================================================================
+The LLVM Project is under the Apache License v2.0 with LLVM Exceptions:
+================================================================================
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+    TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+    1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+    2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+    3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+    4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+    5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+    6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+    7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+    8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+    9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+    END OF TERMS AND CONDITIONS
+
+    APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+    Copyright [yyyy] [name of copyright owner]
+
+    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.
+
+
+---- LLVM Exceptions to the Apache 2.0 License ----
+
+As an exception, if, as a result of your compiling your source code, portions
+of this Software are embedded into an Object form of such source code, you
+may redistribute such embedded portions in such Object form without complying
+with the conditions of Sections 4(a), 4(b) and 4(d) of the License.
+
+In addition, if you combine or link compiled forms of this Software with
+software that is licensed under the GPLv2 ("Combined Software") and if a
+court of competent jurisdiction determines that the patent provision (Section
+3), the indemnity provision (Section 9) or other Section of the License
+conflicts with the conditions of the GPLv2, you may retroactively and
+prospectively choose to deem waived or otherwise exclude such Section(s) of
+the License, but only in their entirety and only with respect to the Combined
+Software.
+
+================================================================================
+Software from third parties included in the LLVM Project:
+================================================================================
+The LLVM Project contains third party software which is under different license
+terms. All such code will be identified clearly using at least one of two
+mechanisms:
+1) It will be in a separate directory tree with its own `LICENSE.txt` or
+   `LICENSE` file at the top containing the specific license and restrictions
+   which apply to that software, or
+2) It will contain specific license and restriction terms at the top of every
+   file.
+
+================================================================================
+Legacy LLVM License (https://llvm.org/docs/DeveloperPolicy.html#legacy):
+================================================================================
+University of Illinois/NCSA
+Open Source License
+
+Copyright (c) 2003-2019 University of Illinois at Urbana-Champaign.
+All rights reserved.
+
+Developed by:
+
+    LLVM Team
+
+    University of Illinois at Urbana-Champaign
+
+    http://llvm.org
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal with
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimers.
+
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimers in the
+      documentation and/or other materials provided with the distribution.
+
+    * Neither the names of the LLVM Team, University of Illinois at
+      Urbana-Champaign, nor the names of its contributors may be used to
+      endorse or promote products derived from this Software without specific
+      prior written permission.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE
+SOFTWARE.

third_party/mujoco/3.3.7/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_

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/actuator.h

@@ -0,0 +1,872 @@
+// 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_ACTUATOR_H
+#define MJCPHYSICS_GENERATED_ACTUATOR_H
+
+/// \file mjcPhysics/actuator.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;
+
+// -------------------------------------------------------------------------- //
+// MJCACTUATOR                                                                //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsActuator
+///
+/// Known as actuator in MuJoCo, this prim represents force transmission to
+/// joints, bodies, or sites.
+///
+/// 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 MjcPhysicsActuator : public UsdTyped {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
+
+  /// Construct a MjcPhysicsActuator on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsActuator(const UsdPrim& prim = UsdPrim())
+      : UsdTyped(prim) {}
+
+  /// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsActuator(const UsdSchemaBase& schemaObj)
+      : UsdTyped(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsActuator();
+
+  /// 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 MjcPhysicsActuator 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
+  /// MjcPhysicsActuator(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsActuator 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 MjcPhysicsActuator 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:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the transmission belongs.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:group = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGroupAttr() const;
+
+  /// See GetGroupAttr(), 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 CreateGroupAttr(VtValue const& defaultValue = VtValue(),
+                               bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRLLIMITED
+  // --------------------------------------------------------------------- //
+  /// If true, the control input to this actuator is automatically clamped to
+  /// ctrlrange at runtime. If false, control input clamping is disabled. If
+  /// 'auto' and autolimits is set in compiler, control clamping will
+  /// automatically be set to true if ctrlrange is defined without explicitly
+  /// setting this attribute to 'true'. Note that control input clamping can
+  /// also be globally disabled with the clampctrl attribute of option/flag.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:ctrlLimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlLimitedAttr() const;
+
+  /// See GetMjcCtrlLimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const& defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFORCELIMITED
+  // --------------------------------------------------------------------- //
+  /// If true, the force output of this actuator is automatically clamped to
+  /// forcerange at runtime. If false, force clamping is disabled. If 'auto' and
+  /// autolimits is set in compiler, force clamping will automatically be set to
+  /// true if forcerange is defined without explicitly setting this attribute to
+  /// 'true'.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:forceLimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcForceLimitedAttr() const;
+
+  /// See GetMjcForceLimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcForceLimitedAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTLIMITED
+  // --------------------------------------------------------------------- //
+  /// If true, the internal state (activation) associated with this actuator is
+  /// automatically clamped to actrange at runtime. If false, activation
+  /// clamping is disabled. If 'auto' and autolimits is set in compiler,
+  /// activation clamping will automatically be set to true if actrange is
+  /// defined without explicitly setting this attribute to 'true'. See the
+  /// Activation clamping section for more details.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:actLimited = "auto"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActLimitedAttr() const;
+
+  /// See GetMjcActLimitedAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActLimitedAttr(VtValue const& defaultValue = VtValue(),
+                                       bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRLRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping the control input. The first value must be
+  /// smaller than the second value. Setting this attribute without specifying
+  /// ctrllimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:ctrlRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlRangeMinAttr() const;
+
+  /// See GetMjcCtrlRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlRangeMinAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRLRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping the control input. The first value must be
+  /// smaller than the second value. Setting this attribute without specifying
+  /// ctrllimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:ctrlRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlRangeMaxAttr() const;
+
+  /// See GetMjcCtrlRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlRangeMaxAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFORCERANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping the force output. The first value must be no
+  /// greater than the second value. Setting this attribute without specifying
+  /// forcelimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:forceRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcForceRangeMinAttr() const;
+
+  /// See GetMjcForceRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcForceRangeMinAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCFORCERANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping the force output. The first value must be no
+  /// greater than the second value. Setting this attribute without specifying
+  /// forcelimited is an error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:forceRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcForceRangeMaxAttr() const;
+
+  /// See GetMjcForceRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcForceRangeMaxAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range for clamping the activation state. The first value must be
+  /// no greater than the second value. See the Activation clamping section for
+  /// more details. Setting this attribute without specifying actlimited is an
+  /// error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:actRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActRangeMinAttr() const;
+
+  /// See GetMjcActRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActRangeMinAttr(VtValue const& defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range for clamping the activation state. The first value must be
+  /// no greater than the second value. See the Activation clamping section for
+  /// more details. Setting this attribute without specifying actlimited is an
+  /// error if autolimits is 'false' in compiler.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:actRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActRangeMaxAttr() const;
+
+  /// See GetMjcActRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActRangeMaxAttr(VtValue const& defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCLENGTHRANGEMIN
+  // --------------------------------------------------------------------- //
+  /// Minimum range of feasible lengths of the actuator's transmission.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:lengthRange:min = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcLengthRangeMinAttr() const;
+
+  /// See GetMjcLengthRangeMinAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcLengthRangeMinAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCLENGTHRANGEMAX
+  // --------------------------------------------------------------------- //
+  /// Maximum range of feasible lengths of the actuator's transmission.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:lengthRange:max = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcLengthRangeMaxAttr() const;
+
+  /// See GetMjcLengthRangeMaxAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcLengthRangeMaxAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCGEAR
+  // --------------------------------------------------------------------- //
+  /// This attribute scales the length (and consequently moment arms, velocity
+  /// and force) of the actuator, for all transmission types. It is different
+  /// from the gain in the force generation mechanism, because the gain only
+  /// scales the force output and does not affect the length, moment arms and
+  /// velocity. For actuators with scalar transmission, only the first element
+  /// of this vector is used. The remaining elements are needed for joint,
+  /// jointinparent and site transmissions where this attribute is used to
+  /// specify 3D force and torque axes.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcGearAttr() const;
+
+  /// See GetMjcGearAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcGearAttr(VtValue const& defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCRANKLENGTH
+  // --------------------------------------------------------------------- //
+  /// Used only for the slider-crank transmission type. Specifies the length of
+  /// the connecting rod. The compiler expects this value to be positive when a
+  /// slider-crank transmission is present.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:crankLength = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCrankLengthAttr() const;
+
+  /// See GetMjcCrankLengthAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCrankLengthAttr(VtValue const& defaultValue = VtValue(),
+                                        bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCJOINTINPARENT
+  // --------------------------------------------------------------------- //
+  /// If true and applied to ball and free joints, the 3d rotation axis given by
+  /// gear is defined in the parent frame (which is the world frame for free
+  /// joints) rather than the child frame.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:jointInParent = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcJointInParentAttr() const;
+
+  /// See GetMjcJointInParentAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcJointInParentAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTDIM
+  // --------------------------------------------------------------------- //
+  /// Dimension of the activation state. The default value of -1 instructs the
+  /// compiler to set the dimension according to the dyntype. Values larger than
+  /// 1 are only allowed for user-defined activation dynamics, as native types
+  /// require dimensions of only 0 or 1. For activation dimensions bigger than
+  /// 1, the last element is used to generate force.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:actDim = -1` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActDimAttr() const;
+
+  /// See GetMjcActDimAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActDimAttr(VtValue const& defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCDYNTYPE
+  // --------------------------------------------------------------------- //
+  /// Activation dynamics type for the actuator. The available dynamics types
+  /// were already described in the Actuation model section.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:dynType = "none"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | none, integrator, filter,
+  /// filterexact, muscle, user |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcDynTypeAttr() const;
+
+  /// See GetMjcDynTypeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcDynTypeAttr(VtValue const& defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCGAINTYPE
+  // --------------------------------------------------------------------- //
+  /// The gain and bias together determine the output of the force generation
+  /// mechanism, which is currently assumed to be affine.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:gainType = "fixed"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | fixed, affine, muscle, user |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcGainTypeAttr() const;
+
+  /// See GetMjcGainTypeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcGainTypeAttr(VtValue const& defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCBIASTYPE
+  // --------------------------------------------------------------------- //
+  /// The gain and bias together determine the output of the force generation
+  /// mechanism, which is currently assumed to be affine.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:biasType = "none"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | none, affine, muscle, user |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcBiasTypeAttr() const;
+
+  /// See GetMjcBiasTypeAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcBiasTypeAttr(VtValue const& defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCDYNPRM
+  // --------------------------------------------------------------------- //
+  /// Activation dynamics parameters. The built-in activation types (except for
+  /// muscle) use only the first parameter, but we provide additional parameters
+  /// in case user callbacks implement a more elaborate model. The length of
+  /// this array is not enforced by the parser, so the user can enter as many
+  /// parameters as needed. These defaults are not compatible with muscle
+  /// actuators.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0,
+  /// 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcDynPrmAttr() const;
+
+  /// See GetMjcDynPrmAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcDynPrmAttr(VtValue const& defaultValue = VtValue(),
+                                   bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCGAINPRM
+  // --------------------------------------------------------------------- //
+  /// Gain parameters. The built-in gain types (except for muscle) use only the
+  /// first parameter, but we provide additional parameters in case user
+  /// callbacks implement a more elaborate model. The length of this array is
+  /// not enforced by the parser, so the user can enter as many parameters as
+  /// needed. These defaults are not compatible with muscle actuators.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0,
+  /// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcGainPrmAttr() const;
+
+  /// See GetMjcGainPrmAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcGainPrmAttr(VtValue const& defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCBIASPRM
+  // --------------------------------------------------------------------- //
+  /// Bias parameters. The affine bias type uses three parameters. The length of
+  /// this array is not enforced by the parser, so the user can enter as many
+  /// parameters as needed. These defaults are not compatible with muscle
+  /// actuators.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0,
+  /// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcBiasPrmAttr() const;
+
+  /// See GetMjcBiasPrmAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcBiasPrmAttr(VtValue const& defaultValue = VtValue(),
+                                    bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACTEARLY
+  // --------------------------------------------------------------------- //
+  /// If true, force computation will use the next value of the activation
+  /// variable rather than the current one. Setting this flag reduces the delay
+  /// between the control and accelerations by one time-step.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:actEarly = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActEarlyAttr() const;
+
+  /// See GetMjcActEarlyAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActEarlyAttr(VtValue const& defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCINHERITRANGE
+  // --------------------------------------------------------------------- //
+  /// Automatically set the actuator’s ctrlrange to match the transmission
+  /// target’s range. The default value means disabled. A positive value X sets
+  /// the ctrlrange around the midpoint of the target range, scaled by X. For
+  /// example if the target joint has range of [0, 1], then a value of 1.0 will
+  /// set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to
+  /// [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful
+  /// for not hitting the limits; values larger than 1 are useful for
+  /// maintaining control authority at the limits (being able to push on them).
+  /// This attribute is exclusive with ctrlrange and available only for joint
+  /// and tendon transmissions which have range defined.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:inheritRange = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcInheritRangeAttr() const;
+
+  /// See GetMjcInheritRangeAttr(), 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 CreateMjcInheritRangeAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCTARGET
+  // --------------------------------------------------------------------- //
+  /// Actuator transmission target.
+  ///
+  MJCPHYSICS_API
+  UsdRelationship GetMjcTargetRel() const;
+
+  /// See GetMjcTargetRel(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
+  MJCPHYSICS_API
+  UsdRelationship CreateMjcTargetRel() const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCREFSITE
+  // --------------------------------------------------------------------- //
+  /// When applied to a site, measure the translation and rotation w.r.t the
+  /// frame of the refsite. In this case the actuator does have length and
+  /// position actuators can be used to directly control an end effector, see
+  /// refsite.xml example model. As above, the length is the dot product of the
+  /// gear vector and the frame difference. So gear='0 1 0 0 0 0' means
+  /// 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means
+  /// rotation 'Z- rotation of site in the refsite frame'. It is recommended to
+  /// use a normalized gear vector with nonzeros in only the first 3 or the last
+  /// 3 elements of gear, so the actuator length will be in either length units
+  /// or radians, respectively. As with ball joints (see joint above), for
+  /// rotations which exceed a total angle of pi will wrap around, so tighter
+  /// limits are recommended.
+  ///
+  MJCPHYSICS_API
+  UsdRelationship GetMjcRefSiteRel() const;
+
+  /// See GetMjcRefSiteRel(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
+  MJCPHYSICS_API
+  UsdRelationship CreateMjcRefSiteRel() const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCSLIDERSITE
+  // --------------------------------------------------------------------- //
+  /// Used only for the slider-crank transmission type. The target site is the
+  /// pin joining the slider and the connecting rod. The slider moves along the
+  /// z-axis of the slidersite frame. Therefore the site should be oriented as
+  /// needed when it is defined in the kinematic tree; its orientation cannot be
+  /// changed in the actuator definition.
+  ///
+  MJCPHYSICS_API
+  UsdRelationship GetMjcSliderSiteRel() const;
+
+  /// See GetMjcSliderSiteRel(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
+  MJCPHYSICS_API
+  UsdRelationship CreateMjcSliderSiteRel() const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/api.h

@@ -0,0 +1,42 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_API_H
+#define MJCPHYSICS_API_H
+
+#include <pxr/base/arch/export.h>
+
+#if defined(PXR_STATIC)
+#define MJCPHYSICS_API
+#define MJCPHYSICS_API_TEMPLATE_CLASS(...)
+#define MJCPHYSICS_API_TEMPLATE_STRUCT(...)
+#define MJCPHYSICS_LOCAL
+#else
+#if defined(MJCPHYSICS_EXPORTS)
+#define MJCPHYSICS_API ARCH_EXPORT
+#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
+  ARCH_EXPORT_TEMPLATE(class, __VA_ARGS__)
+#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
+  ARCH_EXPORT_TEMPLATE(struct, __VA_ARGS__)
+#else
+#define MJCPHYSICS_API ARCH_IMPORT
+#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
+  ARCH_IMPORT_TEMPLATE(class, __VA_ARGS__)
+#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
+  ARCH_IMPORT_TEMPLATE(struct, __VA_ARGS__)
+#endif
+#define MJCPHYSICS_LOCAL ARCH_HIDDEN
+#endif
+
+#endif

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h

@@ -0,0 +1,388 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
+#define MJCPHYSICS_GENERATED_COLLISIONAPI_H
+
+/// \file mjcPhysics/collisionAPI.h
+
+#include <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;
+
+// -------------------------------------------------------------------------- //
+// MJCCOLLISIONAPI                                                            //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsCollisionAPI
+///
+/// API describing a MuJoCo collider.
+///
+class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsCollisionAPI(const UsdPrim& prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsCollisionAPI(const UsdSchemaBase& schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsCollisionAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector& GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsCollisionAPI Get(const UsdStagePtr& stage,
+                                    const SdfPath& path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "MjcCollisionAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsCollisionAPI Apply(const UsdPrim& prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType& _GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType& _GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the collider belongs.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:group = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGroupAttr() const;
+
+  /// See GetGroupAttr(), 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 CreateGroupAttr(VtValue const& defaultValue = VtValue(),
+                               bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SHELLINERTIA
+  // --------------------------------------------------------------------- //
+  /// Enables handling of the inertia assuming mass is concentrated on the
+  /// surface.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform bool mjc:shellinertia = 0` |
+  /// | C++ Type | bool |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetShellInertiaAttr() const;
+
+  /// See GetShellInertiaAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateShellInertiaAttr(VtValue const& defaultValue = VtValue(),
+                                      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // PRIORITY
+  // --------------------------------------------------------------------- //
+  /// Priority determining how the properties of two colliders are combined to
+  /// form the properties of the contact.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:priority = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetPriorityAttr() const;
+
+  /// See GetPriorityAttr(), 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 CreatePriorityAttr(VtValue const& defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // CONDIM
+  // --------------------------------------------------------------------- //
+  /// The dimensionality of the contact space for a dynamically generated
+  /// contact pair is set to the maximum of the condim values of the two
+  /// participating geoms.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:condim = 3` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetConDimAttr() const;
+
+  /// See GetConDimAttr(), 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 CreateConDimAttr(VtValue const& defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SOLMIX
+  // --------------------------------------------------------------------- //
+  /// Specifies the weight used for averaging of contact parameters, and
+  /// interacts with the priority attribute.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:solmix = 1` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetSolMixAttr() const;
+
+  /// See GetSolMixAttr(), 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 CreateSolMixAttr(VtValue const& defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SOLREF
+  // --------------------------------------------------------------------- //
+  /// Specifies the weight used for averaging of contact parameters, and
+  /// interacts with the priority attribute.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetSolRefAttr() const;
+
+  /// See GetSolRefAttr(), 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 CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // SOLIMP
+  // --------------------------------------------------------------------- //
+  /// Specifies the weight used for averaging of contact parameters, and
+  /// interacts with the priority attribute.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
+  /// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
+  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
+  /// SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetSolImpAttr() const;
+
+  /// See GetSolImpAttr(), 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 CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MARGIN
+  // --------------------------------------------------------------------- //
+  /// Distance threshold below which contacts are detected and included in the
+  /// global array mjData.contact.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:margin = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMarginAttr() const;
+
+  /// See GetMarginAttr(), 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 CreateMarginAttr(VtValue const& defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // GAP
+  // --------------------------------------------------------------------- //
+  /// This attribute is used to enable the generation of inactive contacts,
+  /// i.e., contacts that are ignored by the constraint solver but are included
+  /// in mjData.contact for the purpose of custom computations. When this value
+  /// is positive, geom distances between margin and margin-gap correspond to
+  /// such inactive contacts.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:gap = 0` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGapAttr() const;
+
+  /// See GetGapAttr(), 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 CreateGapAttr(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

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/imageableAPI.h

@@ -0,0 +1,184 @@
+// 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_IMAGEABLEAPI_H
+#define MJCPHYSICS_GENERATED_IMAGEABLEAPI_H
+
+/// \file mjcPhysics/imageableAPI.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;
+
+// -------------------------------------------------------------------------- //
+// MJCIMAGEABLEAPI                                                            //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsImageableAPI
+///
+/// API describing attributes for visual entities in MuJoCo.
+///
+class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsImageableAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsImageableAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsImageableAPI(const UsdPrim& prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsImageableAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsImageableAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsImageableAPI(const UsdSchemaBase& schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsImageableAPI();
+
+  /// 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 MjcPhysicsImageableAPI 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
+  /// MjcPhysicsImageableAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsImageableAPI 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 "MjcImageableAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsImageableAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsImageableAPI 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 MjcPhysicsImageableAPI 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:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the imageable belongs.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:group = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGroupAttr() const;
+
+  /// See GetGroupAttr(), 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 CreateGroupAttr(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

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h

@@ -0,0 +1,646 @@
+// 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;
+
+// -------------------------------------------------------------------------- //
+// MJCJOINTAPI                                                                //
+// -------------------------------------------------------------------------- //
+
+/// \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 "MjcJointAPI" 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:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the joint belongs.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:group = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGroupAttr() const;
+
+  /// See GetGroupAttr(), 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 CreateGroupAttr(VtValue const& defaultValue = VtValue(),
+                               bool writeSparsely = false) const;
+
+ 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

third_party/mujoco/3.3.7/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;
+
+// -------------------------------------------------------------------------- //
+// MJCKEYFRAME                                                                //
+// -------------------------------------------------------------------------- //
+
+/// \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

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h

@@ -0,0 +1,210 @@
+// 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_MATERIALAPI_H
+#define MJCPHYSICS_GENERATED_MATERIALAPI_H
+
+/// \file mjcPhysics/materialAPI.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;
+
+// -------------------------------------------------------------------------- //
+// MJCMATERIALAPI                                                             //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsMaterialAPI
+///
+/// API providing extension attributes to represent physical MuJoCo materials.
+///
+class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsMaterialAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsMaterialAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsMaterialAPI(const UsdPrim& prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsMaterialAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsMaterialAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsMaterialAPI(const UsdSchemaBase& schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsMaterialAPI();
+
+  /// 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 MjcPhysicsMaterialAPI 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
+  /// MjcPhysicsMaterialAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsMaterialAPI 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 "MjcMaterialAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsMaterialAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsMaterialAPI 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 MjcPhysicsMaterialAPI 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:
+  // --------------------------------------------------------------------- //
+  // TORSIONALFRICTION
+  // --------------------------------------------------------------------- //
+  /// Friction value acting around contact normal.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:torsionalfriction = 0.005` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetTorsionalFrictionAttr() const;
+
+  /// See GetTorsionalFrictionAttr(), 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 CreateTorsionalFrictionAttr(
+      VtValue const& defaultValue = VtValue(),
+      bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // ROLLINGFRICTION
+  // --------------------------------------------------------------------- //
+  /// Friction value acting around both axes on the contact tangent plane.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform double mjc:rollingfriction = 0.0001` |
+  /// | C++ Type | double |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetRollingFrictionAttr() const;
+
+  /// See GetRollingFrictionAttr(), 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 CreateRollingFrictionAttr(
+      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

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h

@@ -0,0 +1,216 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
+#define MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
+
+/// \file mjcPhysics/meshCollisionAPI.h
+
+#include <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;
+
+// -------------------------------------------------------------------------- //
+// MJCMESHCOLLISIONAPI                                                        //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsMeshCollisionAPI
+///
+/// API describing a MuJoCo mesh collider.
+///
+/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
+/// below that are text/tokens, the actual token is published and defined in
+/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
+/// use MjcPhysicsTokens->rightHanded as the value.
+///
+class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsMeshCollisionAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
+  /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
+  /// error for an invalid \p prim
+  explicit MjcPhysicsMeshCollisionAPI(const UsdPrim& prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase& schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsMeshCollisionAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector& GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr& stage,
+                                        const SdfPath& path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "MjcMeshCollisionAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
+  /// success. An invalid (or empty) MjcPhysicsMeshCollisionAPI object is
+  /// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim& prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType& _GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType& _GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // INERTIA
+  // --------------------------------------------------------------------- //
+  /// Controls how a mesh is used when mass and inertia are inferred from
+  /// geometry.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform token mjc:inertia = "legacy"` |
+  /// | C++ Type | TfToken |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  /// | \ref MjcPhysicsTokens "Allowed Values" | legacy, convex, exact, shell |
+  MJCPHYSICS_API
+  UsdAttribute GetInertiaAttr() const;
+
+  /// See GetInertiaAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateInertiaAttr(VtValue const& defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MAXHULLVERT
+  // --------------------------------------------------------------------- //
+  /// Sets an upper limit on the number of vertices in the meshes convex hull.
+  /// The default value of -1 means unlimited.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:maxhullvert = -1` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMaxHullVertAttr() const;
+
+  /// See GetMaxHullVertAttr(), 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 CreateMaxHullVertAttr(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

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h

@@ -0,0 +1,183 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_SITEAPI_H
+#define MJCPHYSICS_GENERATED_SITEAPI_H
+
+/// \file mjcPhysics/siteAPI.h
+
+#include <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;
+
+// -------------------------------------------------------------------------- //
+// MJCSITEAPI                                                                 //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsSiteAPI
+///
+/// API describing a MuJoCo site.
+///
+class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
+
+  /// Construct a MjcPhysicsSiteAPI on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsSiteAPI(const UsdPrim& prim = UsdPrim())
+      : UsdAPISchemaBase(prim) {}
+
+  /// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsSiteAPI(const UsdSchemaBase& schemaObj)
+      : UsdAPISchemaBase(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsSiteAPI();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector& GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsSiteAPI holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsSiteAPI Get(const UsdStagePtr& stage, const SdfPath& path);
+
+  /// Returns true if this <b>single-apply</b> API schema can be applied to
+  /// the given \p prim. If this schema can not be a applied to the prim,
+  /// this returns false and, if provided, populates \p whyNot with the
+  /// reason it can not be applied.
+  ///
+  /// Note that if CanApply returns false, that does not necessarily imply
+  /// that calling Apply will fail. Callers are expected to call CanApply
+  /// before calling Apply if they want to ensure that it is valid to
+  /// apply a schema.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
+
+  /// Applies this <b>single-apply</b> API schema to the given \p prim.
+  /// This information is stored by adding "MjcSiteAPI" to the
+  /// token-valued, listOp metadata \em apiSchemas on the prim.
+  ///
+  /// \return A valid MjcPhysicsSiteAPI object is returned upon success.
+  /// An invalid (or empty) MjcPhysicsSiteAPI object is returned upon
+  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
+  /// resulting in failure.
+  ///
+  /// \sa UsdPrim::GetAppliedSchemas()
+  /// \sa UsdPrim::HasAPI()
+  /// \sa UsdPrim::CanApplyAPI()
+  /// \sa UsdPrim::ApplyAPI()
+  /// \sa UsdPrim::RemoveAPI()
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsSiteAPI Apply(const UsdPrim& prim);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType& _GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType& _GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the collider belongs.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:group = 0` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetGroupAttr() const;
+
+  /// See GetGroupAttr(), 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 CreateGroupAttr(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

