fixed normals in GetMultipleContacts

.github/DISCUSSION_TEMPLATE/Asking-for-Help.yaml

@@ -0,0 +1,68 @@
+body:
+  - type: textarea
+    attributes:
+      label: Intro
+      description: Who are you, what do you use MuJoCo for?
+      value: |
+        Hi!
+
+        I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: My setup
+      description: MuJoCo / MJX version, API (C or Python), architecture, OS + version.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: My question
+      description: What you are trying to do, what problem have you encountered?
+  - type: textarea
+    attributes:
+      label: Minimal model and/or code that explain my question
+      description: Please include a loadable MJCF, not a partial snippet. If your model requires binary assets to load, attach a zip file.
+      value: |
+        If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
+
+        Model:
+        <details>
+        <summary>minimal XML</summary>
+
+        ```XML
+
+        <mujoco>
+          <worldbody>
+            <light pos="0 0 1"/>
+            <geom type="sphere" size="1" rgba="1 0 0 1"/>
+          </worldbody>
+        </mujoco>
+
+        ```
+        </details>
+
+        Code:
+        ```python
+        import mujoco
+        import mediapy as media
+        model = mujoco.MjModel.from_xml_string(xml)
+        data = mujoco.MjData(model)
+
+        with mujoco.Renderer(model) as renderer:
+          mujoco.mj_forward(model, data)
+          renderer.update_scene(data)
+
+          media.show_image(renderer.render())
+        ```
+    validations:
+      required: false
+  - type: checkboxes
+    attributes:
+      label: Confirmations
+      options:
+        - label: I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
+          required: true
+        - label: I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
+          required: true
+

.github/ISSUE_TEMPLATE/Bug-Report.yaml

@@ -0,0 +1,92 @@
+name: 🐛 Bug Report
+description: >-
+  Please only use this if you're sure you've found a bug. Thanks! 🙏
+labels: bug
+body:
+  - type: textarea
+    attributes:
+      label: Intro
+      description: Who are you, what do you use MuJoCo for?
+      value: |
+        Hi!
+
+        I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: My setup
+      description: MuJoCo / MJX version, API (C or Python), architecture, OS + version.
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: What's happening? What did you expect?
+      description: A clear and concise description of the current behaviour vs what you expected. If helpful to understand the issue, attach screenshots/videos.
+      value: |
+        Setting `rgba="1 0 0 1"` renders as **green**, I expected it to render as **red**.
+
+        Here is a screen-shot showing a green sphere:
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Steps for reproduction
+      description: Steps to reproduce the issue.
+      value: |
+        1. Load the model below.
+        2. Run the code below.
+        3. See green sphere (should be red).
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Minimal model for reproduction
+      description: Please include a loadable MJCF, not a partial snippet. If your model requires binary assets to load, attach a zip file.
+      value: |
+        If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
+
+        <details>
+        <summary>minimal XML</summary>
+
+        ```XML
+
+        <mujoco>
+          <worldbody>
+            <light pos="0 0 1"/>
+            <geom type="sphere" size="1" rgba="1 0 0 1"/>
+          </worldbody>
+        </mujoco>
+
+        ```
+        </details>
+    validations:
+      required: false
+  - type: textarea
+    attributes:
+      label: Code required for reproduction
+      description: Code required for reproduction of the bug.
+      value: |
+        ```python
+        import mujoco
+        import mediapy as media
+        model = mujoco.MjModel.from_xml_string(xml)
+        data = mujoco.MjData(model)
+
+        with mujoco.Renderer(model) as renderer:
+          mujoco.mj_forward(model, data)
+          renderer.update_scene(data)
+
+          media.show_image(renderer.render())
+        ```
+    validations:
+      required: false
+  - type: checkboxes
+    attributes:
+      label: Confirmations
+      options:
+        - label: I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
+          required: true
+        - label: I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
+          required: true
+

.github/ISSUE_TEMPLATE/Feature-Request.yaml

@@ -0,0 +1,26 @@
+name: 🚀 Feature request
+description: Submit a proposal/request for a new MuJoCo feature
+labels: enhancement
+body:
+- type: textarea
+  attributes:
+    label: The feature, motivation and pitch
+    description: >
+      A clear and concise description of the feature proposal. Please outline the motivation for the proposal. Is your feature request related to a specific problem? e.g., *"I'm working on X and would like Y to be possible"*. If this is related to another GitHub issue, please link here too.
+  validations:
+    required: true
+- type: textarea
+  attributes:
+    label: Alternatives
+    description: >
+      A description of any alternative solutions or features you've considered, if any.
+- type: textarea
+  attributes:
+    label: Additional context
+    description: >
+      Add any other context or screenshots about the feature request.
+- type: markdown
+  attributes:
+    value: >
+      Thanks for contributing 🎉!
+

.github/ISSUE_TEMPLATE/config.yaml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: 🙏 Asking for Help
+    about: Start a new discussion
+    url: https://github.com/google-deepmind/mujoco/discussions/categories/asking-for-help

.github/workflows/build.yml

@@ -142,18 +142,30 @@ jobs:
         fi
         source venv/bin/activate
         python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements.txt"
+        python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements_usd.txt"
     - name: Configure MuJoCo
       run: >
         mkdir build &&
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
         -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
         ${{ matrix.cmake_args }}
     - name: Build MuJoCo
       working-directory: build
       run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
+    - name: Copy in the correct VC runtime DLLs (workaround for actions/runner-images#10004)
+      if: ${{ runner.os == 'Windows' }}
+      working-directory: build
+      shell: powershell
+      run: |
+        Copy-Item (Join-Path `
+          ((Get-ChildItem -Directory `
+              -Path "C:\Program Files\Microsoft Visual Studio\2022\Enterprise\VC\Redist\MSVC\14.*" |
+            Sort -Descending | Select-Object -First 1).FullName
+          ) 'x64\Microsoft.VC143.CRT\*.dll') "bin\Release"
     - name: Test MuJoCo
       working-directory: build
       run: ctest -C Release --output-on-failure .
@@ -182,6 +194,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build samples
@@ -194,6 +207,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build simulate
@@ -225,6 +239,7 @@ jobs:
     - name: Test Python bindings
       if: ${{ runner.os != 'Windows' }}
       shell: bash
+      working-directory: python/dist
       env:
         MUJOCO_GL: disable
       run: >
@@ -250,7 +265,7 @@ jobs:
       shell: bash
       run:
         source ${{ matrix.tmpdir }}/venv/bin/activate &&
-        pytest -n auto -v --pyargs mujoco.mjx
+        pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx
     - name: Notify team chat
       shell: bash
       env:

.gitignore

@@ -18,6 +18,7 @@
 *.egg-info/
 build/
 build_cmake/
+python/dist/
 
 # Exclude macOS folder attributes
 .DS_Store
@@ -29,3 +30,4 @@ Info.framework.plist
 __pycache__/
 *.py[cod]
 *$py.class
+mjx/mujoco/mjx/mjx_cuda_collision/tasks_local.sh

CMakeLists.txt

@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.1.5
+  VERSION 3.2.3
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )
@@ -59,6 +59,7 @@ set(MUJOCO_HEADERS
     include/mujoco/mjmodel.h
     include/mujoco/mjplugin.h
     include/mujoco/mjrender.h
+    include/mujoco/mjspec.h
     include/mujoco/mjthread.h
     include/mujoco/mjtnum.h
     include/mujoco/mjui.h