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/mjcPhysics/tokens.h

@@ -0,0 +1,740 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_TOKENS_H
+#define MJCPHYSICS_TOKENS_H
+
+/// \file mjcPhysics/tokens.h
+
+// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
+//
+// This is an automatically generated file (by usdGenSchema.py).
+// Do not hand-edit!
+//
+// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
+
+#include <vector>
+
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <pxr/base/tf/staticData.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/pxr.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+/// \class MjcPhysicsTokensType
+///
+/// \link MjcPhysicsTokens \endlink provides static, efficient
+/// \link TfToken TfTokens\endlink for use in all public USD API.
+///
+/// These tokens are auto-generated from the module's schema, representing
+/// property names, for when you need to fetch an attribute or relationship
+/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
+/// manner, and allow the compiler to verify that you spelled the name
+/// correctly.
+///
+/// MjcPhysicsTokens also contains all of the \em allowedTokens values
+/// declared for schema builtin attributes of 'token' scene description type.
+/// Use MjcPhysicsTokens like so:
+///
+/// \code
+///     gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->affine);
+/// \endcode
+struct MjcPhysicsTokensType {
+  MJCPHYSICS_API MjcPhysicsTokensType();
+  /// \brief "affine"
+  ///
+  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcGainTypeAttr()
+  const TfToken affine;
+  /// \brief "auto"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Fallback
+  /// value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value for
+  /// MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
+  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
+  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(),  This token represents
+  /// the auto constraint Jacobian and matrices computed from it.
+  const TfToken auto_;
+  /// \brief "cg"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
+  /// represents the CG constraint solver algorithm.
+  const TfToken cg;
+  /// \brief "convex"
+  ///
+  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken convex;
+  /// \brief "degree"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetAngleAttr()
+  const TfToken degree;
+  /// \brief "dense"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
+  /// represents the dense constraint Jacobian and matrices computed from it.
+  const TfToken dense;
+  /// \brief "elliptic"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetConeAttr(),  This token
+  /// represents the elliptic contact friction cone type.
+  const TfToken elliptic;
+  /// \brief "euler"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the Euler numerical integrator.
+  const TfToken euler;
+  /// \brief "exact"
+  ///
+  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken exact;
+  /// \brief "false"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
+  const TfToken false_;
+  /// \brief "filter"
+  ///
+  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
+  const TfToken filter;
+  /// \brief "filterexact"
+  ///
+  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
+  const TfToken filterexact;
+  /// \brief "fixed"
+  ///
+  /// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr()
+  const TfToken fixed;
+  /// \brief "implicit"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the implicit numerical integrator.
+  const TfToken implicit;
+  /// \brief "implicitfast"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the implicitfast numerical integrator.
+  const TfToken implicitfast;
+  /// \brief "integrator"
+  ///
+  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
+  const TfToken integrator;
+  /// \brief "legacy"
+  ///
+  /// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken legacy;
+  /// \brief "mjc:act"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcAct;
+  /// \brief "mjc:actDim"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcActDim;
+  /// \brief "mjc:actEarly"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcActEarly;
+  /// \brief "mjc:actLimited"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcActLimited;
+  /// \brief "mjc:actRange:max"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcActRangeMax;
+  /// \brief "mjc:actRange:min"
+  ///
+  /// MjcPhysicsActuator
+  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"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcBiasPrm;
+  /// \brief "mjc:biasType"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcBiasType;
+  /// \brief "mjc:compiler:alignFree"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerAlignFree;
+  /// \brief "mjc:compiler:angle"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerAngle;
+  /// \brief "mjc:compiler:autoLimits"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerAutoLimits;
+  /// \brief "mjc:compiler:balanceInertia"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerBalanceInertia;
+  /// \brief "mjc:compiler:boundInertia"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerBoundInertia;
+  /// \brief "mjc:compiler:boundMass"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerBoundMass;
+  /// \brief "mjc:compiler:fitAABB"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerFitAABB;
+  /// \brief "mjc:compiler:fuseStatic"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerFuseStatic;
+  /// \brief "mjc:compiler:inertiaFromGeom"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerInertiaFromGeom;
+  /// \brief "mjc:compiler:inertiaGroupRange:max"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerInertiaGroupRangeMax;
+  /// \brief "mjc:compiler:inertiaGroupRange:min"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerInertiaGroupRangeMin;
+  /// \brief "mjc:compiler:saveInertial"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerSaveInertial;
+  /// \brief "mjc:compiler:setTotalMass"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerSetTotalMass;
+  /// \brief "mjc:compiler:useThread"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcCompilerUseThread;
+  /// \brief "mjc:condim"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcCondim;
+  /// \brief "mjc:crankLength"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcCrankLength;
+  /// \brief "mjc:ctrl"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcCtrl;
+  /// \brief "mjc:ctrlLimited"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcCtrlLimited;
+  /// \brief "mjc:ctrlRange:max"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcCtrlRangeMax;
+  /// \brief "mjc:ctrlRange:min"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcCtrlRangeMin;
+  /// \brief "mjc:damping"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcDamping;
+  /// \brief "mjc:dynPrm"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcDynPrm;
+  /// \brief "mjc:dynType"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcDynType;
+  /// \brief "mjc:flag:actuation"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagActuation;
+  /// \brief "mjc:flag:autoreset"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagAutoreset;
+  /// \brief "mjc:flag:clampctrl"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagClampctrl;
+  /// \brief "mjc:flag:constraint"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagConstraint;
+  /// \brief "mjc:flag:contact"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagContact;
+  /// \brief "mjc:flag:damper"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagDamper;
+  /// \brief "mjc:flag:energy"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagEnergy;
+  /// \brief "mjc:flag:equality"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagEquality;
+  /// \brief "mjc:flag:eulerdamp"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagEulerdamp;
+  /// \brief "mjc:flag:filterparent"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagFilterparent;
+  /// \brief "mjc:flag:frictionloss"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagFrictionloss;
+  /// \brief "mjc:flag:fwdinv"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagFwdinv;
+  /// \brief "mjc:flag:gravity"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagGravity;
+  /// \brief "mjc:flag:invdiscrete"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagInvdiscrete;
+  /// \brief "mjc:flag:island"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagIsland;
+  /// \brief "mjc:flag:limit"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagLimit;
+  /// \brief "mjc:flag:midphase"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagMidphase;
+  /// \brief "mjc:flag:multiccd"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagMulticcd;
+  /// \brief "mjc:flag:nativeccd"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagNativeccd;
+  /// \brief "mjc:flag:override"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagOverride;
+  /// \brief "mjc:flag:refsafe"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagRefsafe;
+  /// \brief "mjc:flag:sensor"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagSensor;
+  /// \brief "mjc:flag:spring"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagSpring;
+  /// \brief "mjc:flag:warmstart"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcFlagWarmstart;
+  /// \brief "mjc:forceLimited"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcForceLimited;
+  /// \brief "mjc:forceRange:max"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcForceRangeMax;
+  /// \brief "mjc:forceRange:min"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcForceRangeMin;
+  /// \brief "mjc:frictionloss"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcFrictionloss;
+  /// \brief "mjc:gainPrm"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcGainPrm;
+  /// \brief "mjc:gainType"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcGainType;
+  /// \brief "mjc:gap"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcGap;
+  /// \brief "mjc:gear"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcGear;
+  /// \brief "mjc:group"
+  ///
+  /// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
+  /// MjcPhysicsActuator, MjcPhysicsJointAPI
+  const TfToken mjcGroup;
+  /// \brief "mjc:inertia"
+  ///
+  /// MjcPhysicsMeshCollisionAPI
+  const TfToken mjcInertia;
+  /// \brief "mjc:inheritRange"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcInheritRange;
+  /// \brief "mjc:jointInParent"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcJointInParent;
+  /// \brief "mjc:lengthRange:max"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcLengthRangeMax;
+  /// \brief "mjc:lengthRange:min"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcLengthRangeMin;
+  /// \brief "mjc:margin"
+  ///
+  /// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI
+  const TfToken mjcMargin;
+  /// \brief "mjc:maxhullvert"
+  ///
+  /// MjcPhysicsMeshCollisionAPI
+  const TfToken mjcMaxhullvert;
+  /// \brief "mjc:mpos"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcMpos;
+  /// \brief "mjc:mquat"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcMquat;
+  /// \brief "mjc:option:actuatorgroupdisable"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionActuatorgroupdisable;
+  /// \brief "mjc:option:ccd_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionCcd_iterations;
+  /// \brief "mjc:option:ccd_tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionCcd_tolerance;
+  /// \brief "mjc:option:cone"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionCone;
+  /// \brief "mjc:option:density"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionDensity;
+  /// \brief "mjc:option:impratio"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionImpratio;
+  /// \brief "mjc:option:integrator"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionIntegrator;
+  /// \brief "mjc:option:iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionIterations;
+  /// \brief "mjc:option:jacobian"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionJacobian;
+  /// \brief "mjc:option:ls_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionLs_iterations;
+  /// \brief "mjc:option:ls_tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionLs_tolerance;
+  /// \brief "mjc:option:magnetic"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionMagnetic;
+  /// \brief "mjc:option:noslip_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionNoslip_iterations;
+  /// \brief "mjc:option:noslip_tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionNoslip_tolerance;
+  /// \brief "mjc:option:o_friction"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionO_friction;
+  /// \brief "mjc:option:o_margin"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionO_margin;
+  /// \brief "mjc:option:o_solimp"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionO_solimp;
+  /// \brief "mjc:option:o_solref"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionO_solref;
+  /// \brief "mjc:option:sdf_initpoints"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionSdf_initpoints;
+  /// \brief "mjc:option:sdf_iterations"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionSdf_iterations;
+  /// \brief "mjc:option:solver"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionSolver;
+  /// \brief "mjc:option:timestep"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionTimestep;
+  /// \brief "mjc:option:tolerance"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionTolerance;
+  /// \brief "mjc:option:viscosity"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionViscosity;
+  /// \brief "mjc:option:wind"
+  ///
+  /// MjcPhysicsSceneAPI
+  const TfToken mjcOptionWind;
+  /// \brief "mjc:priority"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcPriority;
+  /// \brief "mjc:qpos"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcQpos;
+  /// \brief "mjc:qvel"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcQvel;
+  /// \brief "mjc:ref"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcRef;
+  /// \brief "mjc:refSite"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcRefSite;
+  /// \brief "mjc:rollingfriction"
+  ///
+  /// MjcPhysicsMaterialAPI
+  const TfToken mjcRollingfriction;
+  /// \brief "mjc:shellinertia"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcShellinertia;
+  /// \brief "mjc:sliderSite"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcSliderSite;
+  /// \brief "mjc:solimp"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcSolimp;
+  /// \brief "mjc:solimpfriction"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSolimpfriction;
+  /// \brief "mjc:solimplimit"
+  ///
+  /// MjcPhysicsJointAPI
+  const TfToken mjcSolimplimit;
+  /// \brief "mjc:solmix"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcSolmix;
+  /// \brief "mjc:solref"
+  ///
+  /// MjcPhysicsCollisionAPI
+  const TfToken mjcSolref;
+  /// \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 "mjc:target"
+  ///
+  /// MjcPhysicsActuator
+  const TfToken mjcTarget;
+  /// \brief "mjc:torsionalfriction"
+  ///
+  /// MjcPhysicsMaterialAPI
+  const TfToken mjcTorsionalfriction;
+  /// \brief "muscle"
+  ///
+  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcGainTypeAttr()
+  const TfToken muscle;
+  /// \brief "newton"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
+  /// represents the Newton constraint solver algorithm.
+  const TfToken newton;
+  /// \brief "none"
+  ///
+  /// Fallback value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Fallback
+  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr()
+  const TfToken none;
+  /// \brief "pgs"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
+  /// represents the PGS constraint solver algorithm.
+  const TfToken pgs;
+  /// \brief "pyramidal"
+  ///
+  /// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(),  This token
+  /// represents the pyramidal contact friction cone type.
+  const TfToken pyramidal;
+  /// \brief "radian"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetAngleAttr()
+  const TfToken radian;
+  /// \brief "rk4"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
+  /// represents the RK4 numerical integrator.
+  const TfToken rk4;
+  /// \brief "shell"
+  ///
+  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
+  const TfToken shell;
+  /// \brief "sparse"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
+  /// represents the sparse constraint Jacobian and matrices computed from it.
+  const TfToken sparse;
+  /// \brief "true"
+  ///
+  /// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
+  const TfToken true_;
+  /// \brief "user"
+  ///
+  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcGainTypeAttr()
+  const TfToken user;
+  /// \brief "MjcActuator"
+  ///
+  /// Schema identifier and family for MjcPhysicsActuator
+  const TfToken MjcActuator;
+  /// \brief "MjcCollisionAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsCollisionAPI
+  const TfToken MjcCollisionAPI;
+  /// \brief "MjcImageableAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsImageableAPI
+  const TfToken MjcImageableAPI;
+  /// \brief "MjcJointAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsJointAPI
+  const TfToken MjcJointAPI;
+  /// \brief "MjcKeyframe"
+  ///
+  /// Schema identifier and family for MjcPhysicsKeyframe
+  const TfToken MjcKeyframe;
+  /// \brief "MjcMaterialAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsMaterialAPI
+  const TfToken MjcMaterialAPI;
+  /// \brief "MjcMeshCollisionAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsMeshCollisionAPI
+  const TfToken MjcMeshCollisionAPI;
+  /// \brief "MjcSceneAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsSceneAPI
+  const TfToken MjcSceneAPI;
+  /// \brief "MjcSiteAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsSiteAPI
+  const TfToken MjcSiteAPI;
+  /// A vector of all of the tokens listed above.
+  const std::vector<TfToken> allTokens;
+};
+
+/// \var MjcPhysicsTokens
+///
+/// A global variable with static, efficient \link TfToken TfTokens\endlink
+/// for use in all public USD API.  \sa MjcPhysicsTokensType
+extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/usd.h

@@ -0,0 +1,44 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#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 file parse to a spec, then compile and return the low-level
+// model.
+//
+// Particular care is taken for physics data to be lossless but visual
+// data such as materials may be lossy.
+MJAPI mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error,
+                          int error_sz);
+
+// Given a USD layer identifier, this function will do a best effort conversion
+// from the composed stage to mjSpec.
+//
+// Particular care is taken for physics data to be lossless but visual
+// data such as materials may be lossy.
+MJAPI mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
+                          int error_sz);
+
+// 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_

third_party/mujoco/3.3.7/include/mujoco/experimental/usd/utils.h

@@ -0,0 +1,35 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+
+namespace mujoco {
+namespace usd {
+
+// Sets a user value on an mjsElement with the key "usd_primpath".
+void SetUsdPrimPathUserValue(mjsElement* element,
+                             const pxr::SdfPath& prim_path);
+
+// Gets the user value associated with the key "usd_primpath" from an
+// mjsElement. Returns empty pxr::SdfPath() if the value is not found.
+pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element);
+
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_

third_party/mujoco/3.3.7/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_

third_party/mujoco/3.3.7/include/mujoco/mjdata.h

@@ -0,0 +1,504 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJDATA_H_
+#define MUJOCO_MJDATA_H_
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include <mujoco/mjtnum.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjthread.h>
+
+//---------------------------------- primitive types (mjt) -----------------------------------------
+
+typedef enum mjtState_ {          // state elements
+  mjSTATE_TIME          = 1<<0,   // time
+  mjSTATE_QPOS          = 1<<1,   // position
+  mjSTATE_QVEL          = 1<<2,   // velocity
+  mjSTATE_ACT           = 1<<3,   // actuator activation
+  mjSTATE_WARMSTART     = 1<<4,   // acceleration used for warmstart
+  mjSTATE_CTRL          = 1<<5,   // control
+  mjSTATE_QFRC_APPLIED  = 1<<6,   // applied generalized force
+  mjSTATE_XFRC_APPLIED  = 1<<7,   // applied Cartesian force/torque
+  mjSTATE_EQ_ACTIVE     = 1<<8,   // enable/disable constraints
+  mjSTATE_MOCAP_POS     = 1<<9,   // positions of mocap bodies
+  mjSTATE_MOCAP_QUAT    = 1<<10,  // orientations of mocap bodies
+  mjSTATE_USERDATA      = 1<<11,  // user data
+  mjSTATE_PLUGIN        = 1<<12,  // plugin state
+
+  mjNSTATE              = 13,     // number of state elements
+
+  // convenience values for commonly used state specifications
+  mjSTATE_PHYSICS       = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
+  mjSTATE_FULLPHYSICS   = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
+  mjSTATE_USER          = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
+                          mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
+                          mjSTATE_USERDATA,
+  mjSTATE_INTEGRATION   = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
+} mjtState;
+
+
+typedef enum mjtConstraint_ {     // type of constraint
+  mjCNSTR_EQUALITY    = 0,        // equality constraint
+  mjCNSTR_FRICTION_DOF,           // dof friction
+  mjCNSTR_FRICTION_TENDON,        // tendon friction
+  mjCNSTR_LIMIT_JOINT,            // joint limit
+  mjCNSTR_LIMIT_TENDON,           // tendon limit
+  mjCNSTR_CONTACT_FRICTIONLESS,   // frictionless contact
+  mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
+  mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
+} mjtConstraint;
+
+
+typedef enum mjtConstraintState_ {  // constraint state
+  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
+  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
+  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
+  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
+  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
+} mjtConstraintState;
+
+
+typedef enum mjtWarning_ {   // warning types
+  mjWARN_INERTIA      = 0,   // (near) singular inertia matrix
+  mjWARN_CONTACTFULL,        // too many contacts in contact list
+  mjWARN_CNSTRFULL,          // too many constraints
+  mjWARN_VGEOMFULL,          // too many visual geoms
+  mjWARN_BADQPOS,            // bad number in qpos
+  mjWARN_BADQVEL,            // bad number in qvel
+  mjWARN_BADQACC,            // bad number in qacc
+  mjWARN_BADCTRL,            // bad number in ctrl
+
+  mjNWARNING                 // number of warnings
+} mjtWarning;
+
+
+typedef enum mjtTimer_ {     // internal timers
+  // main api
+  mjTIMER_STEP        = 0,   // step
+  mjTIMER_FORWARD,           // forward
+  mjTIMER_INVERSE,           // inverse
+
+  // breakdown of step/forward
+  mjTIMER_POSITION,          // fwdPosition
+  mjTIMER_VELOCITY,          // fwdVelocity
+  mjTIMER_ACTUATION,         // fwdActuation
+  mjTIMER_CONSTRAINT,        // fwdConstraint
+  mjTIMER_ADVANCE,           // mj_Euler, mj_implicit
+
+  // breakdown of fwdPosition
+  mjTIMER_POS_KINEMATICS,    // kinematics, com, tendon, transmission
+  mjTIMER_POS_INERTIA,       // inertia computations
+  mjTIMER_POS_COLLISION,     // collision detection
+  mjTIMER_POS_MAKE,          // make constraints
+  mjTIMER_POS_PROJECT,       // project constraints
+
+  // breakdown of mj_collision
+  mjTIMER_COL_BROAD,         // broadphase
+  mjTIMER_COL_NARROW,        // narrowphase
+
+  mjNTIMER                   // number of timers
+} mjtTimer;
+
+
+//---------------------------------- mjContact -----------------------------------------------------
+
+struct mjContact_ {                // result of collision detection functions
+  // contact parameters set by near-phase collision function
+  mjtNum  dist;                    // distance between nearest points; neg: penetration
+  mjtNum  pos[3];                  // position of contact point: midpoint between geoms
+  mjtNum  frame[9];                // normal is in [0-2], points from geom[0] to geom[1]
+
+  // contact parameters set by mj_collideGeoms
+  mjtNum  includemargin;           // include if dist<includemargin=margin-gap
+  mjtNum  friction[5];             // tangent1, 2, spin, roll1, 2
+  mjtNum  solref[mjNREF];          // constraint solver reference, normal direction
+  mjtNum  solreffriction[mjNREF];  // constraint solver reference, friction directions
+  mjtNum  solimp[mjNIMP];          // constraint solver impedance
+
+  // internal storage used by solver
+  mjtNum  mu;                      // friction of regularized cone, set by mj_makeConstraint
+  mjtNum  H[36];                   // cone Hessian, set by mj_constraintUpdate
+
+  // contact descriptors set by mj_collideXXX
+  int     dim;                     // contact space dimensionality: 1, 3, 4 or 6
+  int     geom1;                   // id of geom 1; deprecated, use geom[0]
+  int     geom2;                   // id of geom 2; deprecated, use geom[1]
+  int     geom[2];                 // geom ids; -1 for flex
+  int     flex[2];                 // flex ids; -1 for geom
+  int     elem[2];                 // element ids; -1 for geom or flex vertex
+  int     vert[2];                 // vertex ids;  -1 for geom or flex element
+
+  // flag set by mj_setContact or mj_instantiateContact
+  int     exclude;                 // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
+
+  // address computed by mj_instantiateContact
+  int     efc_address;             // address in efc; -1: not included
+};
+typedef struct mjContact_ mjContact;
+
+
+//---------------------------------- diagnostics ---------------------------------------------------
+
+struct mjWarningStat_ {      // warning statistics
+  int     lastinfo;          // info from last warning
+  int     number;            // how many times was warning raised
+};
+typedef struct mjWarningStat_ mjWarningStat;
+
+
+struct mjTimerStat_ {        // timer statistics
+  mjtNum  duration;          // cumulative duration
+  int     number;            // how many times was timer called
+};
+typedef struct mjTimerStat_ mjTimerStat;
+
+
+struct mjSolverStat_ {       // per-iteration solver statistics
+  mjtNum  improvement;       // cost reduction, scaled by 1/trace(M(qpos0))
+  mjtNum  gradient;          // gradient norm (primal only, scaled)
+  mjtNum  lineslope;         // slope in linesearch
+  int     nactive;           // number of active constraints
+  int     nchange;           // number of constraint state changes
+  int     neval;             // number of cost evaluations in line search
+  int     nupdate;           // number of Cholesky updates in line search
+};
+typedef struct mjSolverStat_ mjSolverStat;
+
+
+//---------------------------------- mjData --------------------------------------------------------
+
+struct mjData_ {
+  // constant sizes
+  mjtSize narena;            // size of the arena in bytes (inclusive of the stack)
+  mjtSize nbuffer;           // size of main buffer in bytes
+  int     nplugin;           // number of plugin instances
+
+  // stack pointer
+  size_t  pstack;            // first available byte in stack (mutable)
+  size_t  pbase;             // value of pstack when mj_markStack was last called (mutable)
+
+  // arena pointer
+  size_t  parena;            // first available byte in arena
+
+  // memory utilization statistics
+  mjtSize maxuse_stack;                       // maximum stack allocation in bytes (mutable)
+  mjtSize maxuse_threadstack[mjMAXTHREAD];    // maximum stack allocation per thread in bytes
+  mjtSize maxuse_arena;                       // maximum arena allocation in bytes
+  int     maxuse_con;                         // maximum number of contacts
+  int     maxuse_efc;                         // maximum number of scalar constraints
+
+  // solver statistics
+  mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
+  int           solver_niter[mjNISLAND];      // number of solver iterations, per island
+  int           solver_nnz[mjNISLAND];        // number of nonzeros in Hessian or efc_AR, per island
+  mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc
+
+  // diagnostics
+  mjWarningStat warning[mjNWARNING];          // warning statistics (mutable)
+  mjTimerStat   timer[mjNTIMER];              // timer statistics
+
+  // variable sizes
+  int     ncon;              // number of detected contacts
+  int     ne;                // number of equality constraints
+  int     nf;                // number of friction constraints
+  int     nl;                // number of limit constraints
+  int     nefc;              // number of constraints
+  int     nJ;                // number of non-zeros in constraint Jacobian
+  int     nA;                // number of non-zeros in constraint inverse inertia matrix
+  int     nisland;           // number of detected constraint islands
+  int     nidof;             // number of dofs in all islands
+
+  // global properties
+  mjtNum  time;              // simulation time
+  mjtNum  energy[2];         // potential, kinetic energy
+
+  //-------------------- end of info header
+
+  // buffers
+  void*   buffer;            // main buffer; all pointers point in it            (nbuffer bytes)
+  void*   arena;             // arena+stack buffer                               (narena bytes)
+
+  //-------------------- main inputs and outputs of the computation
+
+  // state
+  mjtNum* qpos;              // position                                         (nq x 1)
+  mjtNum* qvel;              // velocity                                         (nv x 1)
+  mjtNum* act;               // actuator activation                              (na x 1)
+  mjtNum* qacc_warmstart;    // acceleration used for warmstart                  (nv x 1)
+  mjtNum* plugin_state;      // plugin state                                     (npluginstate x 1)
+
+  // control
+  mjtNum* ctrl;              // control                                          (nu x 1)
+  mjtNum* qfrc_applied;      // applied generalized force                        (nv x 1)
+  mjtNum* xfrc_applied;      // applied Cartesian force/torque                   (nbody x 6)
+  mjtByte* eq_active;        // enable/disable constraints                       (neq x 1)
+
+  // mocap data
+  mjtNum* mocap_pos;         // positions of mocap bodies                        (nmocap x 3)
+  mjtNum* mocap_quat;        // orientations of mocap bodies                     (nmocap x 4)
+
+  // dynamics
+  mjtNum* qacc;              // acceleration                                     (nv x 1)
+  mjtNum* act_dot;           // time-derivative of actuator activation           (na x 1)
+
+  // user data
+  mjtNum* userdata;          // user data, not touched by engine                 (nuserdata x 1)
+
+  // sensors
+  mjtNum* sensordata;        // sensor data array                                (nsensordata x 1)
+
+  // plugins
+  int*       plugin;         // copy of m->plugin, required for deletion         (nplugin x 1)
+  uintptr_t* plugin_data;    // pointer to plugin-managed data structure         (nplugin x 1)
+
+  //-------------------- POSITION dependent
+
+  // computed by mj_fwdPosition/mj_kinematics
+  mjtNum* xpos;              // Cartesian position of body frame                 (nbody x 3)
+  mjtNum* xquat;             // Cartesian orientation of body frame              (nbody x 4)
+  mjtNum* xmat;              // Cartesian orientation of body frame              (nbody x 9)
+  mjtNum* xipos;             // Cartesian position of body com                   (nbody x 3)
+  mjtNum* ximat;             // Cartesian orientation of body inertia            (nbody x 9)
+  mjtNum* xanchor;           // Cartesian position of joint anchor               (njnt x 3)
+  mjtNum* xaxis;             // Cartesian joint axis                             (njnt x 3)
+  mjtNum* geom_xpos;         // Cartesian geom position                          (ngeom x 3)
+  mjtNum* geom_xmat;         // Cartesian geom orientation                       (ngeom x 9)
+  mjtNum* site_xpos;         // Cartesian site position                          (nsite x 3)
+  mjtNum* site_xmat;         // Cartesian site orientation                       (nsite x 9)
+  mjtNum* cam_xpos;          // Cartesian camera position                        (ncam x 3)
+  mjtNum* cam_xmat;          // Cartesian camera orientation                     (ncam x 9)
+  mjtNum* light_xpos;        // Cartesian light position                         (nlight x 3)
+  mjtNum* light_xdir;        // Cartesian light direction                        (nlight x 3)
+
+  // computed by mj_fwdPosition/mj_comPos
+  mjtNum* subtree_com;       // center of mass of each subtree                   (nbody x 3)
+  mjtNum* cdof;              // com-based motion axis of each dof (rot:lin)      (nv x 6)
+  mjtNum* cinert;            // com-based body inertia and mass                  (nbody x 10)
+
+  // computed by mj_fwdPosition/mj_flex
+  mjtNum* flexvert_xpos;     // Cartesian flex vertex positions                  (nflexvert x 3)
+  mjtNum* flexelem_aabb;     // flex element bounding boxes (center, size)       (nflexelem x 6)
+  int*    flexedge_J_rownnz; // number of non-zeros in Jacobian row              (nflexedge x 1)
+  int*    flexedge_J_rowadr; // row start address in colind array                (nflexedge x 1)
+  int*    flexedge_J_colind; // column indices in sparse Jacobian                (nflexedge x nv)
+  mjtNum* flexedge_J;        // flex edge Jacobian                               (nflexedge x nv)
+  mjtNum* flexedge_length;   // flex edge lengths                                (nflexedge x 1)
+  mjtNum* bvh_aabb_dyn;      // global bounding box (center, size)               (nbvhdynamic x 6)
+
+  // computed by mj_fwdPosition/mj_tendon
+  int*    ten_wrapadr;       // start address of tendon's path                   (ntendon x 1)
+  int*    ten_wrapnum;       // number of wrap points in path                    (ntendon x 1)
+  int*    ten_J_rownnz;      // number of non-zeros in Jacobian row              (ntendon x 1)
+  int*    ten_J_rowadr;      // row start address in colind array                (ntendon x 1)
+  int*    ten_J_colind;      // column indices in sparse Jacobian                (ntendon x nv)
+  mjtNum* ten_J;             // tendon Jacobian                                  (ntendon x nv)
+  mjtNum* ten_length;        // tendon lengths                                   (ntendon x 1)
+  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap x 2)
+  mjtNum* wrap_xpos;         // Cartesian 3D points in all paths                 (nwrap x 6)
+
+  // computed by mj_fwdPosition/mj_transmission
+  mjtNum* actuator_length;   // actuator lengths                                 (nu x 1)
+  int*    moment_rownnz;     // number of non-zeros in actuator_moment row       (nu x 1)
+  int*    moment_rowadr;     // row start address in colind array                (nu x 1)
+  int*    moment_colind;     // column indices in sparse Jacobian                (nJmom x 1)
+  mjtNum* actuator_moment;   // actuator moments                                 (nJmom x 1)
+
+  // computed by mj_fwdPosition/mj_makeM
+  mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
+  mjtNum* qM;                // inertia (sparse)                                 (nM x 1)
+  mjtNum* M;                 // reduced inertia (compressed sparse row)          (nC x 1)
+
+  // computed by mj_fwdPosition/mj_factorM
+  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
+  mjtNum* qLDiagInv;         // 1/diag(D)                                        (nv x 1)
+
+  // computed by mj_collision/mj_collideTree
+  mjtByte* bvh_active;       // was bounding volume checked for collision        (nbvh x 1)
+
+  //-------------------- POSITION, VELOCITY dependent
+
+  // computed by mj_fwdVelocity
+  mjtNum* flexedge_velocity; // flex edge velocities                             (nflexedge x 1)
+  mjtNum* ten_velocity;      // tendon velocities                                (ntendon x 1)
+  mjtNum* actuator_velocity; // actuator velocities                              (nu x 1)
+
+  // computed by mj_fwdVelocity/mj_comVel
+  mjtNum* cvel;              // com-based velocity (rot:lin)                     (nbody x 6)
+  mjtNum* cdof_dot;          // time-derivative of cdof (rot:lin)                (nv x 6)
+
+  // computed by mj_fwdVelocity/mj_rne (without acceleration)
+  mjtNum* qfrc_bias;         // C(qpos,qvel)                                     (nv x 1)
+
+  // computed by mj_fwdVelocity/mj_passive
+  mjtNum* qfrc_spring;       // passive spring force                             (nv x 1)
+  mjtNum* qfrc_damper;       // passive damper force                             (nv x 1)
+  mjtNum* qfrc_gravcomp;     // passive gravity compensation force               (nv x 1)
+  mjtNum* qfrc_fluid;        // passive fluid force                              (nv x 1)
+  mjtNum* qfrc_passive;      // total passive force                              (nv x 1)
+
+  // computed by mj_sensorVel/mj_subtreeVel if needed
+  mjtNum* subtree_linvel;    // linear velocity of subtree com                   (nbody x 3)
+  mjtNum* subtree_angmom;    // angular momentum about subtree com               (nbody x 3)
+
+  // computed by mj_Euler or mj_implicit
+  mjtNum* qH;                // L'*D*L factorization of modified M               (nC x 1)
+  mjtNum* qHDiagInv;         // 1/diag(D) of modified M                          (nv x 1)
+
+  // computed by mj_implicit/mj_derivative
+  mjtNum* qDeriv;            // d (passive + actuator - bias) / d qvel           (nD x 1)
+
+  // computed by mj_implicit/mju_factorLUSparse
+  mjtNum* qLU;               // sparse LU of (qM - dt*qDeriv)                    (nD x 1)
+
+  //-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
+
+  // computed by mj_fwdActuation
+  mjtNum* actuator_force;    // actuator force in actuation space                (nu x 1)
+  mjtNum* qfrc_actuator;     // actuator force                                   (nv x 1)
+
+  // computed by mj_fwdAcceleration
+  mjtNum* qfrc_smooth;       // net unconstrained force                          (nv x 1)
+  mjtNum* qacc_smooth;       // unconstrained acceleration                       (nv x 1)
+
+  // computed by mj_fwdConstraint/mj_inverse
+  mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
+
+  // computed by mj_inverse
+  mjtNum* qfrc_inverse;      // net external force; should equal:
+                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
+
+  // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
+  mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
+  mjtNum* cfrc_int;          // com-based interaction force with parent          (nbody x 6)
+  mjtNum* cfrc_ext;          // com-based external force on body                 (nbody x 6)
+
+  //-------------------- arena-allocated: POSITION dependent
+
+  // computed by mj_collision
+  mjContact* contact;        // array of all detected contacts                   (ncon x 1)
+
+  // computed by mj_makeConstraint
+  int*    efc_type;          // constraint type (mjtConstraint)                  (nefc x 1)
+  int*    efc_id;            // id of object of specified type                   (nefc x 1)
+  int*    efc_J_rownnz;      // number of non-zeros in constraint Jacobian row   (nefc x 1)
+  int*    efc_J_rowadr;      // row start address in colind array                (nefc x 1)
+  int*    efc_J_rowsuper;    // number of subsequent rows in supernode           (nefc x 1)
+  int*    efc_J_colind;      // column indices in constraint Jacobian            (nJ x 1)
+  mjtNum* efc_J;             // constraint Jacobian                              (nJ x 1)
+  mjtNum* efc_pos;           // constraint position (equality, contact)          (nefc x 1)
+  mjtNum* efc_margin;        // inclusion margin (contact)                       (nefc x 1)
+  mjtNum* efc_frictionloss;  // frictionloss (friction)                          (nefc x 1)
+  mjtNum* efc_diagApprox;    // approximation to diagonal of A                   (nefc x 1)
+  mjtNum* efc_KBIP;          // stiffness, damping, impedance, imp'              (nefc x 4)
+  mjtNum* efc_D;             // constraint mass                                  (nefc x 1)
+  mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
+  int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)
+
+  // computed by mj_island (island dof structure)
+  int*    dof_island;        // island id of this dof; -1: none                  (nv x 1)
+  int*    island_nv;         // number of dofs in this island                    (nisland x 1)
+  int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
+  int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
+  int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
+  int*    map_idof2dof;      // map from idof to dof;  >= nidof: unconstrained   (nv x 1)
+
+  // computed by mj_island (dofs sorted by island)
+  mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
+  mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
+  int*    iM_rownnz;         // inertia: non-zeros in each row                   (nidof x 1)
+  int*    iM_rowadr;         // inertia: address of each row in iM_colind        (nidof x 1)
+  int*    iM_colind;         // inertia: column indices of non-zeros             (nC x 1)
+  mjtNum* iM;                // total inertia (sparse)                           (nC x 1)
+  mjtNum* iLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
+  mjtNum* iLDiagInv;         // 1/diag(D)                                        (nidof x 1)
+  mjtNum* iacc;              // acceleration                                     (nidof x 1)
+
+  // computed by mj_island (island constraint structure)
+  int*    efc_island;        // island id of this constraint                     (nefc x 1)
+  int*    island_ne;         // number of equality constraints in island         (nisland x 1)
+  int*    island_nf;         // number of friction constraints in island         (nisland x 1)
+  int*    island_nefc;       // number of constraints in island                  (nisland x 1)
+  int*    island_iefcadr;    // start address in iefc vector                     (nisland x 1)
+  int*    map_efc2iefc;      // map from efc to iefc                             (nefc x 1)
+  int*    map_iefc2efc;      // map from iefc to efc                             (nefc x 1)
+
+  // computed by mj_island (constraints sorted by island)
+  int*    iefc_type;         // constraint type (mjtConstraint)                  (nefc x 1)
+  int*    iefc_id;           // id of object of specified type                   (nefc x 1)
+  int*    iefc_J_rownnz;     // number of non-zeros in constraint Jacobian row   (nefc x 1)
+  int*    iefc_J_rowadr;     // row start address in colind array                (nefc x 1)
+  int*    iefc_J_rowsuper;   // number of subsequent rows in supernode           (nefc x 1)
+  int*    iefc_J_colind;     // column indices in constraint Jacobian            (nJ x 1)
+  mjtNum* iefc_J;            // constraint Jacobian                              (nJ x 1)
+  mjtNum* iefc_frictionloss; // frictionloss (friction)                          (nefc x 1)
+  mjtNum* iefc_D;            // constraint mass                                  (nefc x 1)
+  mjtNum* iefc_R;            // inverse constraint mass                          (nefc x 1)
+
+  // computed by mj_projectConstraint (PGS solver)
+  int*    efc_AR_rownnz;     // number of non-zeros in AR                        (nefc x 1)
+  int*    efc_AR_rowadr;     // row start address in colind array                (nefc x 1)
+  int*    efc_AR_colind;     // column indices in sparse AR                      (nA x 1)
+  mjtNum* efc_AR;            // J*inv(M)*J' + R                                  (nA x 1)
+
+  //-------------------- arena-allocated: POSITION, VELOCITY dependent
+
+  // computed by mj_fwdVelocity/mj_referenceConstraint
+  mjtNum* efc_vel;           // velocity in constraint space: J*qvel             (nefc x 1)
+  mjtNum* efc_aref;          // reference pseudo-acceleration                    (nefc x 1)
+
+  //-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
+
+  // computed by mj_fwdConstraint/mj_inverse
+  mjtNum* efc_b;             // linear cost term: J*qacc_smooth - aref           (nefc x 1)
+  mjtNum* iefc_aref;         // reference pseudo-acceleration                    (nefc x 1)
+  int*    iefc_state;        // constraint state (mjtConstraintState)            (nefc x 1)
+  mjtNum* iefc_force;        // constraint force in constraint space             (nefc x 1)
+  int*    efc_state;         // constraint state (mjtConstraintState)            (nefc x 1)
+  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
+  mjtNum* ifrc_constraint;   // constraint force                                 (nidof x 1)
+
+  // thread pool pointer
+  uintptr_t threadpool;
+
+  // compilation signature
+  uint64_t  signature;       // also held by the mjSpec that compiled the model
+};
+typedef struct mjData_ mjData;
+
+
+//---------------------------------- callback function types ---------------------------------------
+
+// generic MuJoCo function
+typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
+
+// contact filter: 1- discard, 0- collide
+typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2);
+
+// sensor simulation
+typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage);
+
+// timer
+typedef mjtNum (*mjfTime)(void);
+
+// actuator dynamics, gain, bias
+typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);
+
+// collision detection
+typedef int (*mjfCollision)(const mjModel* m, const mjData* d,
+                            mjContact* con, int g1, int g2, mjtNum margin);
+
+#endif  // MUJOCO_MJDATA_H_

third_party/mujoco/3.3.7/include/mujoco/mjexport.h

@@ -0,0 +1,47 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJEXPORT_H_
+#define MUJOCO_MJEXPORT_H_
+
+#if defined _WIN32 || defined __CYGWIN__
+  #define MUJOCO_HELPER_DLL_IMPORT __declspec(dllimport)
+  #define MUJOCO_HELPER_DLL_EXPORT __declspec(dllexport)
+  #define MUJOCO_HELPER_DLL_LOCAL
+#else
+  #if __GNUC__ >= 4
+    #define MUJOCO_HELPER_DLL_IMPORT __attribute__ ((visibility ("default")))
+    #define MUJOCO_HELPER_DLL_EXPORT __attribute__ ((visibility ("default")))
+    #define MUJOCO_HELPER_DLL_LOCAL  __attribute__ ((visibility ("hidden")))
+  #else
+    #define MUJOCO_HELPER_DLL_IMPORT
+    #define MUJOCO_HELPER_DLL_EXPORT
+    #define MUJOCO_HELPER_DLL_LOCAL
+  #endif
+#endif
+
+#ifdef MJ_STATIC
+  // static library
+  #define MJAPI
+  #define MJLOCAL
+#else
+  #ifdef MUJOCO_DLL_EXPORTS
+    #define MJAPI MUJOCO_HELPER_DLL_EXPORT
+  #else
+    #define MJAPI MUJOCO_HELPER_DLL_IMPORT
+  #endif
+  #define MJLOCAL MUJOCO_HELPER_DLL_LOCAL
+#endif
+
+#endif  // MUJOCO_MJEXPORT_H_

third_party/mujoco/3.3.7/include/mujoco/mjmacro.h

@@ -0,0 +1,38 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJMACRO_H_
+#define MUJOCO_MJMACRO_H_
+
+// max and min (use only for primitive types)
+#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
+#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
+
+// return current value of mjOption enable/disable flags
+#define mjDISABLED(x) (m->opt.disableflags & (x))
+#define mjENABLED(x)  (m->opt.enableflags & (x))
+
+// is actuator disabled
+#define mjACTUATORDISABLED(i) (m->opt.disableactuator & (1 << m->actuator_group[i]))
+
+// annotation for functions that accept printf-like variadic arguments
+#ifndef mjPRINTFLIKE
+  #if defined(__GNUC__)
+    #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
+  #else
+    #define mjPRINTFLIKE(n, m)
+  #endif
+#endif
+
+#endif  // MUJOCO_MJMACRO_H_

third_party/mujoco/3.3.7/include/mujoco/mjplugin.h

@@ -0,0 +1,185 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_INCLUDE_MJPLUGIN_H_
+#define MUJOCO_INCLUDE_MJPLUGIN_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
+#include <mujoco/mjvisualize.h>
+
+
+//---------------------------------- Resource Provider ---------------------------------------------
+
+struct mjResource_ {
+  char* name;                                   // name of resource (filename, etc)
+  void* data;                                   // opaque data pointer
+  char timestamp[512];                          // timestamp of the resource
+  const struct mjpResourceProvider* provider;   // pointer to the provider
+};
+typedef struct mjResource_ mjResource;
+
+// callback for opening a resource, returns zero on failure
+typedef int (*mjfOpenResource)(mjResource* resource);
+
+// callback for reading a resource
+// return number of bytes stored in buffer, return -1 if error
+typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
+
+// callback for closing a resource (responsible for freeing any allocated memory)
+typedef void (*mjfCloseResource)(mjResource* resource);
+
+// callback for returning the directory of a resource
+// sets dir to directory string with ndir being size of directory string
+typedef void (*mjfGetResourceDir)(mjResource* resource, const char** dir, int* ndir);
+
+// callback for checking if the current resource was modified from the time
+// specified by the timestamp
+// returns 0 if the resource's timestamp matches the provided timestamp
+// returns > 0 if the resource is younger than the given timestamp
+// returns < 0 if the resource is older than the given timestamp
+typedef int (*mjfResourceModified)(const mjResource* resource, const char* timestamp);
+
+// struct describing a single resource provider
+struct mjpResourceProvider {
+  const char* prefix;               // prefix for match against a resource name
+  mjfOpenResource open;             // opening callback
+  mjfReadResource read;             // reading callback
+  mjfCloseResource close;           // closing callback
+  mjfGetResourceDir getdir;         // get directory callback (optional)
+  mjfResourceModified modified;     // resource modified callback (optional)
+  void* data;                       // opaque data pointer (resource invariant)
+};
+typedef struct mjpResourceProvider mjpResourceProvider;
+
+
+//---------------------------------- Plugins -------------------------------------------------------
+
+typedef enum mjtPluginCapabilityBit_ {
+  mjPLUGIN_ACTUATOR = 1<<0,       // actuator forces
+  mjPLUGIN_SENSOR   = 1<<1,       // sensor measurements
+  mjPLUGIN_PASSIVE  = 1<<2,       // passive forces
+  mjPLUGIN_SDF      = 1<<3,       // signed distance fields
+} mjtPluginCapabilityBit;
+
+struct mjpPlugin_ {
+  const char* name;               // globally unique name identifying the plugin
+
+  int nattribute;                 // number of configuration attributes
+  const char* const* attributes;  // name of configuration attributes
+
+  int capabilityflags;            // plugin capabilities: bitfield of mjtPluginCapabilityBit
+  int needstage;                  // sensor computation stage (mjtStage)
+
+  // number of mjtNums needed to store the state of a plugin instance (required)
+  int (*nstate)(const mjModel* m, int instance);
+
+  // dimension of the specified sensor's output (required only for sensor plugins)
+  int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
+
+  // called when a new mjData is being created (required), returns 0 on success or -1 on failure
+  int (*init)(const mjModel* m, mjData* d, int instance);
+
+  // called when an mjData is being freed (optional)
+  void (*destroy)(mjData* d, int instance);
+
+  // called when an mjData is being copied (optional)
+  void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
+
+  // called when an mjData is being reset (required)
+  void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
+
+  // called when the plugin needs to update its outputs (required)
+  void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
+
+  // called when time integration occurs (optional)
+  void (*advance)(const mjModel* m, mjData* d, int instance);
+
+  // called by mjv_updateScene (optional)
+  void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
+
+  // methods specific to actuators (optional)
+
+  // updates the actuator plugin's entries in act_dot
+  // called after native act_dot is computed and before the compute callback
+  void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
+
+  // methods specific to signed distance fields (optional)
+
+  // signed distance from the surface
+  mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
+
+  // gradient of distance with respect to local coordinates
+  void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
+
+  // called during compilation for marching cubes
+  mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
+
+  // convert attributes and provide defaults if not present
+  void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
+
+  // bounding box of implicit surface
+  void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
+};
+typedef struct mjpPlugin_ mjpPlugin;
+
+struct mjSDF_ {
+  const mjpPlugin** plugin;
+  int* id;
+  mjtSDFType type;
+  mjtNum* relpos;
+  mjtNum* relmat;
+  mjtGeom* geomtype;
+};
+typedef struct mjSDF_ mjSDF;
+
+#if defined(__has_attribute)
+
+  #if __has_attribute(constructor)
+    #define mjPLUGIN_LIB_INIT __attribute__((constructor)) static void _mjplugin_init(void)
+  #endif  // __has_attribute(constructor)
+
+#elif defined(_MSC_VER)
+
+  #ifndef mjDLLMAIN
+    #define mjDLLMAIN DllMain
+  #endif
+
+  #if !defined(mjEXTERNC)
+    #if defined(__cplusplus)
+      #define mjEXTERNC extern "C"
+    #else
+      #define mjEXTERNC
+    #endif  // defined(__cplusplus)
+  #endif  // !defined(mjEXTERNC)
+
+  // NOLINTBEGIN(runtime/int)
+  #define mjPLUGIN_LIB_INIT                                                                 \
+    static void _mjplugin_dllmain(void);                                                    \
+    mjEXTERNC int __stdcall mjDLLMAIN(void* hinst, unsigned long reason, void* reserved) {  \
+      if (reason == 1) {                                                                    \
+        _mjplugin_dllmain();                                                                \
+      }                                                                                     \
+      return 1;                                                                             \
+    }                                                                                       \
+    static void _mjplugin_dllmain(void)
+  // NOLINTEND(runtime/int)
+
+#endif  // defined(_MSC_VER)
+
+// function pointer type for mj_loadAllPluginLibraries callback
+typedef void (*mjfPluginLibraryLoadCallback)(const char* filename, int first, int count);
+
+#endif  // MUJOCO_INCLUDE_MJPLUGIN_H_

third_party/mujoco/3.3.7/include/mujoco/mjrender.h

@@ -0,0 +1,177 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJRENDER_H_
+#define MUJOCO_MJRENDER_H_
+
+#include <mujoco/mjmodel.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+#define mjNAUX          10        // number of auxiliary buffers
+#define mjMAXTEXTURE    1000      // maximum number of textures
+#define mjMAXMATERIAL   1000      // maximum number of materials with textures
+
+//---------------------------------- primitive types (mjt) -----------------------------------------
+
+typedef enum mjtGridPos_ {        // grid position for overlay
+  mjGRID_TOPLEFT      = 0,        // top left
+  mjGRID_TOPRIGHT,                // top right
+  mjGRID_BOTTOMLEFT,              // bottom left
+  mjGRID_BOTTOMRIGHT,             // bottom right
+  mjGRID_TOP,                     // top center
+  mjGRID_BOTTOM,                  // bottom center
+  mjGRID_LEFT,                    // left center
+  mjGRID_RIGHT                    // right center
+} mjtGridPos;
+
+
+typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
+  mjFB_WINDOW         = 0,        // default/window buffer
+  mjFB_OFFSCREEN                  // offscreen buffer
+} mjtFramebuffer;
+
+typedef enum mjtDepthMap_ {       // depth mapping for `mjr_readPixels`
+  mjDEPTH_ZERONEAR    = 0,        // standard depth map; 0: znear, 1: zfar
+  mjDEPTH_ZEROFAR     = 1         // reversed depth map; 1: znear, 0: zfar
+} mjtDepthMap;
+
+typedef enum mjtFontScale_ {      // font scale, used at context creation
+  mjFONTSCALE_50      = 50,       // 50% scale, suitable for low-res rendering
+  mjFONTSCALE_100     = 100,      // normal scale, suitable in the absence of DPI scaling
+  mjFONTSCALE_150     = 150,      // 150% scale
+  mjFONTSCALE_200     = 200,      // 200% scale
+  mjFONTSCALE_250     = 250,      // 250% scale
+  mjFONTSCALE_300     = 300       // 300% scale
+} mjtFontScale;
+
+
+typedef enum mjtFont_ {           // font type, used at each text operation
+  mjFONT_NORMAL       = 0,        // normal font
+  mjFONT_SHADOW,                  // normal font with shadow (for higher contrast)
+  mjFONT_BIG                      // big font (for user alerts)
+} mjtFont;
+
+
+struct mjrRect_ {                 // OpenGL rectangle
+  int left;                       // left (usually 0)
+  int bottom;                     // bottom (usually 0)
+  int width;                      // width (usually buffer width)
+  int height;                     // height (usually buffer height)
+};
+typedef struct mjrRect_ mjrRect;
+
+
+//---------------------------------- mjrContext ----------------------------------------------------
+
+struct mjrContext_ {                // custom OpenGL context
+  // parameters copied from mjVisual
+  float lineWidth;                  // line width for wireframe rendering
+  float shadowClip;                 // clipping radius for directional lights
+  float shadowScale;                // fraction of light cutoff for spot lights
+  float fogStart;                   // fog start = stat.extent * vis.map.fogstart
+  float fogEnd;                     // fog end = stat.extent * vis.map.fogend
+  float fogRGBA[4];                 // fog rgba
+  int shadowSize;                   // size of shadow map texture
+  int offWidth;                     // width of offscreen buffer
+  int offHeight;                    // height of offscreen buffer
+  int offSamples;                   // number of offscreen buffer multisamples
+
+  // parameters specified at creation
+  int fontScale;                    // font scale
+  int auxWidth[mjNAUX];             // auxiliary buffer width
+  int auxHeight[mjNAUX];            // auxiliary buffer height
+  int auxSamples[mjNAUX];           // auxiliary buffer multisamples
+
+  // offscreen rendering objects
+  unsigned int offFBO;              // offscreen framebuffer object
+  unsigned int offFBO_r;            // offscreen framebuffer for resolving multisamples
+  unsigned int offColor;            // offscreen color buffer
+  unsigned int offColor_r;          // offscreen color buffer for resolving multisamples
+  unsigned int offDepthStencil;     // offscreen depth and stencil buffer
+  unsigned int offDepthStencil_r;   // offscreen depth and stencil buffer for multisamples
+
+  // shadow rendering objects
+  unsigned int shadowFBO;           // shadow map framebuffer object
+  unsigned int shadowTex;           // shadow map texture
+
+  // auxiliary buffers
+  unsigned int auxFBO[mjNAUX];      // auxiliary framebuffer object
+  unsigned int auxFBO_r[mjNAUX];    // auxiliary framebuffer object for resolving
+  unsigned int auxColor[mjNAUX];    // auxiliary color buffer
+  unsigned int auxColor_r[mjNAUX];  // auxiliary color buffer for resolving
+
+  // materials with textures
+  int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
+  int mat_texuniform[mjMAXMATERIAL];       // uniform cube mapping
+  float mat_texrepeat[mjMAXMATERIAL*2];    // texture repetition for 2d mapping
+
+  // texture objects and info
+  int ntexture;                            // number of allocated textures
+  int textureType[mjMAXTEXTURE];           // type of texture (mjtTexture) (ntexture)
+  unsigned int texture[mjMAXTEXTURE];      // texture names
+
+  // displaylist starting positions
+  unsigned int basePlane;           // all planes from model
+  unsigned int baseMesh;            // all meshes from model
+  unsigned int baseHField;          // all height fields from model
+  unsigned int baseBuiltin;         // all builtin geoms, with quality from model
+  unsigned int baseFontNormal;      // normal font
+  unsigned int baseFontShadow;      // shadow font
+  unsigned int baseFontBig;         // big font
+
+  // displaylist ranges
+  int rangePlane;                   // all planes from model
+  int rangeMesh;                    // all meshes from model
+  int rangeHField;                  // all hfields from model
+  int rangeBuiltin;                 // all builtin geoms, with quality from model
+  int rangeFont;                    // all characters in font
+
+  // skin VBOs
+  int nskin;                        // number of skins
+  unsigned int* skinvertVBO;        // skin vertex position VBOs (nskin)
+  unsigned int* skinnormalVBO;      // skin vertex normal VBOs (nskin)
+  unsigned int* skintexcoordVBO;    // skin vertex texture coordinate VBOs (nskin)
+  unsigned int* skinfaceVBO;        // skin face index VBOs (nskin)
+
+  // character info
+  int charWidth[127];               // character widths: normal and shadow
+  int charWidthBig[127];            // chacarter widths: big
+  int charHeight;                   // character heights: normal and shadow
+  int charHeightBig;                // character heights: big
+
+  // capabilities
+  int glInitialized;                // is OpenGL initialized
+  int windowAvailable;              // is default/window framebuffer available
+  int windowSamples;                // number of samples for default/window framebuffer
+  int windowStereo;                 // is stereo available for default/window framebuffer
+  int windowDoublebuffer;           // is default/window framebuffer double buffered
+
+  // framebuffer
+  int currentBuffer;                // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
+
+  // pixel output format
+  int readPixelFormat;              // default color pixel format for mjr_readPixels
+
+  // depth output format
+  int readDepthMap;                 // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
+};
+typedef struct mjrContext_ mjrContext;
+
+#if defined(__cplusplus)
+}
+#endif
+#endif  // MUJOCO_MJRENDER_H_

third_party/mujoco/3.3.7/include/mujoco/mjsan.h

@@ -0,0 +1,58 @@
+// Copyright 2024 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_INCLUDE_MJSAN_H_
+#define MUJOCO_INCLUDE_MJSAN_H_
+
+// Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
+#ifdef ADDRESS_SANITIZER
+  #include <sanitizer/asan_interface.h>
+#elif defined(_MSC_VER)
+  #define ASAN_POISON_MEMORY_REGION(addr, size)
+  #define ASAN_UNPOISON_MEMORY_REGION(addr, size)
+#else
+  #define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
+  #define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
+#endif
+
+// When built and run under address sanitizer (asan), mj_markStack and mj_freeStack are instrumented
+// to detect leakage of mjData stack frames. When the compiler inlines several callees that call
+// into mark/free into the same function, this instrumentation requires that the compiler retains
+// separate mark/free calls for each original callee. The memory-clobbered asm blocks act as a
+// barrier to prevent mark/free calls from being combined under optimization.
+#ifdef ADDRESS_SANITIZER
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void mj__markStack(mjData*) __attribute__((noinline));
+static inline void mj_markStack(mjData* d) __attribute__((always_inline)) {
+  asm volatile("" ::: "memory");
+  mj__markStack(d);
+  asm volatile("" ::: "memory");
+}
+
+void mj__freeStack(mjData*) __attribute__((noinline));
+static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
+  asm volatile("" ::: "memory");
+  mj__freeStack(d);
+  asm volatile("" ::: "memory");
+}
+
+#ifdef __cplusplus
+}
+#endif  // __cplusplus
+#endif  // ADDRESS_SANITIZER
+
+#endif  // MUJOCO_INCLUDE_MJSAN_H_

third_party/mujoco/3.3.7/include/mujoco/mjspec.h

@@ -0,0 +1,784 @@
+// Copyright 2024 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_INCLUDE_MJSPEC_H_
+#define MUJOCO_INCLUDE_MJSPEC_H_
+
+#include <stddef.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
+
+
+// this is a C-API
+#ifdef __cplusplus
+#include <cstddef>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+extern "C" {
+#endif
+
+//-------------------------------- handles to strings and arrays -----------------------------------
+
+#ifdef __cplusplus
+  // C++: defined to be compatible with corresponding std types
+  using mjString      = std::string;
+  using mjStringVec   = std::vector<std::string>;
+  using mjIntVec      = std::vector<int>;
+  using mjIntVecVec   = std::vector<std::vector<int>>;
+  using mjFloatVec    = std::vector<float>;
+  using mjFloatVecVec = std::vector<std::vector<float>>;
+  using mjDoubleVec   = std::vector<double>;
+  using mjByteVec     = std::vector<std::byte>;
+#else
+  // C: opaque types
+  typedef void mjString;
+  typedef void mjStringVec;
+  typedef void mjIntVec;
+  typedef void mjIntVecVec;
+  typedef void mjFloatVec;
+  typedef void mjFloatVecVec;
+  typedef void mjDoubleVec;
+  typedef void mjByteVec;
+#endif
+
+
+//-------------------------------- enum types (mjt) ------------------------------------------------
+
+typedef enum mjtGeomInertia_ {     // type of inertia inference
+  mjINERTIA_VOLUME = 0,            // mass distributed in the volume
+  mjINERTIA_SHELL,                 // mass distributed on the surface
+} mjtGeomInertia;
+
+
+typedef enum mjtMeshInertia_ {      // type of mesh inertia
+  mjMESH_INERTIA_CONVEX = 0,        // convex mesh inertia
+  mjMESH_INERTIA_EXACT,             // exact mesh inertia
+  mjMESH_INERTIA_LEGACY,            // legacy mesh inertia
+  mjMESH_INERTIA_SHELL              // shell mesh inertia
+} mjtMeshInertia;
+
+typedef enum mjtMeshBuiltin_ {      // type of built-in procedural mesh
+  mjMESH_BUILTIN_NONE = 0,          // no built-in mesh
+  mjMESH_BUILTIN_SPHERE,            // sphere
+  mjMESH_BUILTIN_HEMISPHERE,        // hemisphere
+  mjMESH_BUILTIN_CONE,              // cone
+  mjMESH_BUILTIN_SUPERSPHERE,       // supersphere
+  mjMESH_BUILTIN_SUPERTORUS,        // supertorus
+  mjMESH_BUILTIN_WEDGE,             // wedge
+  mjMESH_BUILTIN_PLATE,             // plate
+} mjtMeshBuiltin;
+
+typedef enum mjtBuiltin_ {         // type of built-in procedural texture
+  mjBUILTIN_NONE = 0,              // no built-in texture
+  mjBUILTIN_GRADIENT,              // gradient: rgb1->rgb2
+  mjBUILTIN_CHECKER,               // checker pattern: rgb1, rgb2
+  mjBUILTIN_FLAT                   // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
+} mjtBuiltin;
+
+
+typedef enum mjtMark_ {            // mark type for procedural textures
+  mjMARK_NONE = 0,                 // no mark
+  mjMARK_EDGE,                     // edges
+  mjMARK_CROSS,                    // cross
+  mjMARK_RANDOM                    // random dots
+} mjtMark;
+
+
+typedef enum mjtLimited_ {         // type of limit specification
+  mjLIMITED_FALSE = 0,             // not limited
+  mjLIMITED_TRUE,                  // limited
+  mjLIMITED_AUTO,                  // limited inferred from presence of range
+} mjtLimited;
+
+typedef enum mjtAlignFree_ {       // whether to align free joints with the inertial frame
+  mjALIGNFREE_FALSE = 0,           // don't align
+  mjALIGNFREE_TRUE,                // align
+  mjALIGNFREE_AUTO,                // respect the global compiler flag
+} mjtAlignFree;
+
+
+typedef enum mjtInertiaFromGeom_ { // whether to infer body inertias from child geoms
+  mjINERTIAFROMGEOM_FALSE = 0,     // do not use; inertial element required
+  mjINERTIAFROMGEOM_TRUE,          // always use; overwrite inertial element
+  mjINERTIAFROMGEOM_AUTO           // use only if inertial element is missing
+} mjtInertiaFromGeom;
+
+
+typedef enum mjtOrientation_ {     // type of orientation specifier
+  mjORIENTATION_QUAT = 0,          // quaternion
+  mjORIENTATION_AXISANGLE,         // axis and angle
+  mjORIENTATION_XYAXES,            // x and y axes
+  mjORIENTATION_ZAXIS,             // z axis (minimal rotation)
+  mjORIENTATION_EULER,             // Euler angles
+} mjtOrientation;
+
+
+//-------------------------------- attribute structs (mjs) -----------------------------------------
+
+typedef struct mjsElement_ {       // element type, do not modify
+  mjtObj elemtype;                 // element type
+  uint64_t signature;              // compilation signature
+} mjsElement;
+
+
+typedef struct mjsCompiler_ {      // compiler options
+  mjtByte autolimits;              // infer "limited" attribute based on range
+  double boundmass;                // enforce minimum body mass
+  double boundinertia;             // enforce minimum body diagonal inertia
+  double settotalmass;             // rescale masses and inertias; <=0: ignore
+  mjtByte balanceinertia;          // automatically impose A + B >= C rule
+  mjtByte fitaabb;                 // meshfit to aabb instead of inertia box
+  mjtByte degree;                  // angles in radians or degrees
+  char eulerseq[3];                // sequence for euler rotations
+  mjtByte discardvisual;           // discard visual geoms in parser
+  mjtByte usethread;               // use multiple threads to speed up compiler
+  mjtByte fusestatic;              // fuse static bodies with parent
+  int inertiafromgeom;             // use geom inertias (mjtInertiaFromGeom)
+  int inertiagrouprange[2];        // range of geom groups used to compute inertia
+  mjtByte saveinertial;            // save explicit inertial clause for all bodies to XML
+  int alignfree;                   // align free joints with inertial frame
+  mjLROpt LRopt;                   // options for lengthrange computation
+  mjString* meshdir;               // mesh and hfield directory
+  mjString* texturedir;            // texture directory
+} mjsCompiler;
+
+
+typedef struct mjSpec_ {           // model specification
+  mjsElement* element;             // element type
+  mjString* modelname;             // model name
+
+  // compiler data
+  mjsCompiler compiler;            // compiler options
+  mjtByte strippath;               // automatically strip paths from mesh files
+
+  // engine data
+  mjOption option;                 // physics options
+  mjVisual visual;                 // visual options
+  mjStatistic stat;                // statistics override (if defined)
+
+  // sizes
+  mjtSize memory;                  // number of bytes in arena+stack memory
+  int nemax;                       // max number of equality constraints
+  int nuserdata;                   // number of mjtNums in userdata
+  int nuser_body;                  // number of mjtNums in body_user
+  int nuser_jnt;                   // number of mjtNums in jnt_user
+  int nuser_geom;                  // number of mjtNums in geom_user
+  int nuser_site;                  // number of mjtNums in site_user
+  int nuser_cam;                   // number of mjtNums in cam_user
+  int nuser_tendon;                // number of mjtNums in tendon_user
+  int nuser_actuator;              // number of mjtNums in actuator_user
+  int nuser_sensor;                // number of mjtNums in sensor_user
+  int nkey;                        // number of keyframes
+  int njmax;                       // (deprecated) max number of constraints
+  int nconmax;                     // (deprecated) max number of detected contacts
+  mjtSize nstack;                  // (deprecated) number of mjtNums in mjData stack
+
+  // global data
+  mjString* comment;               // comment at top of XML
+  mjString* modelfiledir;          // path to model file
+
+  // other
+  mjtByte hasImplicitPluginElem;   // already encountered an implicit plugin sensor/actuator
+} mjSpec;
+
+
+typedef struct mjsOrientation_ {   // alternative orientation specifiers
+  mjtOrientation type;             // active orientation specifier
+  double axisangle[4];             // axis and angle
+  double xyaxes[6];                // x and y axes
+  double zaxis[3];                 // z axis (minimal rotation)
+  double euler[3];                 // Euler angles
+} mjsOrientation;
+
+
+typedef struct mjsPlugin_ {        // plugin specification
+  mjsElement* element;             // element type
+  mjString* name;                  // instance name
+  mjString* plugin_name;           // plugin name
+  mjtByte active;                  // is the plugin active
+  mjString* info;                  // message appended to compiler errors
+} mjsPlugin;
+
+
+typedef struct mjsBody_ {          // body specification
+  mjsElement* element;             // element type
+  mjString* childclass;            // childclass name
+
+  // body frame
+  double pos[3];                   // frame position
+  double quat[4];                  // frame orientation
+  mjsOrientation alt;              // frame alternative orientation
+
+  // inertial frame
+  double mass;                     // mass
+  double ipos[3];                  // inertial frame position
+  double iquat[4];                 // inertial frame orientation
+  double inertia[3];               // diagonal inertia (in i-frame)
+  mjsOrientation ialt;             // inertial frame alternative orientation
+  double fullinertia[6];           // non-axis-aligned inertia matrix
+
+  // other
+  mjtByte mocap;                   // is this a mocap body
+  double gravcomp;                 // gravity compensation
+  mjDoubleVec* userdata;           // user data
+  mjtByte explicitinertial;        // whether to save the body with explicit inertial clause
+  mjsPlugin plugin;                // passive force plugin
+  mjString* info;                  // message appended to compiler errors
+} mjsBody;
+
+
+typedef struct mjsFrame_ {         // frame specification
+  mjsElement* element;             // element type
+  mjString* childclass;            // childclass name
+  double pos[3];                   // position
+  double quat[4];                  // orientation
+  mjsOrientation alt;              // alternative orientation
+  mjString* info;                  // message appended to compiler errors
+} mjsFrame;
+
+
+typedef struct mjsJoint_ {         // joint specification
+  mjsElement* element;             // element type
+  mjtJoint type;                   // joint type
+
+  // kinematics
+  double pos[3];                   // anchor position
+  double axis[3];                  // joint axis
+  double ref;                      // value at reference configuration: qpos0
+  int align;                       // align free joint with body com (mjtAlignFree)
+
+  // stiffness
+  double stiffness;                // stiffness coefficient
+  double springref;                // spring reference value: qpos_spring
+  double springdamper[2];          // timeconst, dampratio
+
+  // limits
+  int limited;                     // does joint have limits (mjtLimited)
+  double range[2];                 // joint limits
+  double margin;                   // margin value for joint limit detection
+  mjtNum solref_limit[mjNREF];     // solver reference: joint limits
+  mjtNum solimp_limit[mjNIMP];     // solver impedance: joint limits
+  int actfrclimited;               // are actuator forces on joint limited (mjtLimited)
+  double actfrcrange[2];           // actuator force limits
+
+  // dof properties
+  double armature;                 // armature inertia (mass for slider)
+  double damping;                  // damping coefficient
+  double frictionloss;             // friction loss
+  mjtNum solref_friction[mjNREF];  // solver reference: dof friction
+  mjtNum solimp_friction[mjNIMP];  // solver impedance: dof friction
+
+  // other
+  int group;                       // group
+  mjtByte actgravcomp;             // is gravcomp force applied via actuators
+  mjDoubleVec* userdata;           // user data
+  mjString* info;                  // message appended to compiler errors
+} mjsJoint;
+
+
+typedef struct mjsGeom_ {          // geom specification
+  mjsElement* element;             // element type
+  mjtGeom type;                    // geom type
+
+  // frame, size
+  double pos[3];                   // position
+  double quat[4];                  // orientation
+  mjsOrientation alt;              // alternative orientation
+  double fromto[6];                // alternative for capsule, cylinder, box, ellipsoid
+  double size[3];                  // type-specific size
+
+  // contact related
+  int contype;                     // contact type
+  int conaffinity;                 // contact affinity
+  int condim;                      // contact dimensionality
+  int priority;                    // contact priority
+  double friction[3];              // one-sided friction coefficients: slide, roll, spin
+  double solmix;                   // solver mixing for contact pairs
+  mjtNum solref[mjNREF];           // solver reference
+  mjtNum solimp[mjNIMP];           // solver impedance
+  double margin;                   // margin for contact detection
+  double gap;                      // include in solver if dist < margin-gap
+
+  // inertia inference
+  double mass;                     // used to compute density
+  double density;                  // used to compute mass and inertia from volume or surface
+  mjtGeomInertia typeinertia;      // selects between surface and volume inertia
+
+  // fluid forces
+  mjtNum fluid_ellipsoid;          // whether ellipsoid-fluid model is active
+  mjtNum fluid_coefs[5];           // ellipsoid-fluid interaction coefs
+
+  // visual
+  mjString* material;              // name of material
+  float rgba[4];                   // rgba when material is omitted
+  int group;                       // group
+
+  // other
+  mjString* hfieldname;            // heightfield attached to geom
+  mjString* meshname;              // mesh attached to geom
+  double fitscale;                 // scale mesh uniformly
+  mjDoubleVec* userdata;           // user data
+  mjsPlugin plugin;                // sdf plugin
+  mjString* info;                  // message appended to compiler errors
+} mjsGeom;
+
+
+typedef struct mjsSite_ {          // site specification
+  mjsElement* element;             // element type
+
+  // frame, size
+  double pos[3];                   // position
+  double quat[4];                  // orientation
+  mjsOrientation alt;              // alternative orientation
+  double fromto[6];                // alternative for capsule, cylinder, box, ellipsoid
+  double size[3];                  // geom size
+
+  // visual
+  mjtGeom type;                    // geom type
+  mjString* material;              // name of material
+  int group;                       // group
+  float rgba[4];                   // rgba when material is omitted
+
+  // other
+  mjDoubleVec* userdata;           // user data
+  mjString* info;                  // message appended to compiler errors
+} mjsSite;
+
+
+typedef struct mjsCamera_ {        // camera specification
+  mjsElement* element;             // element type
+
+  // extrinsics
+  double pos[3];                   // position
+  double quat[4];                  // orientation
+  mjsOrientation alt;              // alternative orientation
+  mjtCamLight mode;                // tracking mode
+  mjString* targetbody;            // target body for tracking/targeting
+
+  // intrinsics
+  int orthographic;                // is camera orthographic
+  double fovy;                     // y-field of view
+  double ipd;                      // inter-pupilary distance
+  float intrinsic[4];              // camera intrinsics (length)
+  float sensor_size[2];            // sensor size (length)
+  float resolution[2];             // resolution (pixel)
+  float focal_length[2];           // focal length (length)
+  float focal_pixel[2];            // focal length (pixel)
+  float principal_length[2];       // principal point (length)
+  float principal_pixel[2];        // principal point (pixel)
+
+  // other
+  mjDoubleVec* userdata;           // user data
+  mjString* info;                  // message appended to compiler errors
+} mjsCamera;
+
+
+typedef struct mjsLight_ {         // light specification
+  mjsElement* element;             // element type
+
+  // frame
+  double pos[3];                   // position
+  double dir[3];                   // direction
+  mjtCamLight mode;                // tracking mode
+  mjString* targetbody;            // target body for targeting
+
+  // intrinsics
+  mjtByte active;                  // is light active
+  mjtLightType type;               // type of light
+  mjString* texture;               // texture name for image lights
+  mjtByte castshadow;              // does light cast shadows
+  float bulbradius;                // bulb radius, for soft shadows
+  float intensity;                 // intensity, in candelas
+  float range;                     // range of effectiveness
+  float attenuation[3];            // OpenGL attenuation (quadratic model)
+  float cutoff;                    // OpenGL cutoff
+  float exponent;                  // OpenGL exponent
+  float ambient[3];                // ambient color
+  float diffuse[3];                // diffuse color
+  float specular[3];               // specular color
+
+  // other
+  mjString* info;                  // message appended to compiler errorsx
+} mjsLight;
+
+
+typedef struct mjsFlex_ {          // flex specification
+  mjsElement* element;             // element type
+
+  // contact properties
+  int contype;                     // contact type
+  int conaffinity;                 // contact affinity
+  int condim;                      // contact dimensionality
+  int priority;                    // contact priority
+  double friction[3];              // one-sided friction coefficients: slide, roll, spin
+  double solmix;                   // solver mixing for contact pairs
+  mjtNum solref[mjNREF];           // solver reference
+  mjtNum solimp[mjNIMP];           // solver impedance
+  double margin;                   // margin for contact detection
+  double gap;                      // include in solver if dist<margin-gap
+
+  // other properties
+  int dim;                         // element dimensionality
+  double radius;                   // radius around primitive element
+  mjtByte internal;                // enable internal collisions
+  mjtByte flatskin;                // render flex skin with flat shading
+  int selfcollide;                 // mode for flex self collision
+  int vertcollide;                 // mode for vertex collision
+  int passive;                     // mode for passive collisions
+  int activelayers;                // number of active element layers in 3D
+  int group;                       // group for visualizatioh
+  double edgestiffness;            // edge stiffness
+  double edgedamping;              // edge damping
+  float rgba[4];                   // rgba when material is omitted
+  mjString* material;              // name of material used for rendering
+  double young;                    // Young's modulus
+  double poisson;                  // Poisson's ratio
+  double damping;                  // Rayleigh's damping
+  double thickness;                // thickness (2D only)
+  int elastic2d;                   // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
+
+  // mesh properties
+  mjStringVec* nodebody;           // node body names
+  mjStringVec* vertbody;           // vertex body names
+  mjDoubleVec* node;               // node positions
+  mjDoubleVec* vert;               // vertex positions
+  mjIntVec* elem;                  // element vertex ids
+  mjFloatVec* texcoord;            // vertex texture coordinates
+  mjIntVec* elemtexcoord;          // element texture coordinates
+
+  // other
+  mjString* info;                  // message appended to compiler errors
+} mjsFlex;
+
+
+typedef struct mjsMesh_ {          // mesh specification
+  mjsElement* element;             // element type
+  mjString* content_type;          // content type of file
+  mjString* file;                  // mesh file
+  double refpos[3];                // reference position
+  double refquat[4];               // reference orientation
+  double scale[3];                 // rescale mesh
+  mjtMeshInertia inertia;          // inertia type (convex, legacy, exact, shell)
+  mjtByte smoothnormal;            // do not exclude large-angle faces from normals
+  mjtByte needsdf;                 // compute sdf from mesh
+  int maxhullvert;                 // maximum vertex count for the convex hull
+  mjFloatVec* uservert;            // user vertex data
+  mjFloatVec* usernormal;          // user normal data
+  mjFloatVec* usertexcoord;        // user texcoord data
+  mjIntVec* userface;              // user vertex indices
+  mjIntVec* userfacenormal;        // user face normal indices
+  mjIntVec* userfacetexcoord;      // user texcoord indices
+  mjsPlugin plugin;                // sdf plugin
+  mjString* material;              // name of material
+  mjString* info;                  // message appended to compiler errors
+} mjsMesh;
+
+
+typedef struct mjsHField_ {        // height field specification
+  mjsElement* element;             // element type
+  mjString* content_type;          // content type of file
+  mjString* file;                  // file: (nrow, ncol, [elevation data])
+  double size[4];                  // hfield size (ignore referencing geom size)
+  int nrow;                        // number of rows
+  int ncol;                        // number of columns
+  mjFloatVec* userdata;            // user-provided elevation data
+  mjString* info;                  // message appended to compiler errors
+} mjsHField;
+
+
+
+typedef struct mjsSkin_ {          // skin specification
+  mjsElement* element;             // element type
+  mjString* file;                  // skin file
+  mjString* material;              // name of material used for rendering
+  float rgba[4];                   // rgba when material is omitted
+  float inflate;                   // inflate in normal direction
+  int group;                       // group for visualization
+
+  // mesh
+  mjFloatVec* vert;                // vertex positions
+  mjFloatVec* texcoord;            // texture coordinates
+  mjIntVec* face;                  // faces
+
+  // skin
+  mjStringVec* bodyname;           // body names
+  mjFloatVec* bindpos;             // bind pos
+  mjFloatVec* bindquat;            // bind quat
+  mjIntVecVec* vertid;             // vertex ids
+  mjFloatVecVec* vertweight;       // vertex weights
+
+  // other
+  mjString* info;                  // message appended to compiler errors
+} mjsSkin;
+
+
+typedef struct mjsTexture_ {       // texture specification
+  mjsElement* element;             // element type
+  mjtTexture type;                 // texture type
+  mjtColorSpace colorspace;        // colorspace
+
+  // method 1: builtin
+  int builtin;                     // builtin type (mjtBuiltin)
+  int mark;                        // mark type (mjtMark)
+  double rgb1[3];                  // first color for builtin
+  double rgb2[3];                  // second color for builtin
+  double markrgb[3];               // mark color
+  double random;                   // probability of random dots
+  int height;                      // height in pixels (square for cube and skybox)
+  int width;                       // width in pixels
+  int nchannel;                    // number of channels
+
+  // method 2: single file
+  mjString* content_type;          // content type of file
+  mjString* file;                  // png file to load; use for all sides of cube
+  int gridsize[2];                 // size of grid for composite file; (1,1)-repeat
+  char gridlayout[13];             // row-major: L,R,F,B,U,D for faces; . for unused
+
+  // method 3: separate files
+  mjStringVec* cubefiles;          // different file for each side of the cube
+
+  // method 4: from buffer read by user
+  mjByteVec* data;                  // texture data
+
+  // flip options
+  mjtByte hflip;                   // horizontal flip
+  mjtByte vflip;                   // vertical flip
+
+  // other
+  mjString* info;                  // message appended to compiler errors
+} mjsTexture;
+
+
+typedef struct mjsMaterial_ {      // material specification
+  mjsElement* element;             // element type
+  mjStringVec* textures;           // names of textures (empty: none)
+  mjtByte texuniform;              // make texture cube uniform
+  float texrepeat[2];              // texture repetition for 2D mapping
+  float emission;                  // emission
+  float specular;                  // specular
+  float shininess;                 // shininess
+  float reflectance;               // reflectance
+  float metallic;                  // metallic
+  float roughness;                 // roughness
+  float rgba[4];                   // rgba
+  mjString* info;                  // message appended to compiler errors
+} mjsMaterial;
+
+
+typedef struct mjsPair_ {          // pair specification
+  mjsElement* element;             // element type
+  mjString* geomname1;             // name of geom 1
+  mjString* geomname2;             // name of geom 2
+
+  // optional parameters: computed from geoms if not set by user
+  int condim;                      // contact dimensionality
+  mjtNum solref[mjNREF];           // solver reference, normal direction
+  mjtNum solreffriction[mjNREF];   // solver reference, frictional directions
+  mjtNum solimp[mjNIMP];           // solver impedance
+  double margin;                   // margin for contact detection
+  double gap;                      // include in solver if dist<margin-gap
+  double friction[5];              // full contact friction
+  mjString* info;                  // message appended to errors
+} mjsPair;
+
+
+typedef struct mjsExclude_ {       // exclude specification
+  mjsElement* element;             // element type
+  mjString* bodyname1;             // name of geom 1
+  mjString* bodyname2;             // name of geom 2
+  mjString* info;                  // message appended to errors
+} mjsExclude;
+
+
+typedef struct mjsEquality_ {      // equality specification
+  mjsElement* element;             // element type
+  mjtEq type;                      // constraint type
+  double data[mjNEQDATA];          // type-dependent data
+  mjtByte active;                  // is equality initially active
+  mjString* name1;                 // name of object 1
+  mjString* name2;                 // name of object 2
+  mjtObj objtype;                  // type of both objects
+  mjtNum solref[mjNREF];           // solver reference
+  mjtNum solimp[mjNIMP];           // solver impedance
+  mjString* info;                  // message appended to errors
+} mjsEquality;
+
+
+typedef struct mjsTendon_ {        // tendon specification
+  mjsElement* element;             // element type
+
+  // stiffness, damping, friction, armature
+  double stiffness;                // stiffness coefficient
+  double springlength[2];          // spring resting length; {-1, -1}: use qpos_spring
+  double damping;                  // damping coefficient
+  double frictionloss;             // friction loss
+  mjtNum solref_friction[mjNREF];  // solver reference: tendon friction
+  mjtNum solimp_friction[mjNIMP];  // solver impedance: tendon friction
+  double armature;                 // inertia associated with tendon velocity
+
+  // length range
+  int limited;                     // does tendon have limits (mjtLimited)
+  int actfrclimited;               // does tendon have actuator force limits
+  double range[2];                 // length limits
+  double actfrcrange[2];           // actuator force limits
+  double margin;                   // margin value for tendon limit detection
+  mjtNum solref_limit[mjNREF];     // solver reference: tendon limits
+  mjtNum solimp_limit[mjNIMP];     // solver impedance: tendon limits
+
+  // visual
+  mjString* material;              // name of material for rendering
+  double width;                    // width for rendering
+  float rgba[4];                   // rgba when material is omitted
+  int group;                       // group
+
+  // other
+  mjDoubleVec* userdata;           // user data
+  mjString* info;                  // message appended to errors
+} mjsTendon;
+
+
+typedef struct mjsWrap_ {          // wrapping object specification
+  mjsElement* element;             // element type
+  mjString* info;                  // message appended to errors
+} mjsWrap;
+
+
+typedef struct mjsActuator_ {      // actuator specification
+  mjsElement* element;             // element type
+
+  // gain, bias
+  mjtGain gaintype;                // gain type
+  double gainprm[mjNGAIN];         // gain parameters
+  mjtBias biastype;                // bias type
+  double biasprm[mjNGAIN];         // bias parameters
+
+  // activation state
+  mjtDyn dyntype;                  // dynamics type
+  double dynprm[mjNDYN];           // dynamics parameters
+  int actdim;                      // number of activation variables
+  mjtByte actearly;                // apply next activations to qfrc
+
+  // transmission
+  mjtTrn trntype;                  // transmission type
+  double gear[6];                  // length and transmitted force scaling
+  mjString* target;                // name of transmission target
+  mjString* refsite;               // reference site, for site transmission
+  mjString* slidersite;            // site defining cylinder, for slider-crank
+  double cranklength;              // crank length, for slider-crank
+  double lengthrange[2];           // transmission length range
+  double inheritrange;             // automatic range setting for position and intvelocity
+
+  // input/output clamping
+  int ctrllimited;                 // are control limits defined (mjtLimited)
+  double ctrlrange[2];             // control range
+  int forcelimited;                // are force limits defined (mjtLimited)
+  double forcerange[2];            // force range
+  int actlimited;                  // are activation limits defined (mjtLimited)
+  double actrange[2];              // activation range
+
+  // other
+  int group;                       // group
+  mjDoubleVec* userdata;           // user data
+  mjsPlugin plugin;                // actuator plugin
+  mjString* info;                  // message appended to compiler errors
+} mjsActuator;
+
+
+typedef struct mjsSensor_ {        // sensor specification
+  mjsElement* element;             // element type
+
+  // sensor definition
+  mjtSensor type;                  // type of sensor
+  mjtObj objtype;                  // type of sensorized object
+  mjString* objname;               // name of sensorized object
+  mjtObj reftype;                  // type of referenced object
+  mjString* refname;               // name of referenced object
+  int intprm[mjNSENS];             // integer parameters
+
+  // user-defined sensors
+  mjtDataType datatype;            // data type for sensor measurement
+  mjtStage needstage;              // compute stage needed to simulate sensor
+  int dim;                         // number of scalar outputs
+
+  // output post-processing
+  double cutoff;                   // cutoff for real and positive datatypes
+  double noise;                    // noise stdev
+
+  // other
+  mjDoubleVec* userdata;           // user data
+  mjsPlugin plugin;                // sensor plugin
+  mjString* info;                  // message appended to compiler errors
+} mjsSensor;
+
+
+typedef struct mjsNumeric_ {       // custom numeric field specification
+  mjsElement* element;             // element type
+  mjDoubleVec* data;               // initialization data
+  int size;                        // array size, can be bigger than data size
+  mjString* info;                  // message appended to compiler errors
+} mjsNumeric;
+
+
+typedef struct mjsText_ {          // custom text specification
+  mjsElement* element;             // element type
+  mjString* data;                  // text string
+  mjString* info;                  // message appended to compiler errors
+} mjsText;
+
+
+typedef struct mjsTuple_ {         // tuple specification
+  mjsElement* element;             // element type
+  mjIntVec* objtype;               // object types
+  mjStringVec* objname;            // object names
+  mjDoubleVec* objprm;             // object parameters
+  mjString* info;                  // message appended to compiler errors
+} mjsTuple;
+
+
+typedef struct mjsKey_ {           // keyframe specification
+  mjsElement* element;             // element type
+  double time;                     // time
+  mjDoubleVec* qpos;               // qpos
+  mjDoubleVec* qvel;               // qvel
+  mjDoubleVec* act;                // act
+  mjDoubleVec* mpos;               // mocap pos
+  mjDoubleVec* mquat;              // mocap quat
+  mjDoubleVec* ctrl;               // ctrl
+  mjString* info;                  // message appended to compiler errors
+} mjsKey;
+
+
+typedef struct mjsDefault_ {       // default specification
+  mjsElement* element;             // element type
+  mjsJoint* joint;                 // joint defaults
+  mjsGeom* geom;                   // geom defaults
+  mjsSite* site;                   // site defaults
+  mjsCamera* camera;               // camera defaults
+  mjsLight* light;                 // light defaults
+  mjsFlex* flex;                   // flex defaults
+  mjsMesh* mesh;                   // mesh defaults
+  mjsMaterial* material;           // material defaults
+  mjsPair* pair;                   // pair defaults
+  mjsEquality* equality;           // equality defaults
+  mjsTendon* tendon;               // tendon defaults
+  mjsActuator* actuator;           // actuator defaults
+} mjsDefault;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_INCLUDE_MJSPEC_H_

third_party/mujoco/3.3.7/include/mujoco/mjthread.h

@@ -0,0 +1,42 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
+#define MUJOCO_INCLUDE_MJTHREAD_H_
+
+#define mjMAXTHREAD 128        // maximum number of threads in a thread pool
+
+typedef enum mjtTaskStatus_ {  // status values for mjTask
+  mjTASK_NEW = 0,              // newly created
+  mjTASK_QUEUED,               // enqueued in a thread pool
+  mjTASK_COMPLETED             // completed execution
+} mjtTaskStatus;
+
+// function pointer type for mjTask
+typedef void* (*mjfTask)(void*);
+
+// An opaque type representing a thread pool.
+struct mjThreadPool_ {
+  int nworker;  // number of workers in the pool
+};
+typedef struct mjThreadPool_ mjThreadPool;
+
+struct mjTask_ {        // a task that can be executed by a thread pool.
+  mjfTask func;         // pointer to the function that implements the task
+  void* args;           // arguments to func
+  volatile int status;  // status of the task
+};
+typedef struct mjTask_ mjTask;
+
+#endif  // MUJOCO_INCLUDE_MJTHREAD_H_

third_party/mujoco/3.3.7/include/mujoco/mjtnum.h

@@ -0,0 +1,45 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_INCLUDE_MJTNUM_H_
+#define MUJOCO_INCLUDE_MJTNUM_H_
+
+#include <stdint.h>
+
+//---------------------------------- floating-point definition -------------------------------------
+
+// floating point data type and minval
+#ifndef mjUSESINGLE
+  typedef double mjtNum;
+  #define mjMINVAL    1E-15       // minimum value in any denominator
+#else
+  typedef float mjtNum;
+  #define mjMINVAL    1E-15f
+#endif
+
+
+
+//-------------------------------------- byte definition -------------------------------------------
+
+typedef unsigned char mjtByte;    // used for true/false
+
+
+
+//-------------------------------------- size definition -------------------------------------------
+
+typedef uint64_t mjtSize;         // used for buffer sizes
+
+
+
+#endif  // MUJOCO_INCLUDE_MJTNUM_H_

third_party/mujoco/3.3.7/include/mujoco/mjui.h

@@ -0,0 +1,345 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJUI_H_
+#define MUJOCO_MJUI_H_
+
+#include <mujoco/mjrender.h>
+
+#define mjMAXUISECT     10      // maximum number of sections
+#define mjMAXUIITEM     200     // maximum number of items per section
+#define mjMAXUITEXT     300     // maximum number of chars in edittext and other
+#define mjMAXUINAME     40      // maximum number of chars in name
+#define mjMAXUIMULTI    35      // maximum number of radio/select items in group
+#define mjMAXUIEDIT     7       // maximum number of elements in edit list
+#define mjMAXUIRECT     25      // maximum number of rectangles
+
+#define mjSEPCLOSED     1000    // closed state of adjustable separator
+#define mjPRESERVE      2000    // preserve section or separator state
+
+
+// key codes matching GLFW (user must remap for other frameworks)
+#define mjKEY_ESCAPE     256
+#define mjKEY_ENTER      257
+#define mjKEY_TAB        258
+#define mjKEY_BACKSPACE  259
+#define mjKEY_INSERT     260
+#define mjKEY_DELETE     261
+#define mjKEY_RIGHT      262
+#define mjKEY_LEFT       263
+#define mjKEY_DOWN       264
+#define mjKEY_UP         265
+#define mjKEY_PAGE_UP    266
+#define mjKEY_PAGE_DOWN  267
+#define mjKEY_HOME       268
+#define mjKEY_END        269
+#define mjKEY_F1         290
+#define mjKEY_F2         291
+#define mjKEY_F3         292
+#define mjKEY_F4         293
+#define mjKEY_F5         294
+#define mjKEY_F6         295
+#define mjKEY_F7         296
+#define mjKEY_F8         297
+#define mjKEY_F9         298
+#define mjKEY_F10        299
+#define mjKEY_F11        300
+#define mjKEY_F12        301
+#define mjKEY_NUMPAD_0   320
+#define mjKEY_NUMPAD_9   329
+
+
+//---------------------------------- primitive types (mjt) -----------------------------------------
+
+typedef enum mjtButton_ {         // mouse button
+  mjBUTTON_NONE = 0,              // no button
+  mjBUTTON_LEFT,                  // left button
+  mjBUTTON_RIGHT,                 // right button
+  mjBUTTON_MIDDLE                 // middle button
+} mjtButton;
+
+
+typedef enum mjtEvent_ {          // mouse and keyboard event type
+  mjEVENT_NONE = 0,               // no event
+  mjEVENT_MOVE,                   // mouse move
+  mjEVENT_PRESS,                  // mouse button press
+  mjEVENT_RELEASE,                // mouse button release
+  mjEVENT_SCROLL,                 // scroll
+  mjEVENT_KEY,                    // key press
+  mjEVENT_RESIZE,                 // resize
+  mjEVENT_REDRAW,                 // redraw
+  mjEVENT_FILESDROP               // files drop
+} mjtEvent;
+
+
+typedef enum mjtItem_ {           // UI item type
+  mjITEM_END = -2,                // end of definition list (not an item)
+  mjITEM_SECTION = -1,            // section (not an item)
+  mjITEM_SEPARATOR = 0,           // separator
+  mjITEM_STATIC,                  // static text
+  mjITEM_BUTTON,                  // button
+
+  // the rest have data pointer
+  mjITEM_CHECKINT,                // check box, int value
+  mjITEM_CHECKBYTE,               // check box, mjtByte value
+  mjITEM_RADIO,                   // radio group
+  mjITEM_RADIOLINE,               // radio group, single line
+  mjITEM_SELECT,                  // selection box
+  mjITEM_SLIDERINT,               // slider, int value
+  mjITEM_SLIDERNUM,               // slider, mjtNum value
+  mjITEM_EDITINT,                 // editable array, int values
+  mjITEM_EDITNUM,                 // editable array, mjtNum values
+  mjITEM_EDITFLOAT,               // editable array, float values
+  mjITEM_EDITTXT,                 // editable text
+
+  mjNITEM                         // number of item types
+} mjtItem;
+
+
+typedef enum mjtSection_ {        // UI section state
+  mjSECT_CLOSED = 0,              // closed state (regular section)
+  mjSECT_OPEN,                    // open state (regular section)
+  mjSECT_FIXED                    // fixed section: always open, no title
+} mjtSection;
+
+
+// predicate function: set enable/disable based on item category
+typedef int (*mjfItemEnable)(int category, void* data);
+
+
+//---------------------------------- mjuiState -----------------------------------------------------
+
+struct mjuiState_ {               // mouse and keyboard state
+  // constants set by user
+  int nrect;                      // number of rectangles used
+  mjrRect rect[mjMAXUIRECT];      // rectangles (index 0: entire window)
+  void* userdata;                 // pointer to user data (for callbacks)
+
+  // event type
+  int type;                       // (type mjtEvent)
+
+  // mouse buttons
+  int left;                       // is left button down
+  int right;                      // is right button down
+  int middle;                     // is middle button down
+  int doubleclick;                // is last press a double click
+  int button;                     // which button was pressed (mjtButton)
+  double buttontime;              // time of last button press
+
+  // mouse position
+  double x;                       // x position
+  double y;                       // y position
+  double dx;                      // x displacement
+  double dy;                      // y displacement
+  double sx;                      // x scroll
+  double sy;                      // y scroll
+
+  // keyboard
+  int control;                    // is control down
+  int shift;                      // is shift down
+  int alt;                        // is alt down
+  int key;                        // which key was pressed
+  double keytime;                 // time of last key press
+
+  // rectangle ownership and dragging
+  int mouserect;                  // which rectangle contains mouse
+  int dragrect;                   // which rectangle is dragged with mouse
+  int dragbutton;                 // which button started drag (mjtButton)
+
+  // files dropping (only valid when type == mjEVENT_FILESDROP)
+  int dropcount;                  // number of files dropped
+  const char** droppaths;         // paths to files dropped
+};
+typedef struct mjuiState_ mjuiState;
+
+
+//---------------------------------- mjuiThemeSpacing ----------------------------------------------
+
+struct mjuiThemeSpacing_ {        // UI visualization theme spacing
+  int total;                      // total width
+  int scroll;                     // scrollbar width
+  int label;                      // label width
+  int section;                    // section gap
+  int cornersect;                 // corner radius for section
+  int cornersep;                  // corner radius for separator
+  int itemside;                   // item side gap
+  int itemmid;                    // item middle gap
+  int itemver;                    // item vertical gap
+  int texthor;                    // text horizontal gap
+  int textver;                    // text vertical gap
+  int linescroll;                 // number of pixels to scroll
+  int samples;                    // number of multisamples
+};
+typedef struct mjuiThemeSpacing_ mjuiThemeSpacing;
+
+
+//---------------------------------- mjuiThemeColor ------------------------------------------------
+
+struct mjuiThemeColor_ {          // UI visualization theme color
+  float master[3];                // master background
+  float thumb[3];                 // scrollbar thumb
+  float secttitle[3];             // section title
+  float secttitle2[3];            // section title: bottom color
+  float secttitleuncheck[3];      // section title with unchecked box
+  float secttitleuncheck2[3];     // section title with unchecked box: bottom color
+  float secttitlecheck[3];        // section title with checked box
+  float secttitlecheck2[3];       // section title with checked box: bottom color
+  float sectfont[3];              // section font
+  float sectsymbol[3];            // section symbol
+  float sectpane[3];              // section pane
+  float separator[3];             // separator title
+  float separator2[3];            // separator title: bottom color
+  float shortcut[3];              // shortcut background
+  float fontactive[3];            // font active
+  float fontinactive[3];          // font inactive
+  float decorinactive[3];         // decor inactive
+  float decorinactive2[3];        // inactive slider color 2
+  float button[3];                // button
+  float check[3];                 // check
+  float radio[3];                 // radio
+  float select[3];                // select
+  float select2[3];               // select pane
+  float slider[3];                // slider
+  float slider2[3];               // slider color 2
+  float edit[3];                  // edit
+  float edit2[3];                 // edit invalid
+  float cursor[3];                // edit cursor
+};
+typedef struct mjuiThemeColor_ mjuiThemeColor;
+
+
+//---------------------------------- mjuiItem ------------------------------------------------------
+
+struct mjuiItemSingle_ {          // check and button-related
+  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
+  int shortcut;                   // shortcut key; 0: undefined
+};
+
+
+struct mjuiItemMulti_ {                  // static, radio and select-related
+  int nelem;                             // number of elements in group
+  char name[mjMAXUIMULTI][mjMAXUINAME];  // element names
+};
+
+
+struct mjuiItemSlider_ {          // slider-related
+  double range[2];                // slider range
+  double divisions;               // number of range divisions
+};
+
+
+struct mjuiItemEdit_ {            // edit-related
+  int nelem;                      // number of elements in list
+  double range[mjMAXUIEDIT][2];   // element range (min>=max: ignore)
+};
+
+
+struct mjuiItem_ {                // UI item
+  // common properties
+  int type;                       // type (mjtItem)
+  char name[mjMAXUINAME];         // name
+  int state;                      // 0: disable, 1: enable, 2+: use predicate
+  void *pdata;                    // data pointer (type-specific)
+  int sectionid;                  // id of section containing item
+  int itemid;                     // id of item within section
+  int userid;                     // user-supplied id (for event handling)
+
+  // type-specific properties
+  union {
+    struct mjuiItemSingle_ single;  // check and button
+    struct mjuiItemMulti_ multi;    // static, radio and select
+    struct mjuiItemSlider_ slider;  // slider
+    struct mjuiItemEdit_ edit;      // edit
+  };
+
+  // internal
+  mjrRect rect;                   // rectangle occupied by item
+  int skip;                       // item skipped due to closed separator
+};
+typedef struct mjuiItem_ mjuiItem;
+
+
+//---------------------------------- mjuiSection ---------------------------------------------------
+
+struct mjuiSection_ {             // UI section
+  // properties
+  char name[mjMAXUINAME];         // name
+  int state;                      // section state (mjtSection)
+  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
+  int shortcut;                   // shortcut key; 0: undefined
+  int checkbox;                   // 0: none, 1: unchecked, 2: checked
+  int nitem;                      // number of items in use
+  mjuiItem item[mjMAXUIITEM];     // preallocated array of items
+
+  // internal
+  mjrRect rtitle;                 // rectangle occupied by title
+  mjrRect rcontent;               // rectangle occupied by content
+  int lastclick;                  // last mouse click over this section
+};
+typedef struct mjuiSection_ mjuiSection;
+
+
+//---------------------------------- mjUI ----------------------------------------------------------
+
+struct mjUI_ {                    // entire UI
+  // constants set by user
+  mjuiThemeSpacing spacing;       // UI theme spacing
+  mjuiThemeColor color;           // UI theme color
+  mjfItemEnable predicate;        // callback to set item state programmatically
+  void* userdata;                 // pointer to user data (passed to predicate)
+  int rectid;                     // index of this ui rectangle in mjuiState
+  int auxid;                      // aux buffer index of this ui
+  int radiocol;                   // number of radio columns (0 defaults to 2)
+
+  // UI sizes (framebuffer units)
+  int width;                      // width
+  int height;                     // current height
+  int maxheight;                  // height when all sections open
+  int scroll;                     // scroll from top of UI
+
+  // mouse focus and count
+  int mousesect;                  // 0: none, -1: scroll, otherwise 1+section
+  int mouseitem;                  // item within section
+  int mousehelp;                  // help button down: print shortcuts
+  int mouseclicks;                // number of mouse clicks over UI
+  int mousesectcheck;             // 0: none, otherwise 1+section
+
+  // keyboard focus and edit
+  int editsect;                   // 0: none, otherwise 1+section
+  int edititem;                   // item within section
+  int editcursor;                 // cursor position
+  int editscroll;                 // horizontal scroll
+  char edittext[mjMAXUITEXT];     // current text
+  mjuiItem* editchanged;          // pointer to changed edit in last mjui_event
+
+  // sections
+  int nsect;                      // number of sections in use
+  mjuiSection sect[mjMAXUISECT];  // preallocated array of sections
+};
+typedef struct mjUI_ mjUI;
+
+
+//---------------------------------- mjuiDef -------------------------------------------------------
+
+struct mjuiDef_ {                 // table passed to mjui_add()
+  int type;                       // type (mjtItem); -1: section
+  char name[mjMAXUINAME];         // name
+  int state;                      // state
+  void* pdata;                    // pointer to data
+  char other[mjMAXUITEXT];        // string with type-specific properties
+  int otherint;                   // int with type-specific properties
+};
+typedef struct mjuiDef_ mjuiDef;
+
+#endif  // MUJOCO_MJUI_H_

third_party/mujoco/3.3.7/include/mujoco/mjvisualize.h

@@ -0,0 +1,412 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJVISUALIZE_H_
+#define MUJOCO_MJVISUALIZE_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
+
+
+#define mjNGROUP        6         // number of geom, site, joint, skin groups with visflags
+#define mjMAXLIGHT      100       // maximum number of lights in a scene
+#define mjMAXOVERLAY    500       // maximum number of characters in overlay text
+#define mjMAXLINE       100       // maximum number of lines per plot
+#define mjMAXLINEPNT    1001      // maximum number points per line
+#define mjMAXPLANEGRID  200       // maximum number of grid divisions for plane
+
+
+//---------------------------------- primitive types (mjt) -----------------------------------------
+
+typedef enum mjtCatBit_ {         // bitflags for mjvGeom category
+  mjCAT_STATIC        = 1,        // model elements in body 0
+  mjCAT_DYNAMIC       = 2,        // model elements in all other bodies
+  mjCAT_DECOR         = 4,        // decorative geoms
+  mjCAT_ALL           = 7         // select all categories
+} mjtCatBit;
+
+
+typedef enum mjtMouse_ {          // mouse interaction mode
+  mjMOUSE_NONE        = 0,        // no action
+  mjMOUSE_ROTATE_V,               // rotate, vertical plane
+  mjMOUSE_ROTATE_H,               // rotate, horizontal plane
+  mjMOUSE_MOVE_V,                 // move, vertical plane
+  mjMOUSE_MOVE_H,                 // move, horizontal plane
+  mjMOUSE_ZOOM,                   // zoom
+  mjMOUSE_MOVE_V_REL,             // move, vertical plane, relative to target
+  mjMOUSE_MOVE_H_REL,             // move, horizontal plane, relative to target
+} mjtMouse;
+
+
+typedef enum mjtPertBit_ {        // mouse perturbations
+  mjPERT_TRANSLATE    = 1,        // translation
+  mjPERT_ROTATE       = 2         // rotation
+} mjtPertBit;
+
+
+typedef enum mjtCamera_ {         // abstract camera type
+  mjCAMERA_FREE       = 0,        // free camera
+  mjCAMERA_TRACKING,              // tracking camera; uses trackbodyid
+  mjCAMERA_FIXED,                 // fixed camera; uses fixedcamid
+  mjCAMERA_USER                   // user is responsible for setting OpenGL camera
+} mjtCamera;
+
+
+typedef enum mjtLabel_ {          // object labeling
+  mjLABEL_NONE        = 0,        // nothing
+  mjLABEL_BODY,                   // body labels
+  mjLABEL_JOINT,                  // joint labels
+  mjLABEL_GEOM,                   // geom labels
+  mjLABEL_SITE,                   // site labels
+  mjLABEL_CAMERA,                 // camera labels
+  mjLABEL_LIGHT,                  // light labels
+  mjLABEL_TENDON,                 // tendon labels
+  mjLABEL_ACTUATOR,               // actuator labels
+  mjLABEL_CONSTRAINT,             // constraint labels
+  mjLABEL_FLEX,                   // flex labels
+  mjLABEL_SKIN,                   // skin labels
+  mjLABEL_SELECTION,              // selected object
+  mjLABEL_SELPNT,                 // coordinates of selection point
+  mjLABEL_CONTACTPOINT,           // contact information
+  mjLABEL_CONTACTFORCE,           // magnitude of contact force
+  mjLABEL_ISLAND,                 // id of island
+
+  mjNLABEL                        // number of label types
+} mjtLabel;
+
+
+typedef enum mjtFrame_ {          // frame visualization
+  mjFRAME_NONE        = 0,        // no frames
+  mjFRAME_BODY,                   // body frames
+  mjFRAME_GEOM,                   // geom frames
+  mjFRAME_SITE,                   // site frames
+  mjFRAME_CAMERA,                 // camera frames
+  mjFRAME_LIGHT,                  // light frames
+  mjFRAME_CONTACT,                // contact frames
+  mjFRAME_WORLD,                  // world frame
+
+  mjNFRAME                        // number of visualization frames
+} mjtFrame;
+
+
+typedef enum mjtVisFlag_ {        // flags enabling model element visualization
+  mjVIS_CONVEXHULL    = 0,        // mesh convex hull
+  mjVIS_TEXTURE,                  // textures
+  mjVIS_JOINT,                    // joints
+  mjVIS_CAMERA,                   // cameras
+  mjVIS_ACTUATOR,                 // actuators
+  mjVIS_ACTIVATION,               // activations
+  mjVIS_LIGHT,                    // lights
+  mjVIS_TENDON,                   // tendons
+  mjVIS_RANGEFINDER,              // rangefinder sensors
+  mjVIS_CONSTRAINT,               // point constraints
+  mjVIS_INERTIA,                  // equivalent inertia boxes
+  mjVIS_SCLINERTIA,               // scale equivalent inertia boxes with mass
+  mjVIS_PERTFORCE,                // perturbation force
+  mjVIS_PERTOBJ,                  // perturbation object
+  mjVIS_CONTACTPOINT,             // contact points
+  mjVIS_ISLAND,                   // constraint islands
+  mjVIS_CONTACTFORCE,             // contact force
+  mjVIS_CONTACTSPLIT,             // split contact force into normal and tangent
+  mjVIS_TRANSPARENT,              // make dynamic geoms more transparent
+  mjVIS_AUTOCONNECT,              // auto connect joints and body coms
+  mjVIS_COM,                      // center of mass
+  mjVIS_SELECT,                   // selection point
+  mjVIS_STATIC,                   // static bodies
+  mjVIS_SKIN,                     // skin
+  mjVIS_FLEXVERT,                 // flex vertices
+  mjVIS_FLEXEDGE,                 // flex edges
+  mjVIS_FLEXFACE,                 // flex element faces
+  mjVIS_FLEXSKIN,                 // flex smooth skin (disables the rest)
+  mjVIS_BODYBVH,                  // body bounding volume hierarchy
+  mjVIS_MESHBVH,                  // mesh bounding volume hierarchy
+  mjVIS_SDFITER,                  // iterations of SDF gradient descent
+
+  mjNVISFLAG                      // number of visualization flags
+} mjtVisFlag;
+
+
+typedef enum mjtRndFlag_ {        // flags enabling rendering effects
+  mjRND_SHADOW        = 0,        // shadows
+  mjRND_WIREFRAME,                // wireframe
+  mjRND_REFLECTION,               // reflections
+  mjRND_ADDITIVE,                 // additive transparency
+  mjRND_SKYBOX,                   // skybox
+  mjRND_FOG,                      // fog
+  mjRND_HAZE,                     // haze
+  mjRND_SEGMENT,                  // segmentation with random color
+  mjRND_IDCOLOR,                  // segmentation with segid+1 color
+  mjRND_CULL_FACE,                // cull backward faces
+
+  mjNRNDFLAG                      // number of rendering flags
+} mjtRndFlag;
+
+
+typedef enum mjtStereo_ {         // type of stereo rendering
+  mjSTEREO_NONE       = 0,        // no stereo; use left eye only
+  mjSTEREO_QUADBUFFERED,          // quad buffered; revert to side-by-side if no hardware support
+  mjSTEREO_SIDEBYSIDE             // side-by-side
+} mjtStereo;
+
+
+//---------------------------------- mjvPerturb ----------------------------------------------------
+
+struct mjvPerturb_ {              // object selection and perturbation
+  int      select;                // selected body id; non-positive: none
+  int      flexselect;            // selected flex id; negative: none
+  int      skinselect;            // selected skin id; negative: none
+  int      active;                // perturbation bitmask (mjtPertBit)
+  int      active2;               // secondary perturbation bitmask (mjtPertBit)
+  mjtNum   refpos[3];             // reference position for selected object
+  mjtNum   refquat[4];            // reference orientation for selected object
+  mjtNum   refselpos[3];          // reference position for selection point
+  mjtNum   localpos[3];           // selection point in object coordinates
+  mjtNum   localmass;             // spatial inertia at selection point
+  mjtNum   scale;                 // relative mouse motion-to-space scaling (set by initPerturb)
+};
+typedef struct mjvPerturb_ mjvPerturb;
+
+
+//---------------------------------- mjvCamera -----------------------------------------------------
+
+struct mjvCamera_ {               // abstract camera
+  // type and ids
+  int      type;                  // camera type (mjtCamera)
+  int      fixedcamid;            // fixed camera id
+  int      trackbodyid;           // body id to track
+
+  // abstract camera pose specification
+  mjtNum   lookat[3];             // lookat point
+  mjtNum   distance;              // distance to lookat point or tracked body
+  mjtNum   azimuth;               // camera azimuth (deg)
+  mjtNum   elevation;             // camera elevation (deg)
+
+  // orthographic / perspective
+  int      orthographic;          // 0: perspective; 1: orthographic
+};
+typedef struct mjvCamera_ mjvCamera;
+
+
+//---------------------------------- mjvGLCamera ---------------------------------------------------
+
+struct mjvGLCamera_ {             // OpenGL camera
+  // camera frame
+  float    pos[3];                // position
+  float    forward[3];            // forward direction
+  float    up[3];                 // up direction
+
+  // camera projection
+  float    frustum_center;        // hor. center (left,right set to match aspect)
+  float    frustum_width;         // width (not used for rendering)
+  float    frustum_bottom;        // bottom
+  float    frustum_top;           // top
+  float    frustum_near;          // near
+  float    frustum_far;           // far
+
+  // orthographic / perspective
+  int      orthographic;          // 0: perspective; 1: orthographic
+};
+typedef struct mjvGLCamera_ mjvGLCamera;
+
+
+//---------------------------------- mjvGeom -------------------------------------------------------
+
+struct mjvGeom_ {                 // abstract geom
+  // type info
+  int      type;                  // geom type (mjtGeom)
+  int      dataid;                // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
+  int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
+  int      objid;                 // mujoco object id; -1 for decor
+  int      category;              // visual category
+  int      matid;                 // material id; -1: no textured material
+  int      texcoord;              // mesh or flex geom has texture coordinates
+  int      segid;                 // segmentation id; -1: not shown
+
+  // spatial transform
+  float    size[3];               // size parameters
+  float    pos[3];                // Cartesian position
+  float    mat[9];                // Cartesian orientation
+
+  // material properties
+  float    rgba[4];               // color and transparency
+  float    emission;              // emission coef
+  float    specular;              // specular coef
+  float    shininess;             // shininess coef
+  float    reflectance;           // reflectance coef
+
+  char     label[100];            // text label
+
+  // transparency rendering (set internally)
+  float    camdist;               // distance to camera (used by sorter)
+  float    modelrbound;           // geom rbound from model, 0 if not model geom
+  mjtByte  transparent;           // treat geom as transparent
+};
+typedef struct mjvGeom_ mjvGeom;
+
+
+//---------------------------------- mjvLight ------------------------------------------------------
+
+struct mjvLight_ {                // OpenGL light
+  int      id;                    // light id, -1 for headlight
+  float    pos[3];                // position rel. to body frame
+  float    dir[3];                // direction rel. to body frame
+  int      type;                  // type (mjtLightType)
+  int      texid;                 // texture id for image lights
+  float    attenuation[3];        // OpenGL attenuation (quadratic model)
+  float    cutoff;                // OpenGL cutoff
+  float    exponent;              // OpenGL exponent
+  float    ambient[3];            // ambient rgb (alpha=1)
+  float    diffuse[3];            // diffuse rgb (alpha=1)
+  float    specular[3];           // specular rgb (alpha=1)
+  mjtByte  headlight;             // headlight
+  mjtByte  castshadow;            // does light cast shadows
+  float    bulbradius;            // bulb radius for soft shadows
+  float    intensity;             // intensity, in candelas
+  float    range;                 // range of effectiveness
+};
+typedef struct mjvLight_ mjvLight;
+
+
+//---------------------------------- mjvOption -----------------------------------------------------
+
+struct mjvOption_ {                  // abstract visualization options
+  int      label;                    // what objects to label (mjtLabel)
+  int      frame;                    // which frame to show (mjtFrame)
+  mjtByte  geomgroup[mjNGROUP];      // geom visualization by group
+  mjtByte  sitegroup[mjNGROUP];      // site visualization by group
+  mjtByte  jointgroup[mjNGROUP];     // joint visualization by group
+  mjtByte  tendongroup[mjNGROUP];    // tendon visualization by group
+  mjtByte  actuatorgroup[mjNGROUP];  // actuator visualization by group
+  mjtByte  flexgroup[mjNGROUP];      // flex visualization by group
+  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      flex_layer;               // element layer to be visualized for 3D flex
+};
+typedef struct mjvOption_ mjvOption;
+
+
+//---------------------------------- mjvScene ------------------------------------------------------
+
+struct mjvScene_ {                // abstract scene passed to OpenGL renderer
+  // abstract geoms
+  int      maxgeom;               // size of allocated geom buffer
+  int      ngeom;                 // number of geoms currently in buffer
+  mjvGeom* geoms;                 // buffer for geoms (ngeom)
+  int*     geomorder;             // buffer for ordering geoms by distance to camera (ngeom)
+
+  // flex data
+  int      nflex;                 // number of flexes
+  int*     flexedgeadr;           // address of flex edges (nflex)
+  int*     flexedgenum;           // number of edges in flex (nflex)
+  int*     flexvertadr;           // address of flex vertices (nflex)
+  int*     flexvertnum;           // number of vertices in flex (nflex)
+  int*     flexfaceadr;           // address of flex faces (nflex)
+  int*     flexfacenum;           // number of flex faces allocated (nflex)
+  int*     flexfaceused;          // number of flex faces currently in use (nflex)
+  int*     flexedge;              // flex edge data (2*nflexedge)
+  float*   flexvert;              // flex vertices (3*nflexvert)
+  float*   flexface;              // flex faces vertices (9*sum(flexfacenum))
+  float*   flexnormal;            // flex face normals (9*sum(flexfacenum))
+  float*   flextexcoord;          // flex face texture coordinates (6*sum(flexfacenum))
+  mjtByte  flexvertopt;           // copy of mjVIS_FLEXVERT mjvOption flag
+  mjtByte  flexedgeopt;           // copy of mjVIS_FLEXEDGE mjvOption flag
+  mjtByte  flexfaceopt;           // copy of mjVIS_FLEXFACE mjvOption flag
+  mjtByte  flexskinopt;           // copy of mjVIS_FLEXSKIN mjvOption flag
+
+  // skin data
+  int      nskin;                 // number of skins
+  int*     skinfacenum;           // number of faces in skin (nskin)
+  int*     skinvertadr;           // address of skin vertices (nskin)
+  int*     skinvertnum;           // number of vertices in skin (nskin)
+  float*   skinvert;              // skin vertex data (3*nskinvert)
+  float*   skinnormal;            // skin normal data (3*nskinvert)
+
+  // OpenGL lights
+  int      nlight;                // number of lights currently in buffer
+  mjvLight lights[mjMAXLIGHT];    // buffer for lights (nlight)
+
+  // OpenGL cameras
+  mjvGLCamera camera[2];          // left and right camera
+
+  // OpenGL model transformation
+  mjtByte  enabletransform;       // enable model transformation
+  float    translate[3];          // model translation
+  float    rotate[4];             // model quaternion rotation
+  float    scale;                 // model scaling
+
+  // OpenGL rendering effects
+  int      stereo;                // stereoscopic rendering (mjtStereo)
+  mjtByte  flags[mjNRNDFLAG];     // rendering flags (indexed by mjtRndFlag)
+
+  // framing
+  int      framewidth;            // frame pixel width; 0: disable framing
+  float    framergb[3];           // frame color
+  int      status;                // status; 0: ok, 1: geoms exhausted
+};
+typedef struct mjvScene_ mjvScene;
+
+
+//---------------------------------- mjvFigure -----------------------------------------------------
+
+struct mjvFigure_ {               // abstract 2D figure passed to OpenGL renderer
+  // enable flags
+  int     flg_legend;             // show legend
+  int     flg_ticklabel[2];       // show grid tick labels (x,y)
+  int     flg_extend;             // automatically extend axis ranges to fit data
+  int     flg_barplot;            // isolated line segments (i.e. GL_LINES)
+  int     flg_selection;          // vertical selection line
+  int     flg_symmetric;          // symmetric y-axis
+
+  // style settings
+  float   linewidth;              // line width
+  float   gridwidth;              // grid line width
+  int     gridsize[2];            // number of grid points in (x,y)
+  float   gridrgb[3];             // grid line rgb
+  float   figurergba[4];          // figure color and alpha
+  float   panergba[4];            // pane color and alpha
+  float   legendrgba[4];          // legend color and alpha
+  float   textrgb[3];             // text color
+  float   linergb[mjMAXLINE][3];  // line colors
+  float   range[2][2];            // axis ranges; (min>=max) automatic
+  char    xformat[20];            // x-tick label format for sprintf
+  char    yformat[20];            // y-tick label format for sprintf
+  char    minwidth[20];           // string used to determine min y-tick width
+
+  // text labels
+  char    title[1000];            // figure title; subplots separated with 2+ spaces
+  char    xlabel[100];            // x-axis label
+  char    linename[mjMAXLINE][100];  // line names for legend
+
+  // dynamic settings
+  int     legendoffset;           // number of lines to offset legend
+  int     subplot;                // selected subplot (for title rendering)
+  int     highlight[2];           // if point is in legend rect, highlight line
+  int     highlightid;            // if id>=0 and no point, highlight id
+  float   selection;              // selection line x-value
+
+  // line data
+  int     linepnt[mjMAXLINE];     // number of points in line; (0) disable
+  float   linedata[mjMAXLINE][2*mjMAXLINEPNT];  // line data (x,y)
+
+  // output from renderer
+  int     xaxispixel[2];          // range of x-axis in pixels
+  int     yaxispixel[2];          // range of y-axis in pixels
+  float   xaxisdata[2];           // range of x-axis in data units
+  float   yaxisdata[2];           // range of y-axis in data units
+};
+typedef struct mjvFigure_ mjvFigure;
+
+#endif  // MUJOCO_MJVISUALIZE_H_

third_party/mujoco/3.3.7/include/mujoco/mjxmacro.h

@@ -0,0 +1,899 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_MJXMACRO_H_
+#define MUJOCO_MJXMACRO_H_
+
+
+//-------------------------------- mjOption --------------------------------------------------------
+
+// scalar fields of mjOption
+#define MJOPTION_FLOATS             \
+    X( mjtNum,  timestep         )  \
+    X( mjtNum,  impratio         )  \
+    X( mjtNum,  tolerance        )  \
+    X( mjtNum,  ls_tolerance     )  \
+    X( mjtNum,  noslip_tolerance )  \
+    X( mjtNum,  ccd_tolerance    )  \
+    X( mjtNum,  density          )  \
+    X( mjtNum,  viscosity        )  \
+    X( mjtNum,  o_margin         )
+
+
+#define MJOPTION_INTS               \
+    X( int,     integrator        ) \
+    X( int,     cone              ) \
+    X( int,     jacobian          ) \
+    X( int,     solver            ) \
+    X( int,     iterations        ) \
+    X( int,     ls_iterations     ) \
+    X( int,     noslip_iterations ) \
+    X( int,     ccd_iterations    ) \
+    X( int,     disableflags      ) \
+    X( int,     enableflags       ) \
+    X( int,     disableactuator   ) \
+    X( int,     sdf_initpoints    ) \
+    X( int,     sdf_iterations    )
+
+
+#define MJOPTION_SCALARS            \
+    MJOPTION_FLOATS                 \
+    MJOPTION_INTS
+
+
+// vector fields of mjOption
+#define MJOPTION_VECTORS            \
+    X( gravity,         3       )   \
+    X( wind,            3       )   \
+    X( magnetic,        3       )   \
+    X( o_solref,        mjNREF  )   \
+    X( o_solimp,        mjNIMP  )   \
+    X( o_friction,      5       )
+
+
+//-------------------------------- mjModel ---------------------------------------------------------
+
+// int fields of mjModel
+#define MJMODEL_INTS        \
+    X( nq )                 \
+    X( nv )                 \
+    X( nu )                 \
+    X( na )                 \
+    X( nbody )              \
+    X( nbvh )               \
+    X( nbvhstatic )         \
+    X( nbvhdynamic )        \
+    X( noct )               \
+    X( njnt )               \
+    X( ntree )              \
+    X( nM )                 \
+    X( nB )                 \
+    X( nC )                 \
+    X( nD )                 \
+    X( ngeom )              \
+    X( nsite )              \
+    X( ncam )               \
+    X( nlight )             \
+    X( nflex )              \
+    X( nflexnode )          \
+    X( nflexvert )          \
+    X( nflexedge )          \
+    X( nflexelem )          \
+    X( nflexelemdata )      \
+    X( nflexelemedge )      \
+    X( nflexshelldata )     \
+    X( nflexevpair )        \
+    X( nflextexcoord )      \
+    X( nmesh )              \
+    X( nmeshvert )          \
+    X( nmeshnormal )        \
+    X( nmeshtexcoord )      \
+    X( nmeshface )          \
+    X( nmeshgraph )         \
+    X( nmeshpoly )          \
+    X( nmeshpolyvert )      \
+    X( nmeshpolymap )       \
+    X( nskin )              \
+    X( nskinvert )          \
+    X( nskintexvert )       \
+    X( nskinface )          \
+    X( nskinbone )          \
+    X( nskinbonevert )      \
+    X( nhfield )            \
+    X( nhfielddata )        \
+    X( ntex )               \
+    X( ntexdata )           \
+    X( nmat )               \
+    X( npair )              \
+    X( nexclude )           \
+    X( neq )                \
+    X( ntendon )            \
+    X( nwrap )              \
+    X( nsensor )            \
+    X( nnumeric )           \
+    X( nnumericdata )       \
+    X( ntext )              \
+    X( ntextdata )          \
+    X( ntuple )             \
+    X( ntupledata )         \
+    X( nkey )               \
+    X( nmocap )             \
+    X( nplugin )            \
+    X( npluginattr )        \
+    X( nuser_body )         \
+    X( nuser_jnt )          \
+    X( nuser_geom )         \
+    X( nuser_site )         \
+    X( nuser_cam )          \
+    X( nuser_tendon )       \
+    X( nuser_actuator )     \
+    X( nuser_sensor )       \
+    X( nnames )             \
+    X( npaths )             \
+    X( nnames_map )         \
+    X( nJmom )              \
+    X( ngravcomp )          \
+    X( nemax )              \
+    X( njmax )              \
+    X( nconmax )            \
+    X( nuserdata )          \
+    X( nsensordata )        \
+    X( npluginstate )       \
+    X( narena )             \
+    X( nbuffer )
+
+    /* nbuffer needs to be the final field */
+
+
+// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
+#define MJMODEL_POINTERS_PREAMBLE( m )      \
+    int nuser_body = m->nuser_body;         \
+    int nuser_jnt = m->nuser_jnt;           \
+    int nuser_geom = m->nuser_geom;         \
+    int nuser_site = m->nuser_site;         \
+    int nuser_cam = m->nuser_cam;           \
+    int nuser_tendon = m->nuser_tendon;     \
+    int nuser_actuator = m->nuser_actuator; \
+    int nuser_sensor = m->nuser_sensor;     \
+    int nq = m->nq;                         \
+    int nv = m->nv;                         \
+    int na = m->na;                         \
+    int nu = m->nu;                         \
+    int nmocap = m->nmocap;
+
+// macro for annotating that an array size in an X macro is a member of mjModel
+// by default this macro does nothing, but users can redefine it as necessary
+#define MJ_M(n) n
+
+
+// pointer fields of mjModel
+// XNV means that the field is not required to construct mjvScene
+// (by default we define XNV to be the same as X)
+#define MJMODEL_POINTERS_BODY                                                   \
+    X   ( int,     body_parentid,         nbody,         1                    ) \
+    X   ( int,     body_rootid,           nbody,         1                    ) \
+    X   ( int,     body_weldid,           nbody,         1                    ) \
+    X   ( int,     body_mocapid,          nbody,         1                    ) \
+    X   ( int,     body_jntnum,           nbody,         1                    ) \
+    X   ( int,     body_jntadr,           nbody,         1                    ) \
+    X   ( int,     body_dofnum,           nbody,         1                    ) \
+    X   ( int,     body_dofadr,           nbody,         1                    ) \
+    X   ( int,     body_treeid,           nbody,         1                    ) \
+    X   ( int,     body_geomnum,          nbody,         1                    ) \
+    X   ( int,     body_geomadr,          nbody,         1                    ) \
+    X   ( mjtByte, body_simple,           nbody,         1                    ) \
+    X   ( mjtByte, body_sameframe,        nbody,         1                    ) \
+    X   ( mjtNum,  body_pos,              nbody,         3                    ) \
+    X   ( mjtNum,  body_quat,             nbody,         4                    ) \
+    X   ( mjtNum,  body_ipos,             nbody,         3                    ) \
+    X   ( mjtNum,  body_iquat,            nbody,         4                    ) \
+    X   ( mjtNum,  body_mass,             nbody,         1                    ) \
+    X   ( mjtNum,  body_subtreemass,      nbody,         1                    ) \
+    X   ( mjtNum,  body_inertia,          nbody,         3                    ) \
+    X   ( mjtNum,  body_invweight0,       nbody,         2                    ) \
+    X   ( mjtNum,  body_gravcomp,         nbody,         1                    ) \
+    X   ( mjtNum,  body_margin,           nbody,         1                    ) \
+    X   ( mjtNum,  body_user,             nbody,         MJ_M(nuser_body)     ) \
+    X   ( int,     body_plugin,           nbody,         1                    ) \
+    X   ( int,     body_contype,          nbody,         1                    ) \
+    X   ( int,     body_conaffinity,      nbody,         1                    ) \
+    X   ( int,     body_bvhadr,           nbody,         1                    ) \
+    X   ( int,     body_bvhnum,           nbody,         1                    )
+
+#define MJMODEL_POINTERS_JOINT                                                  \
+    X   ( int,     jnt_type,              njnt,          1                    ) \
+    X   ( int,     jnt_qposadr,           njnt,          1                    ) \
+    X   ( int,     jnt_dofadr,            njnt,          1                    ) \
+    X   ( int,     jnt_bodyid,            njnt,          1                    ) \
+    X   ( int,     jnt_group,             njnt,          1                    ) \
+    X   ( mjtByte, jnt_limited,           njnt,          1                    ) \
+    X   ( mjtByte, jnt_actfrclimited,     njnt,          1                    ) \
+    X   ( mjtByte, jnt_actgravcomp,       njnt,          1                    ) \
+    X   ( mjtNum,  jnt_solref,            njnt,          mjNREF               ) \
+    X   ( mjtNum,  jnt_solimp,            njnt,          mjNIMP               ) \
+    X   ( mjtNum,  jnt_pos,               njnt,          3                    ) \
+    X   ( mjtNum,  jnt_axis,              njnt,          3                    ) \
+    X   ( mjtNum,  jnt_stiffness,         njnt,          1                    ) \
+    X   ( mjtNum,  jnt_range,             njnt,          2                    ) \
+    X   ( mjtNum,  jnt_actfrcrange,       njnt,          2                    ) \
+    X   ( mjtNum,  jnt_margin,            njnt,          1                    ) \
+    X   ( mjtNum,  jnt_user,              njnt,          MJ_M(nuser_jnt)      )
+
+#define MJMODEL_POINTERS_DOF                                                    \
+    X   ( int,     dof_bodyid,            nv,            1                    ) \
+    X   ( int,     dof_jntid,             nv,            1                    ) \
+    X   ( int,     dof_parentid,          nv,            1                    ) \
+    X   ( int,     dof_treeid,            nv,            1                    ) \
+    X   ( int,     dof_Madr,              nv,            1                    ) \
+    X   ( int,     dof_simplenum,         nv,            1                    ) \
+    X   ( mjtNum,  dof_solref,            nv,            mjNREF               ) \
+    X   ( mjtNum,  dof_solimp,            nv,            mjNIMP               ) \
+    X   ( mjtNum,  dof_frictionloss,      nv,            1                    ) \
+    X   ( mjtNum,  dof_armature,          nv,            1                    ) \
+    X   ( mjtNum,  dof_damping,           nv,            1                    ) \
+    X   ( mjtNum,  dof_invweight0,        nv,            1                    ) \
+    X   ( mjtNum,  dof_M0,                nv,            1                    )
+
+#define MJMODEL_POINTERS_GEOM                                                   \
+    X   ( int,     geom_type,             ngeom,         1                    ) \
+    X   ( int,     geom_contype,          ngeom,         1                    ) \
+    X   ( int,     geom_conaffinity,      ngeom,         1                    ) \
+    X   ( int,     geom_condim,           ngeom,         1                    ) \
+    X   ( int,     geom_bodyid,           ngeom,         1                    ) \
+    X   ( int,     geom_dataid,           ngeom,         1                    ) \
+    X   ( int,     geom_matid,            ngeom,         1                    ) \
+    X   ( int,     geom_group,            ngeom,         1                    ) \
+    X   ( int,     geom_priority,         ngeom,         1                    ) \
+    X   ( int,     geom_plugin,           ngeom,         1                    ) \
+    X   ( mjtByte, geom_sameframe,        ngeom,         1                    ) \
+    X   ( mjtNum,  geom_solmix,           ngeom,         1                    ) \
+    X   ( mjtNum,  geom_solref,           ngeom,         mjNREF               ) \
+    X   ( mjtNum,  geom_solimp,           ngeom,         mjNIMP               ) \
+    X   ( mjtNum,  geom_size,             ngeom,         3                    ) \
+    X   ( mjtNum,  geom_aabb,             ngeom,         6                    ) \
+    X   ( mjtNum,  geom_rbound,           ngeom,         1                    ) \
+    X   ( mjtNum,  geom_pos,              ngeom,         3                    ) \
+    X   ( mjtNum,  geom_quat,             ngeom,         4                    ) \
+    X   ( mjtNum,  geom_friction,         ngeom,         3                    ) \
+    X   ( mjtNum,  geom_margin,           ngeom,         1                    ) \
+    X   ( mjtNum,  geom_gap,              ngeom,         1                    ) \
+    XNV ( mjtNum,  geom_fluid,            ngeom,         mjNFLUID             ) \
+    X   ( mjtNum,  geom_user,             ngeom,         MJ_M(nuser_geom)     ) \
+    X   ( float,   geom_rgba,             ngeom,         4                    )
+
+#define MJMODEL_POINTERS_SITE                                                   \
+    X   ( int,     site_type,             nsite,         1                    ) \
+    X   ( int,     site_bodyid,           nsite,         1                    ) \
+    X   ( int,     site_matid,            nsite,         1                    ) \
+    X   ( int,     site_group,            nsite,         1                    ) \
+    X   ( mjtByte, site_sameframe,        nsite,         1                    ) \
+    X   ( mjtNum,  site_size,             nsite,         3                    ) \
+    X   ( mjtNum,  site_pos,              nsite,         3                    ) \
+    X   ( mjtNum,  site_quat,             nsite,         4                    ) \
+    X   ( mjtNum,  site_user,             nsite,         MJ_M(nuser_site)     ) \
+    X   ( float,   site_rgba,             nsite,         4                    )
+
+#define MJMODEL_POINTERS_CAMERA                                                 \
+    X   ( int,     cam_mode,              ncam,          1                    ) \
+    X   ( int,     cam_bodyid,            ncam,          1                    ) \
+    X   ( int,     cam_targetbodyid,      ncam,          1                    ) \
+    X   ( mjtNum,  cam_pos,               ncam,          3                    ) \
+    X   ( mjtNum,  cam_quat,              ncam,          4                    ) \
+    X   ( mjtNum,  cam_poscom0,           ncam,          3                    ) \
+    X   ( mjtNum,  cam_pos0,              ncam,          3                    ) \
+    X   ( mjtNum,  cam_mat0,              ncam,          9                    ) \
+    X   ( int,     cam_orthographic,      ncam,          1                    ) \
+    X   ( mjtNum,  cam_fovy,              ncam,          1                    ) \
+    X   ( mjtNum,  cam_ipd,               ncam,          1                    ) \
+    X   ( int,     cam_resolution,        ncam,          2                    ) \
+    X   ( float,   cam_sensorsize,        ncam,          2                    ) \
+    X   ( float,   cam_intrinsic,         ncam,          4                    ) \
+    X   ( mjtNum,  cam_user,              ncam,          MJ_M(nuser_cam)      )
+
+#define MJMODEL_POINTERS_LIGHT                                                  \
+    X   ( int,     light_mode,            nlight,        1                    ) \
+    X   ( int,     light_bodyid,          nlight,        1                    ) \
+    X   ( int,     light_targetbodyid,    nlight,        1                    ) \
+    X   ( int,     light_type,            nlight,        1                    ) \
+    X   ( int,     light_texid,           nlight,        1                    ) \
+    X   ( mjtByte, light_castshadow,      nlight,        1                    ) \
+    X   ( float,   light_bulbradius,      nlight,        1                    ) \
+    X   ( float,   light_intensity,       nlight,        1                    ) \
+    X   ( float,   light_range,           nlight,        1                    ) \
+    X   ( mjtByte, light_active,          nlight,        1                    ) \
+    X   ( mjtNum,  light_pos,             nlight,        3                    ) \
+    X   ( mjtNum,  light_dir,             nlight,        3                    ) \
+    X   ( mjtNum,  light_poscom0,         nlight,        3                    ) \
+    X   ( mjtNum,  light_pos0,            nlight,        3                    ) \
+    X   ( mjtNum,  light_dir0,            nlight,        3                    ) \
+    X   ( float,   light_attenuation,     nlight,        3                    ) \
+    X   ( float,   light_cutoff,          nlight,        1                    ) \
+    X   ( float,   light_exponent,        nlight,        1                    ) \
+    X   ( float,   light_ambient,         nlight,        3                    ) \
+    X   ( float,   light_diffuse,         nlight,        3                    ) \
+    X   ( float,   light_specular,        nlight,        3                    )
+
+#define MJMODEL_POINTERS_FLEX                                                   \
+    X   ( int,     flex_contype,          nflex,         1                    ) \
+    X   ( int,     flex_conaffinity,      nflex,         1                    ) \
+    X   ( int,     flex_condim,           nflex,         1                    ) \
+    X   ( int,     flex_priority,         nflex,         1                    ) \
+    X   ( mjtNum,  flex_solmix,           nflex,         1                    ) \
+    X   ( mjtNum,  flex_solref,           nflex,         mjNREF               ) \
+    X   ( mjtNum,  flex_solimp,           nflex,         mjNIMP               ) \
+    X   ( mjtNum,  flex_friction,         nflex,         3                    ) \
+    X   ( mjtNum,  flex_margin,           nflex,         1                    ) \
+    X   ( mjtNum,  flex_gap,              nflex,         1                    ) \
+    X   ( mjtByte, flex_internal,         nflex,         1                    ) \
+    X   ( int,     flex_selfcollide,      nflex,         1                    ) \
+    X   ( int,     flex_activelayers,     nflex,         1                    ) \
+    X   ( int,     flex_passive,          nflex,         1                    ) \
+    X   ( int,     flex_dim,              nflex,         1                    ) \
+    X   ( int,     flex_matid,            nflex,         1                    ) \
+    X   ( int,     flex_group,            nflex,         1                    ) \
+    X   ( int,     flex_interp,           nflex,         1                    ) \
+    X   ( int,     flex_nodeadr,          nflex,         1                    ) \
+    X   ( int,     flex_nodenum,          nflex,         1                    ) \
+    X   ( int,     flex_vertadr,          nflex,         1                    ) \
+    X   ( int,     flex_vertnum,          nflex,         1                    ) \
+    X   ( int,     flex_edgeadr,          nflex,         1                    ) \
+    X   ( int,     flex_edgenum,          nflex,         1                    ) \
+    X   ( int,     flex_elemadr,          nflex,         1                    ) \
+    X   ( int,     flex_elemnum,          nflex,         1                    ) \
+    X   ( int,     flex_elemdataadr,      nflex,         1                    ) \
+    X   ( int,     flex_elemedgeadr,      nflex,         1                    ) \
+    X   ( int,     flex_shellnum,         nflex,         1                    ) \
+    X   ( int,     flex_shelldataadr,     nflex,         1                    ) \
+    X   ( int,     flex_evpairadr,        nflex,         1                    ) \
+    X   ( int,     flex_evpairnum,        nflex,         1                    ) \
+    X   ( int,     flex_texcoordadr,      nflex,         1                    ) \
+    X   ( int,     flex_nodebodyid,       nflexnode,     1                    ) \
+    X   ( int,     flex_vertbodyid,       nflexvert,     1                    ) \
+    X   ( int,     flex_edge,             nflexedge,     2                    ) \
+    X   ( int,     flex_edgeflap,         nflexedge,     2                    ) \
+    X   ( int,     flex_elem,             nflexelemdata, 1                    ) \
+    X   ( int,     flex_elemtexcoord,     nflexelemdata, 1                    ) \
+    X   ( int,     flex_elemedge,         nflexelemedge, 1                    ) \
+    X   ( int,     flex_elemlayer,        nflexelem,     1                    ) \
+    X   ( int,     flex_shell,            nflexshelldata,1                    ) \
+    X   ( int,     flex_evpair,           nflexevpair,   2                    ) \
+    X   ( mjtNum,  flex_vert,             nflexvert,     3                    ) \
+    X   ( mjtNum,  flex_vert0,            nflexvert,     3                    ) \
+    X   ( mjtNum,  flex_node,             nflexnode,     3                    ) \
+    X   ( mjtNum,  flex_node0,            nflexnode,     3                    ) \
+    X   ( mjtNum,  flexedge_length0,      nflexedge,     1                    ) \
+    X   ( mjtNum,  flexedge_invweight0,   nflexedge,     1                    ) \
+    X   ( mjtNum,  flex_radius,           nflex,         1                    ) \
+    X   ( mjtNum,  flex_stiffness,        nflexelem,     21                   ) \
+    X   ( mjtNum,  flex_bending,          nflexedge,     17                   ) \
+    X   ( mjtNum,  flex_damping,          nflex,         1                    ) \
+    X   ( mjtNum,  flex_edgestiffness,    nflex,         1                    ) \
+    X   ( mjtNum,  flex_edgedamping,      nflex,         1                    ) \
+    X   ( mjtByte, flex_edgeequality,     nflex,         1                    ) \
+    X   ( mjtByte, flex_rigid,            nflex,         1                    ) \
+    X   ( mjtByte, flexedge_rigid,        nflexedge,     1                    ) \
+    X   ( mjtByte, flex_centered,         nflex,         1                    ) \
+    X   ( mjtByte, flex_flatskin,         nflex,         1                    ) \
+    X   ( int,     flex_bvhadr,           nflex,         1                    ) \
+    X   ( int,     flex_bvhnum,           nflex,         1                    ) \
+    X   ( float,   flex_rgba,             nflex,         4                    ) \
+    X   ( float,   flex_texcoord,         nflextexcoord, 2                    )
+
+#define MJMODEL_POINTERS_MESH                                                   \
+    X   ( int,     mesh_vertadr,          nmesh,         1                    ) \
+    X   ( int,     mesh_vertnum,          nmesh,         1                    ) \
+    X   ( int,     mesh_faceadr,          nmesh,         1                    ) \
+    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_normaladr,        nmesh,         1                    ) \
+    X   ( int,     mesh_normalnum,        nmesh,         1                    ) \
+    X   ( int,     mesh_texcoordadr,      nmesh,         1                    ) \
+    X   ( int,     mesh_texcoordnum,      nmesh,         1                    ) \
+    X   ( int,     mesh_graphadr,         nmesh,         1                    ) \
+    XNV ( float,   mesh_vert,             nmeshvert,     3                    ) \
+    XNV ( float,   mesh_normal,           nmeshnormal,   3                    ) \
+    XNV ( float,   mesh_texcoord,         nmeshtexcoord, 2                    ) \
+    XNV ( int,     mesh_face,             nmeshface,     3                    ) \
+    XNV ( int,     mesh_facenormal,       nmeshface,     3                    ) \
+    XNV ( int,     mesh_facetexcoord,     nmeshface,     3                    ) \
+    XNV ( int,     mesh_graph,            nmeshgraph,    1                    ) \
+    X   ( mjtNum,  mesh_scale,            nmesh,         3                    ) \
+    X   ( mjtNum,  mesh_pos,              nmesh,         3                    ) \
+    X   ( mjtNum,  mesh_quat,             nmesh,         4                    ) \
+    X   ( int,     mesh_pathadr,          nmesh,         1                    ) \
+    XNV ( int,     mesh_polynum,          nmesh,         1                    ) \
+    XNV ( int,     mesh_polyadr,          nmesh,         1                    ) \
+    XNV ( mjtNum,  mesh_polynormal,       nmeshpoly,     3                    ) \
+    XNV ( int,     mesh_polyvertadr,      nmeshpoly,     1                    ) \
+    XNV ( int,     mesh_polyvertnum,      nmeshpoly,     1                    ) \
+    XNV ( int,     mesh_polyvert,         nmeshpolyvert, 1                    ) \
+    XNV ( int,     mesh_polymapadr,       nmeshvert,     1                    ) \
+    XNV ( int,     mesh_polymapnum,       nmeshvert,     1                    ) \
+    XNV ( int,     mesh_polymap,          nmeshpolymap,  1                    )
+
+#define MJMODEL_POINTERS_SKIN                                                   \
+    X   ( int,     skin_matid,            nskin,         1                    ) \
+    X   ( int,     skin_group,            nskin,         1                    ) \
+    X   ( float,   skin_rgba,             nskin,         4                    ) \
+    X   ( float,   skin_inflate,          nskin,         1                    ) \
+    X   ( int,     skin_vertadr,          nskin,         1                    ) \
+    X   ( int,     skin_vertnum,          nskin,         1                    ) \
+    X   ( int,     skin_texcoordadr,      nskin,         1                    ) \
+    X   ( int,     skin_faceadr,          nskin,         1                    ) \
+    X   ( int,     skin_facenum,          nskin,         1                    ) \
+    X   ( int,     skin_boneadr,          nskin,         1                    ) \
+    X   ( int,     skin_bonenum,          nskin,         1                    ) \
+    X   ( float,   skin_vert,             nskinvert,     3                    ) \
+    X   ( float,   skin_texcoord,         nskintexvert,  2                    ) \
+    X   ( int,     skin_face,             nskinface,     3                    ) \
+    X   ( int,     skin_bonevertadr,      nskinbone,     1                    ) \
+    X   ( int,     skin_bonevertnum,      nskinbone,     1                    ) \
+    X   ( float,   skin_bonebindpos,      nskinbone,     3                    ) \
+    X   ( float,   skin_bonebindquat,     nskinbone,     4                    ) \
+    X   ( int,     skin_bonebodyid,       nskinbone,     1                    ) \
+    X   ( int,     skin_bonevertid,       nskinbonevert, 1                    ) \
+    X   ( float,   skin_bonevertweight,   nskinbonevert, 1                    ) \
+    X   ( int,     skin_pathadr,          nskin,         1                    )
+
+#define MJMODEL_POINTERS_HFIELD                                                 \
+    X   ( mjtNum,  hfield_size,           nhfield,       4                    ) \
+    X   ( int,     hfield_nrow,           nhfield,       1                    ) \
+    X   ( int,     hfield_ncol,           nhfield,       1                    ) \
+    X   ( int,     hfield_adr,            nhfield,       1                    ) \
+    XNV ( float,   hfield_data,           nhfielddata,   1                    ) \
+    X   ( int,     hfield_pathadr,        nhfield,       1                    )
+
+#define MJMODEL_POINTERS_TEXTURE                                                \
+    X   ( int,     tex_type,              ntex,          1                    ) \
+    X   ( int,     tex_colorspace,        ntex,          1                    ) \
+    X   ( int,     tex_height,            ntex,          1                    ) \
+    X   ( int,     tex_width,             ntex,          1                    ) \
+    X   ( int,     tex_nchannel,          ntex,          1                    ) \
+    X   ( int,     tex_adr,               ntex,          1                    ) \
+    XNV ( mjtByte, tex_data,              ntexdata,      1                    ) \
+    X   ( int,     tex_pathadr,           ntex,          1                    )
+
+#define MJMODEL_POINTERS_MATERIAL                                               \
+    X   ( int,     mat_texid,             nmat,          mjNTEXROLE           ) \
+    X   ( mjtByte, mat_texuniform,        nmat,          1                    ) \
+    X   ( float,   mat_texrepeat,         nmat,          2                    ) \
+    X   ( float,   mat_emission,          nmat,          1                    ) \
+    X   ( float,   mat_specular,          nmat,          1                    ) \
+    X   ( float,   mat_shininess,         nmat,          1                    ) \
+    X   ( float,   mat_reflectance,       nmat,          1                    ) \
+    X   ( float,   mat_metallic,          nmat,          1                    ) \
+    X   ( float,   mat_roughness,         nmat,          1                    ) \
+    X   ( float,   mat_rgba,              nmat,          4                    )
+
+#define MJMODEL_POINTERS_PAIR                                                   \
+    X   ( int,     pair_dim,              npair,         1                    ) \
+    X   ( int,     pair_geom1,            npair,         1                    ) \
+    X   ( int,     pair_geom2,            npair,         1                    ) \
+    X   ( int,     pair_signature,        npair,         1                    ) \
+    X   ( mjtNum,  pair_solref,           npair,         mjNREF               ) \
+    X   ( mjtNum,  pair_solreffriction,   npair,         mjNREF               ) \
+    X   ( mjtNum,  pair_solimp,           npair,         mjNIMP               ) \
+    X   ( mjtNum,  pair_margin,           npair,         1                    ) \
+    X   ( mjtNum,  pair_gap,              npair,         1                    ) \
+    X   ( mjtNum,  pair_friction,         npair,         5                    )
+
+#define MJMODEL_POINTERS_EXCLUDE                                                \
+    X   ( int,     exclude_signature,     nexclude,      1                    )
+
+#define MJMODEL_POINTERS_EQUALITY                                               \
+    X   ( int,     eq_type,               neq,           1                    ) \
+    X   ( int,     eq_obj1id,             neq,           1                    ) \
+    X   ( int,     eq_obj2id,             neq,           1                    ) \
+    X   ( int,     eq_objtype,            neq,           1                    ) \
+    X   ( mjtByte, eq_active0,            neq,           1                    ) \
+    X   ( mjtNum,  eq_solref,             neq,           mjNREF               ) \
+    X   ( mjtNum,  eq_solimp,             neq,           mjNIMP               ) \
+    X   ( mjtNum,  eq_data,               neq,           mjNEQDATA            )
+
+#define MJMODEL_POINTERS_TENDON                                                 \
+    X   ( int,     tendon_adr,            ntendon,       1                    ) \
+    X   ( int,     tendon_num,            ntendon,       1                    ) \
+    X   ( int,     tendon_matid,          ntendon,       1                    ) \
+    X   ( int,     tendon_group,          ntendon,       1                    ) \
+    X   ( mjtByte, tendon_limited,        ntendon,       1                    ) \
+    X   ( mjtByte, tendon_actfrclimited,  ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_width,          ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_solref_lim,     ntendon,       mjNREF               ) \
+    X   ( mjtNum,  tendon_solimp_lim,     ntendon,       mjNIMP               ) \
+    X   ( mjtNum,  tendon_solref_fri,     ntendon,       mjNREF               ) \
+    X   ( mjtNum,  tendon_solimp_fri,     ntendon,       mjNIMP               ) \
+    X   ( mjtNum,  tendon_range,          ntendon,       2                    ) \
+    X   ( mjtNum,  tendon_actfrcrange,    ntendon,       2                    ) \
+    X   ( mjtNum,  tendon_margin,         ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_stiffness,      ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_damping,        ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_armature,       ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_frictionloss,   ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_lengthspring,   ntendon,       2                    ) \
+    X   ( mjtNum,  tendon_length0,        ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_invweight0,     ntendon,       1                    ) \
+    X   ( mjtNum,  tendon_user,           ntendon,       MJ_M(nuser_tendon)   ) \
+    X   ( float,   tendon_rgba,           ntendon,       4                    )
+
+#define MJMODEL_POINTERS_ACTUATOR                                               \
+    X   ( int,     actuator_trntype,      nu,            1                    ) \
+    X   ( int,     actuator_dyntype,      nu,            1                    ) \
+    X   ( int,     actuator_gaintype,     nu,            1                    ) \
+    X   ( int,     actuator_biastype,     nu,            1                    ) \
+    X   ( int,     actuator_trnid,        nu,            2                    ) \
+    X   ( int,     actuator_actadr,       nu,            1                    ) \
+    X   ( int,     actuator_actnum,       nu,            1                    ) \
+    X   ( int,     actuator_group,        nu,            1                    ) \
+    X   ( mjtByte, actuator_ctrllimited,  nu,            1                    ) \
+    X   ( mjtByte, actuator_forcelimited, nu,            1                    ) \
+    X   ( mjtByte, actuator_actlimited,   nu,            1                    ) \
+    X   ( mjtNum,  actuator_dynprm,       nu,            mjNDYN               ) \
+    X   ( mjtNum,  actuator_gainprm,      nu,            mjNGAIN              ) \
+    X   ( mjtNum,  actuator_biasprm,      nu,            mjNBIAS              ) \
+    X   ( mjtByte, actuator_actearly,     nu,            1                    ) \
+    X   ( mjtNum,  actuator_ctrlrange,    nu,            2                    ) \
+    X   ( mjtNum,  actuator_forcerange,   nu,            2                    ) \
+    X   ( mjtNum,  actuator_actrange,     nu,            2                    ) \
+    X   ( mjtNum,  actuator_gear,         nu,            6                    ) \
+    X   ( mjtNum,  actuator_cranklength,  nu,            1                    ) \
+    X   ( mjtNum,  actuator_acc0,         nu,            1                    ) \
+    X   ( mjtNum,  actuator_length0,      nu,            1                    ) \
+    X   ( mjtNum,  actuator_lengthrange,  nu,            2                    ) \
+    X   ( mjtNum,  actuator_user,         nu,            MJ_M(nuser_actuator) ) \
+    X   ( int,     actuator_plugin,       nu,            1                    )
+
+#define MJMODEL_POINTERS_SENSOR                                                 \
+    X   ( int,     sensor_type,           nsensor,       1                    ) \
+    X   ( int,     sensor_datatype,       nsensor,       1                    ) \
+    X   ( int,     sensor_needstage,      nsensor,       1                    ) \
+    X   ( int,     sensor_objtype,        nsensor,       1                    ) \
+    X   ( int,     sensor_objid,          nsensor,       1                    ) \
+    X   ( int,     sensor_reftype,        nsensor,       1                    ) \
+    X   ( int,     sensor_refid,          nsensor,       1                    ) \
+    X   ( int,     sensor_intprm,         nsensor,       mjNSENS              ) \
+    X   ( int,     sensor_dim,            nsensor,       1                    ) \
+    X   ( int,     sensor_adr,            nsensor,       1                    ) \
+    X   ( mjtNum,  sensor_cutoff,         nsensor,       1                    ) \
+    X   ( mjtNum,  sensor_noise,          nsensor,       1                    ) \
+    X   ( mjtNum,  sensor_user,           nsensor,       MJ_M(nuser_sensor)   ) \
+    X   ( int,     sensor_plugin,         nsensor,       1                    )
+
+#define MJMODEL_POINTERS                                                        \
+    X   ( mjtNum,  qpos0,                 nq,            1                    ) \
+    X   ( mjtNum,  qpos_spring,           nq,            1                    ) \
+    MJMODEL_POINTERS_BODY                                                       \
+    X   ( int,     bvh_depth,             nbvh,          1                    ) \
+    X   ( int,     bvh_child,             nbvh,          2                    ) \
+    X   ( int,     bvh_nodeid,            nbvh,          1                    ) \
+    X   ( mjtNum,  bvh_aabb,              nbvhstatic,    6                    ) \
+    X   ( int,     oct_depth,             noct,          1                    ) \
+    X   ( int,     oct_child,             noct,          8                    ) \
+    X   ( mjtNum,  oct_aabb,              noct,          6                    ) \
+    X   ( mjtNum,  oct_coeff,             noct,          8                    ) \
+    MJMODEL_POINTERS_JOINT                                                      \
+    MJMODEL_POINTERS_DOF                                                        \
+    MJMODEL_POINTERS_GEOM                                                       \
+    MJMODEL_POINTERS_SITE                                                       \
+    MJMODEL_POINTERS_CAMERA                                                     \
+    MJMODEL_POINTERS_LIGHT                                                      \
+    MJMODEL_POINTERS_FLEX                                                       \
+    MJMODEL_POINTERS_MESH                                                       \
+    MJMODEL_POINTERS_SKIN                                                       \
+    MJMODEL_POINTERS_HFIELD                                                     \
+    MJMODEL_POINTERS_TEXTURE                                                    \
+    MJMODEL_POINTERS_MATERIAL                                                   \
+    MJMODEL_POINTERS_PAIR                                                       \
+    MJMODEL_POINTERS_EXCLUDE                                                    \
+    MJMODEL_POINTERS_EQUALITY                                                   \
+    MJMODEL_POINTERS_TENDON                                                     \
+    X   ( int,     wrap_type,             nwrap,         1                    ) \
+    X   ( int,     wrap_objid,            nwrap,         1                    ) \
+    X   ( mjtNum,  wrap_prm,              nwrap,         1                    ) \
+    MJMODEL_POINTERS_ACTUATOR                                                   \
+    MJMODEL_POINTERS_SENSOR                                                     \
+    X   ( int,     plugin,                nplugin,       1                    ) \
+    X   ( int,     plugin_stateadr,       nplugin,       1                    ) \
+    X   ( int,     plugin_statenum,       nplugin,       1                    ) \
+    X   ( char,    plugin_attr,           npluginattr,   1                    ) \
+    X   ( int,     plugin_attradr,        nplugin,       1                    ) \
+    X   ( int,     numeric_adr,           nnumeric,      1                    ) \
+    X   ( int,     numeric_size,          nnumeric,      1                    ) \
+    X   ( mjtNum,  numeric_data,          nnumericdata,  1                    ) \
+    X   ( int,     text_adr,              ntext,         1                    ) \
+    X   ( int,     text_size,             ntext,         1                    ) \
+    X   ( char,    text_data,             ntextdata,     1                    ) \
+    X   ( int,     tuple_adr,             ntuple,        1                    ) \
+    X   ( int,     tuple_size,            ntuple,        1                    ) \
+    X   ( int,     tuple_objtype,         ntupledata,    1                    ) \
+    X   ( int,     tuple_objid,           ntupledata,    1                    ) \
+    X   ( mjtNum,  tuple_objprm,          ntupledata,    1                    ) \
+    X   ( mjtNum,  key_time,              nkey,          1                    ) \
+    X   ( mjtNum,  key_qpos,              nkey,          MJ_M(nq)             ) \
+    X   ( mjtNum,  key_qvel,              nkey,          MJ_M(nv)             ) \
+    X   ( mjtNum,  key_act,               nkey,          MJ_M(na)             ) \
+    X   ( mjtNum,  key_mpos,              nkey,          MJ_M(nmocap)*3       ) \
+    X   ( mjtNum,  key_mquat,             nkey,          MJ_M(nmocap)*4       ) \
+    X   ( mjtNum,  key_ctrl,              nkey,          MJ_M(nu)             ) \
+    X   ( int,     name_bodyadr,          nbody,         1                    ) \
+    X   ( int,     name_jntadr,           njnt,          1                    ) \
+    X   ( int,     name_geomadr,          ngeom,         1                    ) \
+    X   ( int,     name_siteadr,          nsite,         1                    ) \
+    X   ( int,     name_camadr,           ncam,          1                    ) \
+    X   ( int,     name_lightadr,         nlight,        1                    ) \
+    X   ( int,     name_flexadr,          nflex,         1                    ) \
+    X   ( int,     name_meshadr,          nmesh,         1                    ) \
+    X   ( int,     name_skinadr,          nskin,         1                    ) \
+    X   ( int,     name_hfieldadr,        nhfield,       1                    ) \
+    X   ( int,     name_texadr,           ntex,          1                    ) \
+    X   ( int,     name_matadr,           nmat,          1                    ) \
+    X   ( int,     name_pairadr,          npair,         1                    ) \
+    X   ( int,     name_excludeadr,       nexclude,      1                    ) \
+    X   ( int,     name_eqadr,            neq,           1                    ) \
+    X   ( int,     name_tendonadr,        ntendon,       1                    ) \
+    X   ( int,     name_actuatoradr,      nu,            1                    ) \
+    X   ( int,     name_sensoradr,        nsensor,       1                    ) \
+    X   ( int,     name_numericadr,       nnumeric,      1                    ) \
+    X   ( int,     name_textadr,          ntext,         1                    ) \
+    X   ( int,     name_tupleadr,         ntuple,        1                    ) \
+    X   ( int,     name_keyadr,           nkey,          1                    ) \
+    X   ( int,     name_pluginadr,        nplugin,       1                    ) \
+    X   ( char,    names,                 nnames,        1                    ) \
+    X   ( int,     names_map,             nnames_map,    1                    ) \
+    X   ( char,    paths,                 npaths,        1                    ) \
+    X   ( int,     B_rownnz,              nbody,         1                    ) \
+    X   ( int,     B_rowadr,              nbody,         1                    ) \
+    X   ( int,     B_colind,              nB,            1                    ) \
+    X   ( int,     M_rownnz,              nv,            1                    ) \
+    X   ( int,     M_rowadr,              nv,            1                    ) \
+    X   ( int,     M_colind,              nC,            1                    ) \
+    X   ( int,     mapM2M,                nC,            1                    ) \
+    X   ( int,     D_rownnz,              nv,            1                    ) \
+    X   ( int,     D_rowadr,              nv,            1                    ) \
+    X   ( int,     D_diag,                nv,            1                    ) \
+    X   ( int,     D_colind,              nD,            1                    ) \
+    X   ( int,     mapM2D,                nD,            1                    ) \
+    X   ( int,     mapD2M,                nC,            1                    )
+
+//-------------------------------- mjData ----------------------------------------------------------
+
+// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
+#define MJDATA_POINTERS_PREAMBLE( m ) \
+    int nv = m->nv;
+
+
+// pointer fields of mjData
+// XNV means that the field is not required to construct mjvScene
+// (by default we define XNV to be the same as X)
+#define MJDATA_POINTERS                                            \
+    X   ( mjtNum,    qpos,              nq,          1           ) \
+    X   ( mjtNum,    qvel,              nv,          1           ) \
+    X   ( mjtNum,    act,               na,          1           ) \
+    X   ( mjtNum,    qacc_warmstart,    nv,          1           ) \
+    X   ( mjtNum,    plugin_state,      npluginstate, 1          ) \
+    X   ( mjtNum,    ctrl,              nu,          1           ) \
+    X   ( mjtNum,    qfrc_applied,      nv,          1           ) \
+    X   ( mjtNum,    xfrc_applied,      nbody,       6           ) \
+    X   ( mjtByte,   eq_active,         neq,         1           ) \
+    X   ( mjtNum,    mocap_pos,         nmocap,      3           ) \
+    X   ( mjtNum,    mocap_quat,        nmocap,      4           ) \
+    X   ( mjtNum,    qacc,              nv,          1           ) \
+    X   ( mjtNum,    act_dot,           na,          1           ) \
+    X   ( mjtNum,    userdata,          nuserdata,   1           ) \
+    X   ( mjtNum,    sensordata,        nsensordata, 1           ) \
+    X   ( int,       plugin,            nplugin,     1           ) \
+    X   ( uintptr_t, plugin_data,       nplugin,     1           ) \
+    X   ( mjtNum,    xpos,              nbody,       3           ) \
+    X   ( mjtNum,    xquat,             nbody,       4           ) \
+    X   ( mjtNum,    xmat,              nbody,       9           ) \
+    X   ( mjtNum,    xipos,             nbody,       3           ) \
+    X   ( mjtNum,    ximat,             nbody,       9           ) \
+    X   ( mjtNum,    xanchor,           njnt,        3           ) \
+    X   ( mjtNum,    xaxis,             njnt,        3           ) \
+    X   ( mjtNum,    geom_xpos,         ngeom,       3           ) \
+    X   ( mjtNum,    geom_xmat,         ngeom,       9           ) \
+    X   ( mjtNum,    site_xpos,         nsite,       3           ) \
+    X   ( mjtNum,    site_xmat,         nsite,       9           ) \
+    X   ( mjtNum,    cam_xpos,          ncam,        3           ) \
+    X   ( mjtNum,    cam_xmat,          ncam,        9           ) \
+    X   ( mjtNum,    light_xpos,        nlight,      3           ) \
+    X   ( mjtNum,    light_xdir,        nlight,      3           ) \
+    X   ( mjtNum,    subtree_com,       nbody,       3           ) \
+    X   ( mjtNum,    cdof,              nv,          6           ) \
+    X   ( mjtNum,    cinert,            nbody,       10          ) \
+    X   ( mjtNum,    flexvert_xpos,     nflexvert,   3           ) \
+    X   ( mjtNum,    flexelem_aabb,     nflexelem,   6           ) \
+    X   ( int,       flexedge_J_rownnz, nflexedge,   1           ) \
+    X   ( int,       flexedge_J_rowadr, nflexedge,   1           ) \
+    X   ( int,       flexedge_J_colind, nflexedge,   MJ_M(nv)    ) \
+    X   ( mjtNum,    flexedge_J,        nflexedge,   MJ_M(nv)    ) \
+    X   ( mjtNum,    flexedge_length,   nflexedge,   1           ) \
+    X   ( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
+    X   ( int,       ten_wrapadr,       ntendon,     1           ) \
+    X   ( int,       ten_wrapnum,       ntendon,     1           ) \
+    X   ( int,       ten_J_rownnz,      ntendon,     1           ) \
+    X   ( int,       ten_J_rowadr,      ntendon,     1           ) \
+    X   ( int,       ten_J_colind,      ntendon,     MJ_M(nv)    ) \
+    X   ( mjtNum,    ten_J,             ntendon,     MJ_M(nv)    ) \
+    X   ( mjtNum,    ten_length,        ntendon,     1           ) \
+    X   ( int,       wrap_obj,          nwrap,       2           ) \
+    X   ( mjtNum,    wrap_xpos,         nwrap,       6           ) \
+    X   ( mjtNum,    actuator_length,   nu,          1           ) \
+    X   ( int,       moment_rownnz,     nu,          1           ) \
+    X   ( int,       moment_rowadr,     nu,          1           ) \
+    X   ( int,       moment_colind,     nJmom,       1           ) \
+    X   ( mjtNum,    actuator_moment,   nJmom,       1           ) \
+    XNV ( mjtNum,    crb,               nbody,       10          ) \
+    XNV ( mjtNum,    qM,                nM,          1           ) \
+    XNV ( mjtNum,    M,                 nC,          1           ) \
+    XNV ( mjtNum,    qLD,               nC,          1           ) \
+    X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
+    X   ( mjtByte,   bvh_active,        nbvh,        1           ) \
+    X   ( mjtNum,    flexedge_velocity, nflexedge,   1           ) \
+    X   ( mjtNum,    ten_velocity,      ntendon,     1           ) \
+    X   ( mjtNum,    actuator_velocity, nu,          1           ) \
+    X   ( mjtNum,    cvel,              nbody,       6           ) \
+    X   ( mjtNum,    cdof_dot,          nv,          6           ) \
+    X   ( mjtNum,    qfrc_bias,         nv,          1           ) \
+    X   ( mjtNum,    qfrc_spring,       nv,          1           ) \
+    X   ( mjtNum,    qfrc_damper,       nv,          1           ) \
+    X   ( mjtNum,    qfrc_gravcomp,     nv,          1           ) \
+    X   ( mjtNum,    qfrc_fluid,        nv,          1           ) \
+    X   ( mjtNum,    qfrc_passive,      nv,          1           ) \
+    X   ( mjtNum,    subtree_linvel,    nbody,       3           ) \
+    X   ( mjtNum,    subtree_angmom,    nbody,       3           ) \
+    XNV ( mjtNum,    qH,                nC,          1           ) \
+    X   ( mjtNum,    qHDiagInv,         nv,          1           ) \
+    XNV ( mjtNum,    qDeriv,            nD,          1           ) \
+    XNV ( mjtNum,    qLU,               nD,          1           ) \
+    X   ( mjtNum,    actuator_force,    nu,          1           ) \
+    X   ( mjtNum,    qfrc_actuator,     nv,          1           ) \
+    X   ( mjtNum,    qfrc_smooth,       nv,          1           ) \
+    X   ( mjtNum,    qacc_smooth,       nv,          1           ) \
+    X   ( mjtNum,    qfrc_constraint,   nv,          1           ) \
+    X   ( mjtNum,    qfrc_inverse,      nv,          1           ) \
+    X   ( mjtNum,    cacc,              nbody,       6           ) \
+    X   ( mjtNum,    cfrc_int,          nbody,       6           ) \
+    X   ( mjtNum,    cfrc_ext,          nbody,       6           )
+
+
+// macro for annotating that an array size in an X macro is a member of mjData
+// by default this macro does nothing, but users can redefine it as necessary
+#define MJ_D(n) n
+
+// array of contacts
+#define MJDATA_ARENA_POINTERS_CONTACT \
+    X( mjContact, contact, MJ_D(ncon), 1 )
+
+// array fields of mjData that are used in the primal problem
+#define MJDATA_ARENA_POINTERS_SOLVER                     \
+    X  ( int,      efc_type,          MJ_D(nefc),    1 ) \
+    X  ( int,      efc_id,            MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_rownnz,      MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_rowadr,      MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_rowsuper,    MJ_D(nefc),    1 ) \
+    XNV( int,      efc_J_colind,      MJ_D(nJ),      1 ) \
+    XNV( mjtNum,   efc_J,             MJ_D(nJ),      1 ) \
+    X  ( mjtNum,   efc_pos,           MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_margin,        MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_frictionloss,  MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_diagApprox,    MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_KBIP,          MJ_D(nefc),    4 ) \
+    X  ( mjtNum,   efc_D,             MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_R,             MJ_D(nefc),    1 ) \
+    X  ( int,      tendon_efcadr,     MJ_M(ntendon), 1 ) \
+    X  ( mjtNum,   efc_vel,           MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_aref,          MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_b,             MJ_D(nefc),    1 ) \
+    X  ( int,      efc_state,         MJ_D(nefc),    1 ) \
+    X  ( mjtNum,   efc_force,         MJ_D(nefc),    1 )
+
+// array fields of mjData that are used in the dual problem
+#define MJDATA_ARENA_POINTERS_DUAL                       \
+    XNV( int,      efc_AR_rownnz,     MJ_D(nefc),    1 ) \
+    XNV( int,      efc_AR_rowadr,     MJ_D(nefc),    1 ) \
+    XNV( int,      efc_AR_colind,     MJ_D(nA),      1 ) \
+    XNV( mjtNum,   efc_AR,            MJ_D(nA),      1 )
+
+// array fields of mjData that are used for constraint islands
+#define MJDATA_ARENA_POINTERS_ISLAND                     \
+    X  ( int,     dof_island,        MJ_M(nv),       1 ) \
+    X  ( int,     island_nv,         MJ_D(nisland),  1 ) \
+    X  ( int,     island_idofadr,    MJ_D(nisland),  1 ) \
+    X  ( int,     island_dofadr,     MJ_D(nisland),  1 ) \
+    X  ( int,     map_dof2idof,      MJ_M(nv),       1 ) \
+    X  ( int,     map_idof2dof,      MJ_M(nv),       1 ) \
+    X  ( mjtNum,  ifrc_smooth,       MJ_D(nidof),    1 ) \
+    X  ( mjtNum,  iacc_smooth,       MJ_D(nidof),    1 ) \
+    XNV( int,     iM_rownnz,         MJ_D(nidof),    1 ) \
+    XNV( int,     iM_rowadr,         MJ_D(nidof),    1 ) \
+    XNV( int,     iM_colind,         MJ_M(nC),       1 ) \
+    XNV( mjtNum,  iM,                MJ_M(nC),       1 ) \
+    XNV( mjtNum,  iLD,               MJ_M(nC),       1 ) \
+    X  ( mjtNum,  iLDiagInv,         MJ_D(nidof),    1 ) \
+    X  ( mjtNum,  iacc,              MJ_D(nidof),    1 ) \
+    X  ( int,     efc_island,        MJ_D(nefc),     1 ) \
+    X  ( int,     island_ne,         MJ_D(nisland),  1 ) \
+    X  ( int,     island_nf,         MJ_D(nisland),  1 ) \
+    X  ( int,     island_nefc,       MJ_D(nisland),  1 ) \
+    X  ( int,     island_iefcadr,    MJ_D(nisland),  1 ) \
+    X  ( int,     map_efc2iefc,      MJ_D(nefc),     1 ) \
+    X  ( int,     map_iefc2efc,      MJ_D(nefc),     1 ) \
+    X  ( int,     iefc_type,         MJ_D(nefc),     1 ) \
+    X  ( int,     iefc_id,           MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_rownnz,     MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_rowadr,     MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_rowsuper,   MJ_D(nefc),     1 ) \
+    XNV( int,     iefc_J_colind,     MJ_D(nJ),       1 ) \
+    XNV( mjtNum,  iefc_J,            MJ_D(nJ),       1 ) \
+    X  ( mjtNum,  iefc_frictionloss, MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_D,            MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_R,            MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_aref,         MJ_D(nefc),     1 ) \
+    X  ( int,     iefc_state,        MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  iefc_force,        MJ_D(nefc),     1 ) \
+    X  ( mjtNum,  ifrc_constraint,   MJ_D(nidof),    1 )
+
+// array fields of mjData that live in d->arena
+#define MJDATA_ARENA_POINTERS          \
+    MJDATA_ARENA_POINTERS_CONTACT      \
+    MJDATA_ARENA_POINTERS_SOLVER       \
+    MJDATA_ARENA_POINTERS_DUAL         \
+    MJDATA_ARENA_POINTERS_ISLAND
+
+
+// scalar fields of mjData
+#define MJDATA_SCALAR                  \
+    X( size_t,    narena             ) \
+    X( size_t,    nbuffer            ) \
+    X( int,       nplugin            ) \
+    X( size_t,    pstack             ) \
+    X( size_t,    pbase              ) \
+    X( size_t,    parena             ) \
+    X( size_t,    maxuse_stack       ) \
+    X( size_t,    maxuse_arena       ) \
+    X( int,       maxuse_con         ) \
+    X( int,       maxuse_efc         ) \
+    X( int,       ncon               ) \
+    X( int,       ne                 ) \
+    X( int,       nf                 ) \
+    X( int,       nl                 ) \
+    X( int,       nefc               ) \
+    X( int,       nJ                 ) \
+    X( int,       nA                 ) \
+    X( int,       nisland            ) \
+    X( int,       nidof              ) \
+    X( mjtNum,    time               ) \
+    X( uintptr_t, threadpool         )
+
+
+// vector fields of mjData
+#define MJDATA_VECTOR                                                \
+    X( size_t,         maxuse_threadstack, mjMAXTHREAD,  1         ) \
+    X( mjSolverStat,   solver,             mjNISLAND,    mjNSOLVER ) \
+    X( int,            solver_niter,       mjNISLAND,    1         ) \
+    X( int,            solver_nnz,         mjNISLAND,    1         ) \
+    X( mjtNum,         solver_fwdinv,      2,            1         ) \
+    X( mjWarningStat,  warning,            mjNWARNING,   1         ) \
+    X( mjTimerStat,    timer,              mjNTIMER,     1         ) \
+    X( mjtNum,         energy,             2,            1         )
+
+// alias XNV to be the same as X
+// to obtain only X macros for fields that are relevant for mjvScene creation,
+// redefine XNV to expand to nothing
+#define XNV X
+
+#endif  // MUJOCO_MJXMACRO_H_

third_party/mujoco/3.3.7/lib/libmujoco.so

@@ -0,0 +1 @@
+libmujoco.so.3.3.7

third_party/mujoco/3.3.7/model/adhesion/README.md

@@ -0,0 +1,9 @@
+# Active adhesion example
+
+This example model shows how to use adhesion actuators.
+
+The video below is a screen capture of a user interacting with the model:
+
+
+[![Active adhesion example model](https://img.youtube.com/vi/BcHZ5BFeTmU/0.jpg)](https://www.youtube.com/watch?v=BcHZ5BFeTmU)
+

third_party/mujoco/3.3.7/model/adhesion/active_adhesion.xml

@@ -0,0 +1,148 @@
+<mujoco model="Active adhesion example">
+  <!--
+    Adding some fluid viscosity to prevent the hanging sphere from jiggling too much.
+  -->
+  <option viscosity="1"/>
+
+  <size memory="10M"/>
+
+  <visual>
+    <headlight diffuse=".2 .2 .2"/>
+  </visual>
+
+  <default>
+    <joint damping=".3" axis="0 1 0"/>
+    <geom type="box" friction=".5"/>
+    <default class="wall">
+      <geom rgba=".5 .5 .5 .4"/>
+    </default>
+    <default class="mechanical">
+      <geom rgba=".5 .5 .8 1"/>
+      <tendon rgba=".5 .5 .8 1"/>
+    </default>
+    <default class="active_adhesion">
+      <!--
+        Geoms in the active_adhesion class are "inflated" with a margin of 1cm, but contacts are
+        activated only at a depth gap of 1cm, leading to a layer of inactive contacts at a 1cm
+        distance from the surface. However the contacts can be used by the adhesion actuator.
+      -->
+      <geom rgba=".8 .5 .5 1" margin=".01" gap=".01"/>
+    </default>
+    <default class="object">
+      <geom rgba=".5 .8 .5 1" density="100"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
+    <light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
+
+    <body name="two crates">
+      <joint name="conveyor" type="slide" damping="100" axis="1 0 0"/>
+      <geom size=".2 .1 .01" pos="0 0 -.01"/>
+      <geom size=".01 .08 .031" pos="-.19 0 .03" class="wall"/>
+      <geom size=".01 .08 .031" pos="0  0 .03" class="wall"/>
+      <geom size=".01 .08 .031" pos="0.19 0 .03" class="wall"/>
+      <geom size="0.2 .01 .031" pos="0 -.09 .03" class="wall"/>
+      <geom size="0.2 .01 .031" pos="0 0.09 .03" class="wall"/>
+    </body>
+
+    <body name="arm1" pos="-.1 0 .3" childclass="mechanical">
+      <joint name="arm1"/>
+      <geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
+      <geom type="capsule" size=".01" fromto="0 0 0 -.12 0 -.07"/>
+      <body name="arm2" pos="-.12 0 -.07">
+        <joint name="arm2"/>
+        <geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
+        <geom type="capsule" size=".01" fromto="0 0 0 .12 0 -.07"/>
+        <body name="4boxes" pos=".12 0 -.08" childclass="active_adhesion">
+          <site name="force_sensor" group="3"/>
+          <joint name="arm3" damping=".01" pos="0 -.03 0"/>
+          <geom size=".015 .015 .01" pos="0.015 0.015 0"/>
+          <geom size=".015 .015 .01" pos="0.015 -.015 0"/>
+          <geom size=".015 .015 .01" pos="-.015 0.015 0"/>
+          <geom size=".015 .015 .01" pos="-.015 -.015 0"/>
+        </body>
+      </body>
+    </body>
+
+    <body name="box" pos="-.1 0 .05">
+      <freejoint/>
+      <geom size=".05 .05 .05" class="object"/>
+    </body>
+
+    <body name="winch" pos="-.01 0 .35" childclass="mechanical">
+      <joint name="winch" damping="1"/>
+      <geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
+      <geom type="capsule" size=".01" fromto="0 0 0 .1 0 .05"/>
+      <site name="anchor" pos=".1 0 .04"/>
+    </body>
+    <site name="pulley" pos=".1 0 .32"/>
+    <site name="hook_left" pos=".08 0 .3"/>
+    <site name="hook_right" pos=".12 0 .3"/>
+    <body name="sphere" pos=".1 0 .2" childclass="active_adhesion">
+      <freejoint/>
+      <!--
+        The composite balls in the crate have only 3 linear DoFs with condim=1, effectively
+        frictionless point particles. In order to make them stick to the sphere we give the sphere
+        priority 2, to force condim=3.
+
+        Also note the sphere has a margin+gap of 3cm as opposed to the 1cm of the arm box.
+      -->
+      <geom type="sphere" size=".03" priority="2" margin=".03" gap=".03"/>
+      <site name="pin_left" pos="-.025 0 .025"/>
+      <site name="pin_right" pos=".025 0 .025"/>
+    </body>
+
+    <replicate count="4" offset=".025 0 0">
+      <replicate count="4" offset="0 .025 0">
+        <replicate count="4" offset="0 0 .025">
+          <body pos=".06 -.04 .05">
+            <joint type="slide" axis="1 0 0"/>
+            <joint type="slide" axis="0 1 0"/>
+            <joint type="slide" axis="0 0 1"/>
+            <geom type="sphere" size=".012" rgba=".5 .8 .5 1" solref=".005 1" condim="1"/>
+          </body>
+        </replicate>
+      </replicate>
+    </replicate>
+  </worldbody>
+
+  <equality>
+    <joint joint1="arm1" joint2="arm2" polycoef="0 -.5 0 0 0"/>
+    <joint joint1="arm3" joint2="arm1"/>
+  </equality>
+
+  <!--
+    By using divisor=3 in the pullies we increase the distance by which the hanging sphere moves
+    relative to the motion of the winch arm. One should imagine a double spindle with two radii that
+    creates a ratio of 1.5 between the motion of tendon before the pullies and after the pullies.
+    (1.5 rather than 3 because the tendon has 2 branches and the length is split between them)
+  -->
+  <tendon>
+    <spatial range="0 .19" limited="true" solreflimit=".01 2" class="mechanical">
+      <site site="anchor"/>
+      <site site="pulley"/>
+      <pulley divisor="3"/>
+      <site site="pulley"/>
+      <site site="hook_left"/>
+      <site site="pin_left"/>
+      <pulley divisor="3"/>
+      <site site="pulley"/>
+      <site site="hook_right"/>
+      <site site="pin_right"/>
+    </spatial>
+  </tendon>
+
+  <actuator>
+    <position name="conveyor" joint="conveyor" ctrlrange="-.2 .2" ctrllimited="true" kp="400"/>
+    <position name="arm" joint="arm2" ctrlrange="-.8 1" ctrllimited="true" kp="10"/>
+    <adhesion name="adhere_arm" body="4boxes" ctrlrange="0 1" gain="5"/>
+    <position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
+    <adhesion name="adhere_winch" body="sphere" ctrlrange="0 1" gain="5"/>
+  </actuator>
+
+  <sensor>
+    <force site="force_sensor"/>
+  </sensor>
+</mujoco>

third_party/mujoco/3.3.7/model/balloons/balloons.xml

@@ -0,0 +1,108 @@
+<mujoco>
+  <option density="1.204" viscosity="1.8e-5" integrator="implicit"/>
+
+  <visual>
+    <global elevation="-10"/>
+  </visual>
+
+  <default>
+    <tendon limited="true" width="0.003" rgba="1 1 1 1"/>
+    <geom friction=".2"/>
+    <default class="weight">
+      <geom rgba=".8 .4 .8 1"/>
+      <site rgba=".8 .4 .8 1"/>
+    </default>
+    <default class="balloon">
+      <!--
+        0.167 is the MKS density of helium at room temperature.
+        Note this does not take into account the mass of the rubber,
+        which is likely not insignificant.
+      -->
+      <geom density="0.167" fluidshape="ellipsoid"/>
+      <default class="pink">
+        <geom rgba="1 .6 .7 1"/>
+        <site rgba="1 .6 .7 1"/>
+      </default>
+      <default class="blue">
+        <geom rgba=".3 .7 .9 1"/>
+        <site rgba=".3 .7 .9 1"/>
+      </default>
+      <default class="green">
+        <geom rgba=".4 .9 .5 1"/>
+        <site rgba=".4 .9 .5 1"/>
+      </default>
+      <default class="orange">
+        <geom rgba="1 .4 0 1"/>
+        <site rgba="1 .4 0 1"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb2="0 0 0" rgb1="1 1 1"/>
+    <material name="grid" texture="grid" texrepeat="2 2" texuniform="true" reflectance=".6"/>
+  </asset>
+
+  <worldbody>
+    <geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
+    <geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
+
+    <body name="weight" childclass="weight" pos=".3 0 .2">
+      <freejoint/>
+      <light pos="1 0 3" dir="-1 0 -3" mode="trackcom"/>
+      <light pos="-1 0 3" dir="1 0 -3" mode="trackcom"/>
+      <!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
+      <geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
+      <site name="weight1" pos=" .013  .013 .013" size="0.005"/>
+      <site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
+    </body>
+
+    <!-- The gravcomp value of 7.2 is the ratio of air and helium densities at room temperature. -->
+    <body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
+      <freejoint />
+      <geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
+      <geom name="pink_knot" pos="0 0 -.15" size=".02"/>
+      <site name="pink" pos="0 0 -.17" size="0.01"/>
+    </body>
+
+    <body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
+      <freejoint />
+      <geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
+      <geom name="blue_knot" pos="0 0 -.15" size=".02"/>
+      <site name="blue" pos="0 0 -.17" size="0.01"/>
+    </body>
+
+    <body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
+      <freejoint />
+      <geom name="green" type="ellipsoid" size=".12 .12 .14"/>
+      <geom name="green_knot" pos="0 0 -.14" size=".02"/>
+      <site name="green" pos="0 0 -.16" size="0.01"/>
+    </body>
+
+    <body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
+      <freejoint />
+      <geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
+      <geom name="orange_knot" pos="0 0 -.13" size=".02"/>
+      <site name="orange" pos="0 0 -.15" size="0.01"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial range="0 0.6">
+      <site site="pink"/>
+      <site site="weight1"/>
+    </spatial>
+    <spatial range="0 0.4">
+      <site site="blue"/>
+      <site site="weight1"/>
+    </spatial>
+    <spatial range="0 0.3">
+      <site site="green"/>
+      <site site="weight2"/>
+    </spatial>
+    <spatial range="0 0.5">
+      <site site="orange"/>
+      <site site="weight2"/>
+    </spatial>
+  </tendon>
+</mujoco>

third_party/mujoco/3.3.7/model/car/car.xml

@@ -0,0 +1,72 @@
+<mujoco>
+  <compiler autolimits="true"/>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+    <mesh name="chasis" scale=".01 .006 .0015"
+      vertex=" 9   2   0
+              -10  10  10
+               9  -2   0
+               10  3  -10
+               10 -3  -10
+              -8   10 -10
+              -10 -10  10
+              -8  -10 -10
+              -5   0   20"/>
+  </asset>
+
+  <default>
+    <joint damping=".03" actuatorfrcrange="-0.5 0.5"/>
+    <default class="wheel">
+      <geom type="cylinder" size=".03 .01" rgba=".5 .5 1 1"/>
+    </default>
+    <default class="decor">
+      <site type="box" rgba=".5 1 .5 1"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <geom type="plane" size="3 3 .01" material="grid"/>
+    <body name="car" pos="0 0 .03">
+      <freejoint/>
+      <light name="top light" pos="0 0 2" mode="trackcom" diffuse=".4 .4 .4"/>
+      <geom name="chasis" type="mesh" mesh="chasis"/>
+      <geom name="front wheel" pos=".08 0 -.015" type="sphere" size=".015" condim="1" priority="1"/>
+      <light name="front light" pos=".1 0 .02" dir="2 0 -1" diffuse="1 1 1"/>
+      <body name="left wheel" pos="-.07 .06 0" zaxis="0 1 0">
+        <joint name="left"/>
+        <geom class="wheel"/>
+        <site class="decor" size=".006 .025 .012"/>
+        <site class="decor" size=".025 .006 .012"/>
+      </body>
+      <body name="right wheel" pos="-.07 -.06 0" zaxis="0 1 0">
+        <joint name="right"/>
+        <geom class="wheel"/>
+        <site class="decor" size=".006 .025 .012"/>
+        <site class="decor" size=".025 .006 .012"/>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <fixed name="forward">
+      <joint joint="left" coef=".5"/>
+      <joint joint="right" coef=".5"/>
+    </fixed>
+    <fixed name="turn">
+      <joint joint="left" coef="-.5"/>
+      <joint joint="right" coef=".5"/>
+    </fixed>
+  </tendon>
+
+  <actuator>
+    <motor name="forward" tendon="forward" ctrlrange="-1 1"/>
+    <motor name="turn" tendon="turn" ctrlrange="-1 1"/>
+  </actuator>
+
+  <sensor>
+    <jointactuatorfrc name="right" joint="right"/>
+    <jointactuatorfrc name="left" joint="left"/>
+  </sensor>
+</mujoco>